Image taking apparatus, image processing method, and image processing program for connecting into a single image a plurality of images taken by a plurality of imaging units disposed such that viewpoints coincide with each other
First Claim
1. An image taking apparatus comprising a plurality of imaging means each including a lens with a variable focal distance and an image sensing device, the plurality of imaging means being disposed such that their viewpoints are substantially coincident with each other and image areas partially overlap each other so as to allow it obtain a wide angle image by connecting a plurality of images obtained by the respective imaging means,each imaging means including:
- a set of a plurality of mapping tables prepared for various respective values of the focal distance, each mapping table representing the correspondence for one of the various values of the focal distance between a particular coordinate system and a coordinate system in which an image taken by each image sensing device is represented;
a controller adapted to select a mapping table corresponding to a focal distance used to take images by the image sensing devices; and
a mapping unit adapted to map each image into the particular coordinate system in accordance with the correspondence described in the mapping table selected by the controller.
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Accused Products
Abstract
An image taking apparatus including a plurality of imaging units each including a lens with a variable focal distance and an image sensing device is provided. The plurality of imaging units are disposed such that their viewpoints are substantially coincident with each other and image areas partially overlap each other so as to allow it obtain a wide angle image by connecting a plurality of images obtained by the imaging units. Each imaging unit includes a set of mapping tables each of which represents the correspondence, for a particular focal distance, between a particular coordinate system and a coordinate system in which an image taken by each image sensing device is represented. Each imaging unit further includes a controller adapted to select a mapping table corresponding to the focal distance, and a mapping unit adapted to map the image into the particular coordinate system according to the selected mapping table.
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Citations
11 Claims
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1. An image taking apparatus comprising a plurality of imaging means each including a lens with a variable focal distance and an image sensing device, the plurality of imaging means being disposed such that their viewpoints are substantially coincident with each other and image areas partially overlap each other so as to allow it obtain a wide angle image by connecting a plurality of images obtained by the respective imaging means,
each imaging means including: -
a set of a plurality of mapping tables prepared for various respective values of the focal distance, each mapping table representing the correspondence for one of the various values of the focal distance between a particular coordinate system and a coordinate system in which an image taken by each image sensing device is represented; a controller adapted to select a mapping table corresponding to a focal distance used to take images by the image sensing devices; and a mapping unit adapted to map each image into the particular coordinate system in accordance with the correspondence described in the mapping table selected by the controller. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. An image processing method of obtaining a wide-angle image by connecting images taken by a plurality of imaging means each including a lens with a variable focal distance and an image sensing device, the plurality of imaging means being disposed such that their viewpoints are substantially coincident with each other and image areas partially overlap each other, comprising:
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selecting a mapping table from a set of a plurality of mapping tables prepared for various respective values of the focal distance used in an image taking operation, each mapping table representing the correspondence for one of the various values of the focal distance between a particular coordinate system and a coordinate system in which an image taken by each image sensing device is represented; and mapping each image taken by each image sensing device into the particular coordinate system in accordance with the correspondence described in the selected mapping table, so that the image mapped into the particular coordinate system in accordance with the selected mapping table and the image mapped into the particular coordinate system by an adjacent imaging means overlap each other in an overlapping area which is maintained fixed regardless of the focal distance.
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10. A computer readable medium storing a computer program for obtaining a wide-angle image by connecting images taken by a plurality of imaging means each including a lens with a variable focal distance and an image sensing device, the plurality of imaging means being disposed such that their viewpoints are substantially coincident with each other and image areas partially overlap each other, the computer program structured to cause a computer to:
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select a mapping table from a set of a plurality of mapping tables prepared for various respective values of the focal distance used in an image taking operation, each mapping table representing the correspondence for one of the various values of the focal distance between a particular coordinate system and a coordinate system in which an image taken by each image sensing device is represented; and map each image taken by each image sensing device into the particular coordinate system in accordance with the correspondence described in the selected mapping table so that the image mapped into the particular coordinate system in accordance with the selected mapping table overlaps, in an overlapping area, with an image taken by adjacent imaging means and mapped into the particular coordinate system, the overlapping area being fixed regardless of the focal distance.
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11. An image taking apparatus comprising a plurality of imaging units each including a lens with a variable focal distance and an image sensing device, the plurality of imaging units being disposed such that their viewpoints are substantially coincident with each other and image areas partially overlap each other so as to allow it obtain a wide angle image by connecting a plurality of images obtained by the respective imaging means,
each imaging unit including: -
a set of a plurality of mapping tables prepared for various respective values of the focal distance, each mapping table representing the correspondence for one of the various values of the focal distance between a particular coordinate system and a coordinate system in which an image taken by each image sensing device is represented; a controller adapted to select a mapping table corresponding to a focal distance used to take images by the image sensing devices; and a mapping unit adapted to map each image into the particular coordinate system in accordance with the correspondence described in the mapping table selected by the controller.
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Specification