Imaging device, image processing device, moving device, control method, and storage medium

An image processing device comprising:

• an imaging element;
• an optical system configured to form an image on an imaging surface of the imaging element and has a characteristic in which an image formation magnification differs depending on a position in the imaging surface;
• and
• at least one processor or circuit configured to function as
• a demosaic unit configured to generate color image data of at least two colors from the data output from the imaging element,
• a distortion correction unit configured to correct distortion of the color image data of at least two colors generated by the demosaic unit,
• an object recognition unit configured to perform object recognition based on the color image data of which the distortion has been corrected by the distortion correction unit, and
• a second distortion correction unit configured to further correct the distortion of the color image data input to the object recognition unit.

A moving device comprising:

• an imaging element;
• an optical system configured to form an image on an imaging surface of the imaging element and has a characteristic in which an image formation magnification differs depending on a position in the imaging surface;
• and
• at least one processor or circuit configured to function as
• a demosaic unit configured to generate color image data of at least two colors from the data output from the imaging element,
• a distortion correction unit configured to correct distortion of the color image data of at least two colors generated by the demosaic unit,
• an object recognition unit configured to perform object recognition based on the color image data of which the distortion has been corrected by the distortion correction unit,
• a controller configured to control a warning operation or controls a movement direction or a movement speed of the moving device based on a recognition result from the object recognition unit, and
• an optical correction unit configured to perform peripheral light quantity decrease correction or chromatic aberration correction on data output from the imaging element and provided before the demosaic unit.

A control method for an imaging device having an imaging element and an optical system configured to form an image on an imaging surface of the imaging element and has a characteristic in which an image formation magnification differs depending on a position in the imaging surface, the control method comprising:

• demosaic processing of generating color image data of at least two colors from the data output from the imaging element;
• correcting distortion of the color image data of at least two colors generated in the demosaic processing;
• and
• optical correction processing of performing peripheral light quantity decrease correction or chromatic aberration correction on data output from the imaging element and provided before the demosaic processing.

A non-transitory computer-readable storage medium configured to store a computer program for a computer of an imaging device to execute the following steps, the imaging device having an imaging element and an optical system configured to form an image on an imaging surface of the imaging element and has a characteristic in which an image formation magnification differs depending on a position in the imaging surface, the steps comprising:

• demosaic processing of generating color image data of at least two colors from the data output from the imaging element;
• correcting distortion of the color image data of at least two colors generated in the demosaic processing;
• and
• optical correction processing of performing peripheral light quantity decrease correction or chromatic aberration correction on data output from the imaging element and provided before the demosaic processing.

An imaging device comprising:

• an imaging element;
• an optical system configured to form an image on an imaging surface of the imaging element and has a characteristic in which an image formation magnification differs depending on a position in the imaging surface;
• and
• at least one processor or circuit configured to function as
• a demosaic unit configured to generate color image data of at least two colors from the data output from the imaging element,
• a distortion correction unit configured to correct distortion of the color image data of at least two colors generated by the demosaic unit, and
• a mosaic unit configured to perform a mosaic process on the color image data of at least two colors of which the distortion has been corrected by the distortion correction unit.

An imaging device comprising:

• an imaging element;
• an optical system configured to form an image on an imaging surface of the imaging element and has a characteristic in which an image formation magnification differs depending on a position in the imaging surface;
• and
• at least one processor or circuit configured to function as
• a demosaic unit configured to generate color image data of at least two colors from the data output from the imaging element, and
• a distortion correction unit configured to correct distortion of the color image data of at least two colors generated by the demosaic unit,
• wherein the distortion correction unit corrects the distortion of the color image data of at least two colors and generates image data having different resolutions.

An imaging device comprising:

• an imaging element;
• an optical system configured to form an image on an imaging surface of the imaging element and has a characteristic in which an image formation magnification differs depending on a position in the imaging surface;
• and
• at least one processor or circuit configured to function as
• a demosaic unit configured to generate color image data of at least two colors from the data output from the imaging element, and
• a distortion correction unit configured to correct distortion of the color image data of at least two colors generated by the demosaic unit,
• wherein the distortion correction unit includes:
• an image data accumulation unit configured to accumulate the color image data of at least two colors generated by the demosaic unit,
• an output region selection unit configured to select a region of image data to be output at a predetermined resolution,
• an optical characteristic information storage unit configured to store optical characteristics of the optical system,
• a read region calculation unit configured to acquire optical characteristic information from the optical characteristic information storage unit based on the information input from the output region selection unit and to calculate a region to be read from the image data accumulation portion,
• an image data reading unit configured to read image data from the image data accumulation unit based on the information input from the read region calculation unit, and
• an interpolation processing unit configured to perform an interpolation process by using image data output from the image data reading unit.