IMAGE PICKUP APPARATUS AND INTEGRATED CIRCUIT THEREFOR, IMAGE PICKUP METHOD, IMAGE PICKUP PROGRAM, AND IMAGE PICKUP SYSTEM
An imaging device generates distance information for each object in a plurality of images having the same viewpoint. During the generation, the imaging device detects distances from the viewpoint to some of the objects intermittently, and estimates the distances from the viewpoint to the other objects using the detected distances. The imaging device extracts object areas from the images, estimates the correspondence between the object areas of a target image targeted for distance estimation and the object areas of a reference image having been subjected to distance detection by a comparison therebetween, and allocates, for each of the object areas of the target image, the distance information of the corresponding object area of the reference image.
1 - 15 . (canceled)
16 . An imaging device comprising:
an image input unit configured to receive inputs of a first image and a second image that are captured at different times from the same viewpoint;
an area division unit configured to divide each of the first image and the second image to extract areas corresponding one-to-one to objects;
a distance detection unit configured to generate distance information for each area of the first image by detecting a distance from the viewpoint to the object corresponding to the area of the first image;
a distance selection unit configured to select whether the distance detection unit is to generate distance information for each area of the second image by detecting a distance from the viewpoint to the object corresponding to the area of the second image;
an area correspondence determination unit configured to, when the distance selection unit selects negatively, determine a correspondence between the areas of the first image and the areas of the second image; and
a distance estimation unit configured to, based on a result of the determination by the area correspondence determination unit, generate distance information for the second image by associating each of the areas of the second image with the distance information, of one of the areas of the first image, that is estimated to indicate the distance from the viewpoint to the object corresponding to the area of the second image.
17 . The imaging device of claim 16 further comprising
an area comparison unit configured to compare area information of each of the areas of the second image to area information of each of the areas of the first image and generate area comparison information, wherein
the area correspondence determination unit determines the correspondence between the areas of the first image and the areas of the second image, based on the area comparison information.
18 . The imaging device of claim 16 further comprising
an image comparison unit configured to compare color information of the second image to color information of the first image and generate image comparison information, wherein
the area correspondence determination unit determines the correspondence between the areas of the first image and the areas of the second image, based on the image comparison information.
19 . The imaging device of claim 16 further comprising:
an image comparison unit configured to compare color information of the second image to color information of the first image and generate image comparison information; and
an area comparison unit configured to compare area information of each of the areas of the second image to area information of each of the areas of the first image and generate area comparison information, wherein
the area correspondence determination unit determines the correspondence between the areas of the first image and the areas of the second image, based on the image comparison information and the area comparison information.
20 . The imaging device of claim 17 , wherein
the area comparison unit performs the comparison after scaling either the areas of the first image or the areas of the second image, and
the distance estimation unit corrects, for each of the areas subjected to the scaling, the distance information corresponding to the area by using a scaling factor used for the scaling.
21 . The imaging device of claim 17 , wherein
the area comparison information includes at least one of a size of an overlap area between each of the areas of the first image and each of the areas of the second image, a similarity in shape therebetween, or a distance between a centroid position of each of the areas of the first image and a centroid position of each of the areas of the second image.
22 . The imaging device of claim 18 , wherein
the image comparison information includes at least one of a similarity in brightness between the first image and the second image or a similarity in color information therebetween.
23 . The imaging device of claim 16 , wherein
the image input unit is further configured to receive an input of a sub-image that has a disparity with respect to the first image, and
the distance detection unit generates the distance information of the first image by using the first image and the sub-image.
24 . The imaging device of claim 23 , wherein
the sub-image differs in focal distance from the first image, and is generated as a result of a lens or a camera sensor moving back and forth.
25 . The imaging device of claim 23 , wherein
the image input unit is further configured to receive images from at least two cameras, and to handle images from one of the cameras as the first image and the second image and handle an image from another one of the cameras as the sub-image, and
the distance detection unit detects the disparity between the first image and the sub-image, and generates the distance information of the first image based on the detected disparity.
