Wide-angle image generating device

A wide-angle image-generating device, said wide-angle image-generating device comprising a wide-angle imaging device and a computational processing device, wherein the wide-angle imaging device comprises a reflecting mirror having a convex reflecting plane whose angle θ has the minimum range of (θ1≦θ≦θ2, −90°≦θ1≦90°, −90°≦θ2≦90°, θ1<θ2), wherein a reference optical axis is defined in an arbitrary direction perpendicular to the central rotational axis of a rotary-symmetrical body, and the direction of the reference optical axis is taken to be 0 degrees;

• also comprises an imaging device that has a principal point on the central rotational axis of the reflecting mirror, forms a reflected image of the reflecting mirror, and picks up objects in a range of at least angle θ around the central rotational axis of the reflecting mirror;
• and is mounted in a plane perpendicular to the reference optical axis, with the central rotational axis of the reflecting mirror tilted in any in-plane tilt direction of the central rotational axis;
• and
• the computational processing device comprises a developed-image generating unit for performing computational processing on the image obtained from the wide-angle imaging device and generating a developed image that is tilted according to the in-plane tilt direction of the central rotational axis, and an output-image generating unit for converting the data format of the developed image into a usable output format and generating an output image.

A wide-angle image-generating device, said wide-angle image-generating device comprising a wide-angle imaging device and a computational processing device, wherein the wide-angle imaging device comprises a hyperbolic reflecting mirror having a hyperbolic reflecting plane whose angle θ has the minimum range of (θ1≦θ≦θ2, −90°≦θ1≦90°, −90°≦θ2≦90°, θ1<θ2), wherein a reference optical axis is defined in an arbitrary direction perpendicular to the central rotational axis of a hyperbolic plane, and the direction of the reference optical axis is taken to be 0 degrees;

• also comprises an imaging device in which the position of the external focal point of the hyperbolic reflecting mirror and the position of the principal point thereof substantially conform to each other, which forms a reflected image from the hyperbolic reflecting mirror, and picks up objects in a range of at least angle θ around the central rotational axis of the hyperbolic reflecting mirror;
• and is mounted in a plane that includes the reference optical axis and the central rotational axis of the hyperbolic reflecting mirror, with the central rotational axis of the hyperbolic reflecting mirror tilted in any forward tilt direction of the central rotational axis;
• and
• the computational processing device comprises a developed-image generating unit for performing computational processing on the image obtained from the wide-angle imaging device, with the projection plane being in the form of a hypothetical cylinder in which any axis passing through the internal focal point of the hyperbolic reflecting mirror serves as the central rotational axis of the hypothetical cylinder, and generating a developed image, and also comprises an output-image generating unit for converting the data format of the developed image into a usable output format and generating an output image.

(Amended) A wide-angle image-generating device, comprising:

• a reflecting mirror having a convex reflecting plane whose angle θ has the minimum range of (θ1≦θ≦θ2, −180°≦θ1≦180°, −180°≦θ2≦180°, θ1<θ2), wherein a reference optical axis is defined in an arbitrary direction perpendicular to the central rotational axis of a rotary-symmetrical body, and the direction of the reference optical axis is taken to be 0 degrees;
• an imaging device whose principal point is on the central rotational axis of the reflecting mirror, whose optical axis is tilted in the direction of the reference optical axis by an angle less than or equal to α in relation to the central rotational axis when the angle of view is 2 αwhich forms a reflected image of the reflecting mirror, and picks up objects in a range of at least angle θ around the central rotational axis of the reflecting mirror;
• a developed image generating unit for generating a developed image as viewed from the central rotational axis on the basis of the wide-angle image obtained from the imaging device;
• and
• a development table generating unit for generating a development table that contains information on the correspondence relation between the pixels in the wide-angle image and the developed image when the developed image generating unit develops the wide-angle image,
• wherein the reflecting mirror is in a hyperbolic shape that has an internal focal point on the central rotational axis thereof, and the position of the external focal point of the hyperbolic shape and the position of the principal point of the imaging device are disposed so as to substantially conform to each other, and
• wherein the development table generating unit for generating a development table is constituted so as to generate a development table that contains information about a pixel correspondence relation obtained by synthesizing the correspondence relation between a wide-angle image that contains strain due to the optical aberration in the imagining device and a wide-angle image whose strains has been corrected, and the correspondence relation between the wide-angle image whose strain has been corrected and the developed image.

