Camera unit installing method, moving device, image processing system, image processing method, and storage medium
A method of installing a camera unit including an imaging device and an optical system that forms an optical image on a light receiving surface of the imaging device, wherein the light receiving surface includes a first area and a second area on a peripheral side of the first area, wherein an increase in an image height with respect to a unit half angle of view in the first area is larger than an increase in an image height with respect to a unit half angle of view in the second area, wherein the optical system and the imaging device are disposed such that the gravity center of the first area deviates in a first direction from the center of the light receiving surface, and wherein the method includes installing the camera unit such that the first direction is directed to an area other than a predetermined targeted area.
1. A method of installing a camera unit including an imaging device and an optical system that forms an optical image on a light receiving surface of the imaging device,
wherein the light receiving surface includes a first area and a second area on a peripheral side of the first area,
wherein an increase in an image height with respect to a unit half angle of view in the first area is larger than an increase in an image height with respect to a unit half angle of view in the second area,
wherein the optical system and the imaging device are disposed such that the gravity center of the first area deviates in a first direction from the center of the light receiving surface,
wherein the method includes installing the camera unit such that the first direction is directed to an area other than a predetermined targeted area, and
wherein the following inequality is satisfied:
1.0< f ×sin θ max/ y (θ max)≤1.9
where f represents a focal distance of the optical system, θmax represents a maximum half angle of view of the optical system, y represents an image height on an imaging surface, and y(θ) represents a projection characteristic indicating a relationship between the image height y and the half angle of view θ.
2. The method of installing a camera unit according to claim 1 , wherein distortion of the optical system corresponding to the first area is smaller than distortion of the optical system corresponding to the second area.
3. The method of installing a camera unit according to claim 2 , wherein, when a focal distance of the optical system is denoted by f, a half angle of view is denoted by θ, an image height on an imaging surface is denoted by y, and a projection characteristic indicating a relationship between the image height y and the half angle of view θ is denoted by y(θ), a value of y(θ) in the low-distortion area is greater than f×θ.
4. The method of installing a camera unit according to claim 1 , wherein a projection characteristic of the optical system corresponding to the first area and a projection characteristic of the optical system corresponding to the second area are different from each other.
5. The method of installing a camera unit according to claim 1 , wherein the imaging device is configured to sequentially perform photoelectric conversion row by row in a second direction from pixels in a predetermined row out of a plurality of pixels in the imaging device, and the first direction is a direction opposite to the second direction.
6. The method of installing a camera unit according to claim 1 , comprising installing the camera unit in a movable object such that the first direction is directed upward with respect to a horizontal plane.
7. The method of installing a camera unit according to claim 1 , comprising installing the camera unit in a movable object such that the first direction is directed toward the movable object, wherein the first direction includes a component of a horizontal direction.
8. The method of installing a camera unit according to claim 1 , comprising installing an optical axis of the optical system such that the optical axis is directed to a horizontal direction or downward with respect to the horizontal direction.
9. The method of installing a camera unit according to claim 8 , comprising installing the optical axis of the optical system such that the optical axis is directed to downward in a vertical direction.
10. The method of installing a camera unit according to claim 1 , wherein the camera unit includes a storage unit configured to store information of a position and a posture of the camera unit.
11. A moving device comprising:
a camera unit; and
a movable object body in which the camera unit is installed,
wherein the camera unit includes an imaging device and an optical system that forms an optical image on a light receiving surface of the imaging device,
wherein the light receiving surface includes a first area and a second area on a peripheral side of the first area
wherein an increase in an image height with respect to a unit half angle of view in the first area is larger than an increase in an image height with respect to a unit half angle of view in the second area,
wherein the optical system and the imaging device are disposed such that the gravity center of the first area deviates in a first direction from the center of the light receiving surface, and
wherein the camera unit is installed such that the first direction is directed to an area other than a predetermined targeted area, and
wherein the following inequality is satisfied:
0.1< f ×sin θ max/ y (θ max)≤1.9
where f represents a focal distance of the optical system, θmax represents a maximum half angle of view of the optical system, y represents an image height on an imaging surface, and y(θ) represents a projection characteristic indicating a relationship between the image height y and the half angle of view θ.
12. The moving device according to claim 11 , wherein the camera unit is disposed such that the first direction is directed upward with respect to a horizontal plane.
13. The moving device according to claim 11 , wherein the camera unit is installed such that the first direction is directed to the mobile object body, and the first direction includes a component of a horizontal direction.
14. An image processing system comprising:
a camera unit; and
at least one processor or circuit configured to function as an image processing unit configured to process an image signal acquired from the camera unit on the basis of information of a position and a posture of the camera unit,
wherein the camera unit includes
an imaging device and an optical system that forms an optical image on a light receiving surface of the imaging device,
wherein the light receiving surface includes a first area and a second area on a peripheral side of the first area
wherein an increase in an image height with respect to a unit half angle of view in the first area is larger than an increase in an image height with respect to a unit half angle of view in the second area,
wherein the optical system and the imaging device are disposed such that the gravity center of the first area deviates in a first direction from the center of the light receiving surface,
wherein the camera unit is installed such that the first direction is directed to an area other than a predetermined targeted area, and
wherein the following inequality is satisfied:
1.0< f ×sin θ max/ y (θ max)≤1.9
where f represents a focal distance of the optical system, θmax represents a maximum half angle of view of the optical system, y represents an image height on an imaging surface, and y(θ) represents a projection characteristic indicating a relationship between the image height y and the half angle of view θ.
15. The image processing system according to claim 14 , wherein the image processing unit performs distortion correction on an image signal from the imaging device on the basis of characteristic information of the optical system.
16. The image processing system according to claim 14 , wherein the image processing unit is configured to perform image recognition on an image signal from the imaging device.
17. The image processing system according to claim 16 , wherein the image processing unit is configured to generate a composite image by synthesizing image signals from a plurality of the camera units and performs the image recognition on the composite image.
18. The image processing system according to claim 17 , wherein imaging areas of at least two camera units overlap each other.