26 . An integrated circuit comprising:
an image input unit configured to receive inputs of a first image and a second image that are captured at different times from the same viewpoint;
an area division unit configured to divide each of the first image and the second image to extract areas corresponding one-to-one to objects;
a distance detection unit configured to generate distance information for each area of the first image by detecting a distance from the viewpoint to the object corresponding to the area of the first image;
a distance selection unit configured to select whether the distance detection unit is to generate distance information for each area of the second image by detecting a distance from the viewpoint to the object corresponding to the area of the second image;
an area correspondence determination unit configured to, when the distance selection unit selects negatively, determine a correspondence between the areas of the first image and the areas of the second image; and
a distance estimation unit configured to, based on a result of the determination by the area correspondence determination unit, generate distance information for the second image by associating each of the areas of the second image with the distance information, of one of the areas of the first image, that is estimated to indicate the distance from the viewpoint to the object corresponding to the area of the second image.
27 . An imaging method comprising:
receiving inputs of a first image and a second image that are captured at different times from the same viewpoint;
dividing each of the first image and the second image to extract areas corresponding one-to-one to objects;
generating distance information for each area of the first image by detecting a distance from the viewpoint to the object corresponding to the area of the first image;
selecting whether distance information is to be generated for each area of the second image by detecting a distance from the viewpoint to the object corresponding to the area of the second image;
when the selection is made negatively, determining a correspondence between the areas of the first image and the areas of the second image; and
based on a result of the determination of the correspondence, generating distance information for the second image by associating each of the areas of the second image with the distance information, of one of the areas of the first image, that is estimated to indicate the distance from the viewpoint to the object corresponding to the area of the second image.
28 . A non-transitory computer readable recording medium storing thereon a program for causing a computer to perform imaging processing in which distance information is generated for images, the imaging processing comprising:
receiving inputs of a first image and a second image that are captured at different times from the same viewpoint;
dividing each of the first image and the second image to extract areas corresponding one-to-one to objects;
generating distance information for each area of the first image by detecting a distance from the viewpoint to the object corresponding to the area of the first image;
selecting whether distance information is to be generated for each area of the second image by detecting a distance from the viewpoint to the object corresponding to the area of the second image;
when the selection is made negatively, determining a correspondence between the areas of the first image and the areas of the second image; and
based on a result of the determination of the correspondence, generating distance information for the second image by associating each of the areas of the second image with the distance information, of one of the areas of the first image, that is estimated to indicate the distance from the viewpoint to the object corresponding to the area of the second image.
29 . An imaging system comprising:
a camera configured to capture a first image and a second image at different times from the same viewpoint;
an imaging device configured to receive the first image and the second image from the camera; and
a recording medium for storing images each having distance information generated by the imaging device, wherein
the imaging device including:
an image input unit configured to receive inputs of the first image and the second image;
an area division unit configured to divide each of the first image and the second image to extract areas corresponding one-to-one to objects;
a distance detection unit configured to generate distance information for each area of the first image by detecting a distance from the viewpoint to the object corresponding to the area of the first image;
a distance selection unit configured to select whether the distance detection unit is to generate distance information for each area of the second image by detecting a distance from the viewpoint to the object corresponding to the area of the second image;
an area correspondence determination unit configured to, when the distance selection unit selects negatively, determine a correspondence between the areas of the first image and the areas of the second image; and
a distance estimation unit configured to, based on a result of the determination by the area correspondence determination unit, generate distance information for the second image by associating each of the areas of the second image with the distance information, of one of the areas of the first image, that is estimated to indicate the distance from the viewpoint to the object corresponding to the area of the second image.
30 . The imaging device of claim 16 , wherein
the distance estimation unit generates the distance information for the second image by filling each of the areas of the second image with the distance information of one of the areas of the first image associated with the area of the second image.
31 . The imaging device of claim 30 , wherein
the distance estimation unit fills every pixel of each of the areas of the second image with a representative value of the distance information of one of the areas of the first image associated with the area of the second image, the representative value being used as a distance from the viewpoint to the object corresponding to the area of the second image.