(Amended) A wide-angle image-generating device, comprising:

• a reflecting mirror having a convex reflecting plane whose angle θ has the minimum range of (θ1≦θ≦θ2, −180°≦θ1≦180°, −180°≦θ2≦180°, θ1<θ2), wherein a reference optical axis is defined in an arbitrary direction perpendicular to the central rotational axis of a rotary-symmetrical body, and the direction of the reference optical axis is taken to be 0 degrees;
• an imaging device whose principal point is on the central rotational axis of the reflecting mirror, whose optical axis is tilted in the direction of the reference optical axis by an angle less than or equal to α in relation to the central rotational axis when the angle of view is 2 α, which forms a reflected image of the reflecting mirror, and picks up objects in a range of at least angle θ around the central rotational axis of the reflecting mirror;
• a developed image generating unit for generating a developed image as viewed from the central rotational axis on the basis of the wide-angle image obtained from the imaging device;
• a computational processing device for generating a development table that contains information on the correspondence relation between the pixels in the wide-angle image and the developed image when the developed image generating unit develops the wide-angle image;
• and
• a development table storage unit that stores the development table generated by the computational processing device for generating a development table, and is connected to the developed image generating unit,
• wherein the reflecting mirror is in a hyperbolic shape that has an internal focal point on the central rotational axis thereof, and the position of the external focal point of the hyperbolic shape and the position of the principal point of the imaging device are disposed so as to substantially conform to each other, and
• wherein the computational processing device for generating a development table is constituted so as to generate a development table that contains information about a pixel correspondence relation obtained by synthesizing the correspondence relation between a wide-angle image that contains strain due to the optical aberration in the imagining device and a wide-angle image whose strains has been corrected, and the correspondence relation between the wide-angle image whose strain has been corrected and the developed image.

(Amended) A wide-angle image-generating device, comprising:

• a reflecting mirror having a reflecting plane with a convex shape;
• an imaging device that forms an image from the image reflected off the reflecting mirror, picks up objects in a range of 360 degrees around the central rotational axis of the reflecting mirror, and has a principal point on the central rotational axis of the reflecting mirror;
• a developed image generating unit for generating a developed image as viewed from the central rotational axis on the basis of the wide-angle image obtained from the imaging device;
• and
• a development table generating unit for generating a development table that contains information on the correspondence relation between the pixels in the wide-angle image and the developed image when the developed image generating unit develops the wide-angle image,
• wherein the reflecting mirror is in a hyperbolic shape that has an internal focal point on the central rotational axis thereof, and the position of the external focal point of the hyperbolic shape and the position of the principal point of the imaging device are disposed so as to substantially conform to each other, and
• wherein the development table generating unit for generating a development table is constituted so as to generate a development table that contains information about a pixel correspondence relation obtained by synthesizing the correspondence relation between a wide-angle image that contains strain due to the optical aberration in the imagining device and a wide-angle image whose strains has been corrected, and the correspondence relation between the wide-angle image whose strain has been corrected and the developed image.

(Amended) A wide-angle image-generating device, comprising:

• a reflecting mirror having a reflecting plane with a convex shape;
• an imaging device that forms an image from the image reflected off the reflecting mirror, picks up objects in a range of 360 degrees around the central rotational axis of the reflecting mirror, and has a principal point on the central rotational axis of the reflecting mirror;
• a developed image generating unit for generating a developed image as viewed from the central rotational axis on the basis of the wide-angle image obtained from the imaging device;
• a computational processing device for generating a development table that contains information on the correspondence relation between the pixels in the wide-angle image and the developed image when the developed image generating unit develops the wide-angle image;
• and a development table storage unit that stores the development table generated by the computational processing device for generating a development table and is connected to the developed image generating unit;
• and
• a development table storage unit that stores the development table generated by the computational processing device for generating a development table and is connected to the developed image generating unit,
• wherein the reflecting mirror is in a hyperbolic shape that has an internal focal point on the central rotational axis thereof, and the position of the external focal point of the hyperbolic shape and the position of the principal point of the imaging device are disposed so as to substantially conform to each other, and
• wherein the computational processing device for generating a development table is constituted so as to generate a development table that contains information about a pixel correspondence relation obtained by synthesizing the correspondence relation between a wide-angle image that contains strain due to the optical aberration in the imagining device and a wide-angle image whose strains has been corrected, and the correspondence relation between the wide-angle image whose strain has been corrected and the developed image.

