Imaging device and imaging system
View Patent ↗An imaging device of the present disclosure includes an event detection sensor that detects an event, and a control unit that controls the event detection sensor. Then, the control unit switches a resolution of the event detection sensor depending on a traveling state of a mobile body. Furthermore, the imaging system of the present disclosure includes an event detection sensor that detects an event; a control unit that switches a resolution of the event detection sensor depending on a traveling state of a mobile body; and an object recognition unit that performs event recognition on the basis of an event signal output from the event detection sensor.
1. An imaging device comprising:
an event detection sensor configured to detect an event, wherein the event detection sensor includes an asynchronous imaging device that detects as an event that a change in brightness in a pixel that photoelectrically converts incident light exceeds a predetermined threshold value; and
a processor configured to:
control the event detection sensor, and switch a resolution of the event detection sensor depending on a traveling state of a mobile body, wherein the imaging device is mounted on the mobile body; and
set the resolution of the event detection sensor to a first resolution mode in which the resolution is relatively low or a second resolution mode in which the resolution is relatively high, depending on the traveling state of the mobile body.
2. The imaging device according to claim 1 , wherein
the processor is further configured to set the first resolution mode when a speed of the mobile body is greater than or equal to a certain speed, and set the second resolution mode when the speed of the mobile body is less than the certain speed.
3. The imaging device according to claim 1 , wherein
the processor is further configured to set the second resolution mode when a relative speed to an object in front is greater than or equal to a certain relative speed, and set the first resolution mode when the relative speed to the object in front is less than the certain relative speed.
4. The imaging device according to claim 1 , wherein
the processor is further configured to set the first resolution mode when a speed of the mobile body is greater than or equal to a certain speed and a number of events detected by the event detection sensor is greater than or equal to a predetermined threshold value, and set the second resolution mode when the speed of the mobile body is less than the certain speed and the number of events detected by the event detection sensor is less than the predetermined threshold value.
5. The imaging device according to claim 1 , wherein
the processor is further configured to set the second resolution mode when a relative speed to an object in front is greater than or equal to a certain relative speed and a number of events detected by the event detection sensor is greater than or equal to a predetermined threshold value, and set the first resolution mode when the relative speed to the object in front is less than the certain relative speed and the number of events detected by the event detection sensor is less than the predetermined threshold value.
6. The imaging device according to claim 1 , wherein
in the traveling state in the first resolution mode, when a speed of the mobile body is less than a certain speed, and a number of events detected by the event detection sensor is greater than or equal to a predetermined threshold value, and an area of an object that occupies an angle of view of the event detection sensor is greater than or equal to a certain ratio, the processor is configured to determine that congestion has occurred and shift from the first resolution mode to the second resolution mode.
7. The imaging device according to claim 1 , wherein
in the traveling state in the first resolution mode, when a speed of the mobile body is greater than or equal to a certain speed, and a number of events detected by the event detection sensor is greater than or equal to a predetermined threshold value, and an area of an object that occupies an angle of view of the event detection sensor is greater than or equal to a certain ratio, the processor is further configured to determine to be in highway traveling and shift from the first resolution mode to the second resolution mode.
8. The imaging device according to claim 1 , wherein
the processor is further configured to set the first resolution mode when the mobile body travels straight, and set the second resolution mode when a course of the mobile body is changed.
9. The imaging device according to claim 8 , wherein
when rotation of a steering wheel is greater than or equal to a certain angle and a number of events detected by the event detection sensor is greater than or equal to a predetermined threshold value, the processor is further configured to determine that the course of the mobile body is changed.
10. The imaging device according to claim 8 , wherein
when rotation of a steering wheel is within a certain angle and a number of events detected by the event detection sensor is less than a predetermined threshold value, the processor is further configured to determine that the mobile body travels straight.
11. The imaging device according to claim 1 , wherein
the resolution of the event detection sensor is switched for each of areas of a pixel array in the event detection sensor.
12. An imaging system comprising:
an event detection sensor configured to detect an event;
an image sensor configured to perform imaging at a predetermined frame rate; and
a processor configured to:
switch a resolution of the event detection sensor depending on a traveling state of a mobile body;
perform event recognition processing on a basis of an event signal output from the event detection sensor and image data output from the image sensor; and
control, based on the event recognition processing, the event signal output from the event detection sensor, and the image data output from the image sensor when it is determined that the processor is not able to perform the recognition processing only with the event signal output from the event detection sensor.
13. The imaging system according to claim 12 , wherein
the processor is further configured to specify an area detectable as the mobile body in an angle of view of the event detection sensor on a basis of a result of the event recognition processing, and when the area detectable as the mobile body is greater than or equal to a predetermined threshold value, determine that congestion has occurred on a condition that a traveling speed of the mobile body is less than a predetermined threshold value, and set the second resolution mode for the specified area.
14. The imaging system according to claim 12 , wherein
the processor is further configured to specify an area detectable as the mobile body in an angle of view of the event detection sensor on a basis of a result of the event recognition processing, and when the area detectable as the mobile body is greater than or equal to a predetermined threshold value, determine to be in highway traveling on a condition that a traveling speed of the mobile body is greater than or equal to a predetermined threshold value, and set the second resolution mode for the specified area.