Imaging system, movable unit, and imaging method

An imaging system comprising:

• an imaging unit disposed on a movable unit;
• and
• a processor configured to output image data acquired by the imaging unit to a display unit,
• wherein the imaging unit is configured to perform imaging at a higher resolution in a peripheral area of an imaging angle of view than that in a central area,
• wherein a first imaging area in front of the movable unit in a moving direction of the movable unit is imaged in a part of the peripheral area, a second imaging area is imaged in the central area, and a third imaging area closer to the movable unit than the second imaging area is imaged in another part of the peripheral area,
• wherein the imaging unit includes an image sensor and an optical system configured to form an optical image on a light receiving surface of the image sensor, and
• wherein the following inequality is satisfied:
• 0.2
• ≤
• 2
• ⁢
• f
• ⁢
• tan
• ⁡
• (
• θmax
• /
• 2
• )
• /
• y
• ⁡
• (
• θ
• ⁢
• max
• )
• ≤
• 0
• ⁢
• .95
• .
• where f is a focal length of the optical system, y(θ) is a projection characteristic that represents a relationship between a half angle of view θ of the optical system and an image height y on an image plane, and θ max is a maximum half angle of view of the optical system.