(Amended) A wide-angle image-generating device, comprising:

• a reflecting mirror having a convex reflecting plane whose angle θ has the minimum range of (θ1≦θ≦θ2, −180°≦θ1≦180°, −180°≦θ2≦180°, Θ1<θ2), wherein a reference optical axis is defined in an arbitrary direction perpendicular to the central rotational axis of a rotary-symmetrical body, and the direction of the reference optical axis is taken to be 0 degrees;
• an imaging device whose principal point is on the central rotational axis of the reflecting mirror, whose optical axis is tilted in the direction of the reference optical axis by an angle less than or equal to α in relation to the central rotational axis when the angle of view is 2 α, which forms a reflected image of the reflecting mirror, and picks up objects in a range of at least angle θ around the central rotational axis of the reflecting mirror;
• a developed image generating unit for generating a developed image as viewed from the central rotational axis on the basis of the wide-angle image obtained from the imaging device;
• and
• a development table generating unit for generating a development table that contains information on the correspondence relation between the pixels in the wide-angle image and the developed image when the developed image generating unit develops the wide-angle image,
• wherein the reflecting mirror is in a hyperbolic shape that has an internal focal point on the central rotational axis thereof, and the position of the external focal point of the hyperbolic shape and the position of the principal point of the imaging device are disposed so as to substantially conform to each other, and
• wherein the development table generating unit for generating a development table is constituted so as to generate a development table in which the pixel correspondence relation between the wide-angle image and the developed image is changed by setting the center of projection of the hypothetical projection plane at a point outside the rotation axis of the reflecting mirror, the hypothetical projection plane being involved in defining the pixel correspondence relation between the wide-angle image and the developed image.

(Added) A wide-angle image-generating device, comprising:

• a reflecting mirror having a convex reflecting plane whose angle θ has the minimum range of (θ1≦θ≦θ2, −180°≦θ1≦180°, −180°≦θ2≦180°, θ1<θ2), wherein a reference optical axis is defined in an arbitrary direction perpendicular to the central rotational axis of a rotary-symmetrical body, and the direction of the reference optical axis is taken to be 0 degrees;
• an imaging device whose principal point is on the central rotational axis of the reflecting mirror, whose optical axis is tilted in the direction of the reference optical axis by an angle less than or equal to α in relation to the central rotational axis when the angle of view is 2 α, which forms a reflected image of the reflecting mirror, and picks up objects in a range of at least angle θ around the central rotational axis of the reflecting mirror;
• a developed image generating unit for generating a developed image as viewed from the central rotational axis on the basis of the wide-angle image obtained from the imaging device;
• a computational processing device for generating a development table that contains information on the correspondence relation between the pixels in the wide-angle image and the developed image when the developed image generating unit develops the wide-angle image;
• and
• a development table storage unit that stores the development table generated by the computational processing device for generating a development table, and is connected to the developed image generating unit,
• wherein the reflecting mirror is in a hyperbolic shape that has an internal focal point on the central rotational axis thereof, and the position of the external focal point of the hyperbolic shape and the position of the principal point of the imaging device are disposed so as to substantially conform to each other, and
• wherein the computational processing device for generating a development table is constituted so as to generate a development table in which the pixel correspondence relation between the wide-angle image and the developed image is changed by setting the center of projection of the hypothetical projection plane at a point outside the rotation axis of the reflecting mirror, the hypothetical projection plane being involved in defining the pixel correspondence relation between the wide-angle image and the developed image.

(Added) A wide-angle image-generating device comprising:

• a reflecting mirror having a reflecting plane with a convex shape;
• an imaging device that forms an image from the image reflected off the reflecting mirror, picks up objects in a range of 360 degrees around the central rotational axis of the reflecting mirror, and has a principal point on the central rotational axis of the reflecting mirror;
• a developed image generating unit for generating a developed image as viewed from the central rotational axis on the basis of the wide-angle image obtained from the imaging device;
• and
• a development table generating unit for generating a development table that contains information on the correspondence relation between the pixels in the wide-angle image and the developed image when the developed image generating unit develops the wide-angle image,
• wherein the reflecting mirror is in a hyperbolic shape that has an internal focal point on the central rotational axis thereof, and the position of the external focal point of the hyperbolic shape and the position of the principal point of the imaging device are disposed so as to substantially conform to each other, and
• wherein the development table generating unit for generating a development table is constituted so as to generate a development table in which the pixel correspondence relation between the wide-angle image and the developed image is changed by setting the center of projection of the hypothetical projection plane at a point outside the rotation axis of the reflecting mirror, the hypothetical projection plane being involved in defining the pixel correspondence relation between the wide-angle image and the developed image.

