Image capturing apparatus, image capturing method, storage medium, and device control system for controlling vehicle-mounted devices
First Claim
1. An image capturing apparatus comprising:
- a light source to emit first light to a light translucent member;
an image sensor to capture an adhering detection frame for acquiring an adhering detection image to detect a substance adhering on the light translucent member by using the first light emitted from the light source, and to capture one or more object recognition frames for acquiring one or more object recognition images for recognizing one or more objects other than the substance by receiving second light, different from the first light emitted from the light source, by performing an image capturing operation of the adhering detection frame and the object recognition frames repeatedly; and
circuitry to set a frame time of the adhering detection frame shorter than a frame time of each of the object recognition frames, and to set an exposure time of an object recognition frame right after the adhering detection frame to a value that prevents overlapping of an exposure period of the adhering detection frame and an exposure period of the object recognition frame right after the adhering detection frame.
1 Assignment
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Accused Products
Abstract
An image capturing apparatus includes a light source to emit first light to a light translucent member, an image sensor to capture an adhering detection frame for acquiring an adhering detection image to detect a substance adhering on the light translucent member by using the first light emitted from the light source, and to capture object recognition frames for acquiring object recognition images for recognizing objects other than the substance by receiving second light, and circuitry to set a frame time of the adhering detection frame shorter than a frame time of each of the object recognition frames, and to set an exposure time of an object recognition frame right after the adhering detection frame to a value that prevents overlapping of an exposure period of the adhering detection frame and an exposure period of the object recognition frame right after the adhering detection frame.
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Citations
11 Claims
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1. An image capturing apparatus comprising:
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a light source to emit first light to a light translucent member; an image sensor to capture an adhering detection frame for acquiring an adhering detection image to detect a substance adhering on the light translucent member by using the first light emitted from the light source, and to capture one or more object recognition frames for acquiring one or more object recognition images for recognizing one or more objects other than the substance by receiving second light, different from the first light emitted from the light source, by performing an image capturing operation of the adhering detection frame and the object recognition frames repeatedly; and circuitry to set a frame time of the adhering detection frame shorter than a frame time of each of the object recognition frames, and to set an exposure time of an object recognition frame right after the adhering detection frame to a value that prevents overlapping of an exposure period of the adhering detection frame and an exposure period of the object recognition frame right after the adhering detection frame. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 11)
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9. A method of capturing images by using an image capturing apparatus, comprising the steps of:
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emitting first light from a light source to a light translucent member; capturing an adhering detection frame for acquiring an adhering detection image to detect a substance adhering on the light translucent member by using the first light emitted from the light source and an image sensor; capturing one or more object recognition frames for acquiring one or more object recognition images for recognizing one or more objects other than the substance by receiving second light, different from the first light emitted from the light source, by using the image sensor by repeatedly performing an image capturing operation of the adhering detection frame and the object recognition frames; setting a frame time of the adhering detection frame shorter than a frame time of each of the object recognition frames; and setting an exposure time of an object recognition frame right after the adhering detection frame (R4) to a value that prevents overlapping of an exposure period of the adhering detection frame and an exposure period of the object recognition frame right after the adhering detection frame.
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10. A non-transitory computer-readable storage medium storing a program that, when executed by a computer, causes the computer to execute a method of capturing images by using an image capturing apparatus, the method comprising the steps of:
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emitting first light from a light source to a light translucent member; capturing an adhering detection frame for acquiring an adhering detection image to detect a substance adhering on the light translucent member by using the first light emitted from the light source and an image sensor; capturing one or more object recognition frames for acquiring one or more object recognition images for recognizing one or more objects other than the substance by receiving second light, different from the first light emitted from the light source, by using the image sensor by repeatedly performing an image capturing operation of the adhering detection frame and the object recognition frames; setting a frame time of the adhering detection frame shorter than a frame time of each of the object recognition frames; and setting an exposure time of an object recognition frame right after the adhering detection frame (R4) to a value that prevents overlapping of an exposure period of the adhering detection frame and an exposure period of the object recognition frame right after the adhering detection frame.
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Specification