(Added) A wide-angle image-generating device, comprising:

• a reflecting mirror having a reflecting plane with a convex shape;
• an imaging device that forms an image from the image reflected off the reflecting mirror, picks up objects in a range of 360 degrees around the central rotational axis of the reflecting mirror, and has a principal point on the central rotational axis of the reflecting mirror;
• a developed image generating unit for generating a developed image as viewed from the central rotational axis on the basis of the wide-angle image obtained from the imaging device;
• a computational processing device for generating a development table that contains information on the correspondence relation between the pixels in the wide-angle image and the developed image when the developed image generating unit develops the wide-angle image;
• and a development table storage unit that stores the development table generated by the computational processing device for generating a development table and is connected to the developed image generating unit,
• wherein the reflecting mirror is in a hyperbolic shape that has an internal focal point on the central rotational axis thereof, and the position of the external focal point of the hyperbolic shape and the position of the principal point of the imaging device are disposed so as to substantially conform to each other, and
• wherein the computational processing device for generating a development table is constituted so as to generate a development table in which the pixel correspondence relation between the wide-angle image and the developed image is changed by setting the center of projection of the hypothetical projection plane at a point outside the rotation axis of the reflecting mirror, the hypothetical projection plane-being involved in defining the pixel correspondence relation between the wide-angle image and the developed image.

(Added) A wide-angle image-generating device, comprising:

• a reflecting mirror having a convex reflecting plane whose angle θ has the minimum range of (θ1≦θ≦θ2, −180°≦θ1≦180°, −180°≦θ2≦180°, θ1<θ2), wherein a reference optical axis is defined in an arbitrary direction perpendicular to the central rotational axis of a rotary-symmetrical body, and the direction of the reference optical axis is taken to be 0 degrees;
• an imaging device whose principal point is on the central rotational axis of the reflecting mirror, whose optical axis is tilted in the direction of the reference optical axis by an angle less than or equal to α in relation to the central rotational axis when the angle of view is 2 α, which forms a reflected image of the reflecting mirror, and picks up objects in a range of at least angle θ around the central rotational axis of the reflecting mirror;
• a developed image generating unit for generating a developed image as viewed from the central rotational axis on the basis of the wide-angle image obtained from the imaging device;
• and
• a development table generating unit for generating a development table that contains information on the correspondence relation between the pixels in the wide-angle image and the developed image when the developed image generating unit develops the wide-angle image,
• wherein the reflecting mirror is in a hyperbolic shape that has an internal focal point on the central rotational axis thereof, and the position of the external focal point of the hyperbolic shape and the position of the principal point of the imaging device are disposed so as to substantially conform to each other, and
• wherein the development table generating unit for generating a development table is constituted so as to generate a development table which would arbitrarily change the pixel correspondence relation between the wide-angle image and the developed image within an arbitrary masked area provided on the developed image, and mask the developed image within the masked area.

(Added) A wide-angle image-generating device, comprising:

• a reflecting mirror having a convex reflecting plane whose angle θ has the minimum range of (θ1≦θ≦θ2, −180°≦θ1≦180°, −180°≦θ2≦180°, θ1<θ2), wherein a reference optical axis is defined in an arbitrary direction perpendicular to the central rotational axis of a rotary-symmetrical body, and the direction of the reference optical axis is taken to be 0 degrees;
• an imaging device whose principal point is on the central rotational axis of the reflecting mirror, whose optical axis is tilted in the direction of the reference optical axis by an angle less than or equal to α in relation to the central rotational axis when the angle of view is 2 α, which forms a reflected image of the reflecting mirror, and picks up objects in a range of at least angle θ around the central rotational axis of the reflecting mirror;
• a developed image generating unit for generating a developed image as viewed from the central rotational axis on the basis of the wide-angle image obtained from the imaging device;
• a computational processing device for generating a development table that contains information on the correspondence relation between the pixels in the wide-angle image and the developed image when the developed image generating unit develops the wide-angle image;
• and
• a development table storage unit that stores the development table generated by the computational processing device for generating a development table, and is connected to the developed image generating unit,
• wherein the reflecting mirror is in a hyperbolic shape that has an internal focal point on the central rotational axis thereof, and the position of the external focal point of the hyperbolic shape and the position of the principal point of the imaging device are disposed so as to substantially conform to each other, and
• wherein the computational processing device for generating a development table is constituted so as to generate a development table which would arbitrarily change the pixel correspondence relation between the wide-angle image and the developed image within an arbitrary masked area provided on the developed image, and mask the developed image within the masked area.

(Added) A wide-angle image-generating device, comprising:

• a reflecting mirror having a reflecting plane with a convex shape;
• an imaging device that forms an image from the image reflected off the reflecting mirror, picks up objects in a range of 360 degrees around the central rotational axis of the reflecting mirror, and has a principal point on the central rotational axis of the reflecting mirror;
• a developed image generating unit for generating a developed image as viewed from the central rotational axis on the basis of the wide-angle image obtained from the imaging device;
• and
• a development table generating unit for generating a development table that contains information on the correspondence relation between the pixels in the wide-angle image and the developed image when the developed image generating unit develops the wide-angle image,
• wherein the reflecting mirror is in a hyperbolic shape that has an internal focal point on the central rotational axis thereof, and the position of the external focal point of the hyperbolic shape and the position of the principal point of the imaging device are disposed so as to substantially conform to each other, and
• wherein the development table generating unit for generating a development table is constituted so as to generate a development table which would arbitrarily change the pixel correspondence relation between the wide-angle image and the developed image within an arbitrary masked area provided on the developed image, and mask the developed image within the masked area.

(Added) A wide-angle image-generating device, comprising:

• a reflecting mirror having a reflecting plane with a convex shape;
• an imaging device that forms an image from the image reflected off the reflecting mirror, picks up objects in a range of 360 degrees around the central rotational axis of the reflecting mirror, and has a principal point on the central rotational axis of the reflecting mirror;
• a developed image generating unit for generating a developed image as viewed from the central rotational axis on the basis of the wide-angle image obtained from the imaging device;
• a computational processing device for generating a development table that contains information on the correspondence relation between the pixels in the wide-angle image and the developed image when the developed image generating unit develops the wide-angle image;
• and
• a development table storage unit that stores the development table generated by the computational processing device for generating a development table and is connected to the developed image generating unit,
• wherein the reflecting mirror is in a hyperbolic shape that has an internal focal point on the central rotational axis thereof, and the position of the external focal point of the hyperbolic shape and the position of the principal point of the imaging device are disposed so as to substantially conform to each other, and
• wherein the computational processing device for generating a development table is constituted so as to generate a development table which would arbitrarily change the pixel correspondence relation between the wide-angle image and the developed image within an arbitrary masked area provided on the developed image, and mask the developed image within the masked area.

(Added) A wide-angle image-generating device, comprising:

• a reflecting mirror having a convex reflecting plane whose angle θ has the minimum range of (θ1≦θ≦θ2, −180°≦θ1≦180°, −180°≦θ2≦180°, θ1<θ2), wherein a reference optical axis is defined in an arbitrary direction perpendicular to the central rotational axis of a rotary-symmetrical body, and the direction of the reference optical axis is taken to be 0 degrees;
• an imaging device whose principal point is on the central rotational axis of the reflecting mirror, whose optical axis is tilted in the direction of the reference optical axis by an angle less than or equal to α in relation to the central rotational axis when the angle of view is 2 α, which forms a reflected image of the reflecting mirror, and picks up objects in a range of at least angle θ around the central rotational axis of the reflecting mirror;
• a developed image generating unit for generating a developed image as viewed from the central rotational axis on the basis of the wide-angle image obtained from the imaging device;
• and
• a development table generating unit for generating a development table that contains information on the correspondence relation between the pixels in the wide-angle image and the developed image when the developed image generating unit develops the wide-angle image,
• wherein the reflecting mirror is in a hyperbolic shape that has an internal focal point on the central rotational axis thereof, and the position of the external focal point of the hyperbolic shape and the position of the principal point of the imaging device are disposed so as to substantially conform to each other, and
• wherein an image quality correction processing unit for enhancing high-frequency components, with the degree of enhancement varying according to the position on the developed image, is added to a subsequent stage of the developed image generating unit as post-processing of the developed image generating unit.

(Added) A wide-angle image-generating device, comprising:

• a reflecting mirror having a convex reflecting plane whose angle θ has the minimum range of (θ1≦θ≦θ2, −180°≦θ1≦180°, −180°≦θ2≦180°, θ1<θ2), wherein a reference optical axis is defined in an arbitrary direction perpendicular to the central rotational axis of a rotary-symmetrical body, and the direction of the reference optical axis is taken to be 0 degrees;
• an imaging device whose principal point is on the central rotational axis of the reflecting mirror, whose optical axis is tilted in the direction of the reference optical axis by an angle less than or equal to α in relation to the central rotational axis when the angle of view is 2 α, which forms a reflected image of the reflecting mirror, and picks up objects in a range of at least angle θ around the central rotational axis of the reflecting mirror;
• a developed image generating unit for generating a developed image as viewed from the central rotational axis on the basis of the wide-angle image obtained from the imaging device;
• a computational processing device for generating a development table that contains information on the correspondence relation between the pixels in the wide-angle image and the developed image when the developed image generating unit develops the wide-angle image;
• and
• a development table storage unit that stores the development table generated by the computational processing device for generating a development table, and is connected to the developed image generating unit,
• wherein the reflecting mirror is in a hyperbolic shape that has an internal focal point on the central rotational axis thereof, and the position of the external focal point of the hyperbolic shape and the position of the principal point of the imaging device are disposed so as to substantially conform to each other, and
• wherein an image quality correction processing unit for enhancing high-frequency components, with the degree of enhancement varying according to the position on the developed image, is added to a subsequent stage of the developed image generating unit as post-processing of the developed image generating unit.

(Added) A wide-angle image-generating device, comprising:

• a reflecting mirror having a reflecting plane with a convex shape;
• an imaging device that forms an image from the image reflected off the reflecting mirror, picks up objects in a range of 360 degrees around the central rotational axis of the reflecting mirror, and has a principal point on the central rotational axis of the reflecting mirror;
• a developed image generating unit for generating a developed image as viewed from the central rotational axis on the basis of the wide-angle image obtained from the imaging device;
• and
• a development table generating unit for generating a development table that contains information on the correspondence relation between the pixels in the wide-angle image and the developed image when the developed image generating unit develops the wide-angle image,
• wherein the reflecting mirror is in a hyperbolic shape that has an internal focal point on the central rotational axis thereof, and the position of the external focal point of the hyperbolic shape and the position of the principal point of the imaging device are disposed so as to substantially conform to each other, and
• wherein an image quality correction processing unit for enhancing high-frequency components, with the degree of enhancement varying according to the position on the developed image, is added to a subsequent stage of the developed image generating unit as post-processing of the developed image generating unit.

(Added) A wide-angle image-generating device, comprising:

• a reflecting mirror having a reflecting plane with a convex shape;
• an imaging device that forms an image from the image reflected off the reflecting mirror, picks up objects in a range of 360 degrees around the central rotational axis of the reflecting mirror, and has a principal point on the central rotational axis of the reflecting mirror;
• a developed image generating unit for generating a developed image as viewed from the central rotational axis on the basis of the wide-angle image obtained from the imaging device;
• a computational processing device for generating a development table that contains information on the correspondence relation between the pixels in the wide-angle image and the developed image when the developed image generating unit develops the wide-angle image;
• and
• a development table storage unit that stores the development table generated by the computational processing-device for generating a development table and is connected to the developed image generating unit,
• wherein the reflecting mirror is in a hyperbolic shape that has an internal focal point on the central rotational axis thereof, and the position of the external focal point of the hyperbolic shape and the position of the principal point of the imaging device are disposed so as to substantially conform to each other, and
• wherein an image quality correction processing unit for enhancing high-frequency components, with the degree of enhancement varying according to the position on the developed image, is added to a subsequent stage of the developed image generating unit as post-processing of the developed image generating unit.

(Added) A wide-angle image-generating device, comprising:

• a reflecting mirror having a convex reflecting plane whose angle θ has the minimum range of (θ1≦θ≦θ2, −180°≦θ1≦180°, −180°≦θ2≦180°, θ1<θ2), wherein a reference optical axis is defined in an arbitrary direction perpendicular to the central rotational axis of a rotary-symmetrical body, and the direction of the reference optical axis is taken to be 0 degrees;
• an imaging device whose principal point is on the central rotational axis of the reflecting mirror, whose optical axis is tilted in the direction of the reference optical axis by an angle less than or equal to α in relation to the central rotational axis when the angle of view is 2 α, which forms a reflected image of the reflecting mirror, and picks up objects in a range of at least angle θ around the central rotational axis of the reflecting mirror;
• a developed image generating unit for generating a developed image as viewed from the central rotational axis on the basis of the wide-angle image obtained from the imaging device;
• and
• a development table generating unit for generating a development table that contains information on the correspondence relation between the pixels in the wide-angle image and the developed image when the developed image generating unit develops the wide-angle image,
• wherein the reflecting mirror is in a hyperbolic shape that has an internal focal point on the central rotational axis thereof, and the position of the external focal point of the hyperbolic shape and the position of the principal point of the imaging device are disposed so as to substantially conform to each other, and
• wherein an image-masking unit is provided for performing image masking to produce an image in which a specific area of the image developed by the developed image generating unit differs from that of the original.

(Added) A wide-angle image-generating device, comprising:

• a reflecting mirror having a convex reflecting plane whose angle θ has the minimum range of (θ1≦θ<θ2, −180°≦θ1≦180°, −180°≦θ2≦180°, θ1<θ2), wherein a reference optical axis is defined in an arbitrary direction perpendicular to the central rotational axis of a rotary-symmetrical body, and the direction of the reference optical axis is taken to be 0 degrees;
• an imaging device whose principal point is on the central rotational axis of the reflecting mirror, whose optical axis is tilted in the direction of the reference optical axis by an angle less than or equal to α in relation to the central rotational axis when the angle of view is 2 α, which forms a reflected image of the reflecting mirror, and picks up objects in a range of at least angle θ around the central rotational axis of the reflecting mirror;
• a developed image generating unit for generating a developed image as viewed from the central rotational axis on the basis of the wide-angle image obtained from the imaging device;
• a computational processing device for generating a development table that contains information on the correspondence relation between the pixels in the wide-angle image and the developed image when the developed image generating unit develops the wide-angle image;
• and
• a development table storage unit that stores the development table generated by the computational processing device for generating a development table, and is connected to the developed image generating unit,
• wherein the reflecting mirror is in a hyperbolic shape that has an internal focal point on the central rotational axis thereof, and the position of the external focal point of the hyperbolic shape and the position of the principal point of the imaging device are disposed so as to substantially conform to each other, and
• wherein an image-masking unit is provided for performing image masking to produce an image in which a specific area of the image developed by the developed image generating unit differs from that of the original.

(Added) A wide-angle image-generating device, comprising:

• a reflecting mirror having a reflecting plane with a convex shape;
• an imaging device that forms an image from the image reflected off the reflecting mirror, picks up objects in a range of 360 degrees around the central rotational axis of the reflecting mirror, and has a principal point on the central rotational axis of the reflecting mirror;
• a developed image generating unit for generating a developed image as viewed from the central rotational axis on the basis of the wide-angle image obtained from the imaging device;
• and
• a development table generating unit for generating a development table that contains information on the correspondence relation between the pixels in the wide-angle image and the developed image when the developed image generating unit develops the wide-angle image,
• wherein the reflecting mirror is in a hyperbolic shape that has an internal focal point on the central rotational axis thereof, and the position of the external focal point of the hyperbolic shape and the position of the principal point of the imaging device are disposed so as to substantially conform to each other, and
• wherein an image-masking unit is provided for performing image masking to produce an image in which a specific area of the image developed by the developed image generating unit differs from that of the original.

(Added) A wide-angle image-generating device, comprising:

• a reflecting mirror having a reflecting plane with a convex shape;
• an imaging device that forms an image from the image reflected off the reflecting mirror, picks up objects in a range of 360 degrees around the central rotational axis of the reflecting mirror, and has a principal point on the central rotational axis of the reflecting mirror;
• a developed image generating unit for generating a developed image as viewed from the central rotational axis on the basis of the wide-angle image obtained from the imaging device;
• a computational processing device for generating a development table that contains information on the correspondence relation between the pixels in the wide-angle image and the developed image when the developed image generating unit develops the wide-angle image;
• and
• a development table storage unit that stores the development table generated by the computational processing device for generating a development table and is connected to the developed image generating unit,
• wherein the reflecting mirror is in a hyperbolic shape that has an internal focal point on the central rotational axis thereof, and the position of the external focal point of the hyperbolic shape and the position of the principal point of the imaging device are disposed so as to substantially conform to each other, and
• wherein an image-masking unit is provided for performing image masking to produce an image in which a specific area of the image developed by the developed image generating unit differs from that of the original.