Stereo camera system and stereo optical module

A stereo optical module for use in a stereo camera system which comprises:

• the stereo optical module which obtains a stereo image;
• a central control unit which evaluates an object as a target based on the stereo image obtained by the stereo optical module;
• and a communication line through which stereo image data output from the stereo optical module is input to the central control unit, the stereo camera system shooting object images seen from a plurality of viewpoints with respect to the same object to obtain a distance to the object,
• the stereo optical module comprising:
• a stereo optical system which generates object images seen from a plurality of viewpoints with respect to the same object;
• an imaging element which generates stereo image data based on the object images generated in the stereo optical system;
• an analog-to-digital converting section which subjects the stereo image data generated by the imaging element to analog-to-digital conversion to produce digital stereo image data;
• an image output processing circuit which performs predetermined image processing with respect to the digital stereo image data generated by the analog-to-digital converting section;
• and
• a module side communication interface which outputs stereo image data subjected to the image processing in the image output processing circuit to the communication line.

A stereo camera system which shoots object images seen from a plurality of viewpoints with respect to the same object to obtain a distance to the object as a target, comprising:

• a stereo optical module which acquires a stereo image;
• a central control unit which evaluates the object as a target based on the stereo image acquired by the stereo optical module;
• and
• a communication line through which the stereo image data acquired in the stereo optical module is input to the central control unit,
• the stereo optical module comprising:
• a stereo optical system which generates object images seen from a plurality of viewpoints with respect to the same object;
• an imaging element which generates stereo image data based on the object images generated by the stereo optical system;
• an analog-to-digital converting section which subjects the stereo image data generated by the imaging element to analog-to-digital conversion to produce digital stereo image data;
• a correction information memory which stores calibration data of the stereo camera system;
• an image output processing circuit which performs predetermined image processing based on the digital stereo image data generated by the analog-to-digital converting section and the calibration data stored in the correction information memory;
• and a module side communication interface which outputs stereo image data subjected to the image processing by the image output processing circuit to the communication line, and
• the central control unit comprising:
• a unit side communication interface which inputs to the central control unit the stereo image data output to the communication line through the module side communication interface;
• and a range image evaluation device which obtains a distance to the object as a target based on the stereo image data input through the unit side communication interface.

A stereo optical module for use in a stereo camera system which shoots object images seen from a plurality of viewpoints with respect to the same object to obtain a distance to the object as a target, the stereo camera system comprising:

• the stereo optical module which obtains a stereo image;
• a central control unit which evaluates the object as a target based on the stereo image obtained by the stereo optical module;
• and a communication line through which stereo image data output from the stereo optical module is input to the central control unit,
• the stereo optical module comprising:
• a stereo optical system which generates object images seen from a plurality of viewpoints with respect to the same object;
• an imaging element which generates stereo image data based on the object images generated in the stereo optical system;
• an analog-to-digital converting section which subjects the stereo image data generated by the imaging element to analog-to-digital conversion to produce digital stereo image data;
• a correction information memory which stores calibration data of the stereo camera system;
• an image output processing circuit which performs predetermined image processing based on the digital stereo image data generated by the analog-to-digital converting section and the calibration data stored in the correction information memory;
• and
• a module side communication interface which outputs stereo image data subjected to the image processing in the image output processing circuit to the communication line.

A stereo camera system which shoots object images seen from a plurality of viewpoints with respect to the same object to obtain a distance to the object as a target, comprising:

• a stereo optical module which acquires a stereo image;
• a central control unit which evaluates the object as a target based on the stereo image acquired by the stereo optical module;
• and
• a communication line through which the stereo image data acquired in the stereo optical module is input to the central control unit,
• the stereo optical module comprising:
• a stereo optical system which generates object images seen from a plurality of viewpoints with respect to the same object;
• an imaging element which generates stereo image data based on the object images generated by the stereo optical system;
• an analog-to-digital converting section which subjects the stereo image data generated by the imaging element to analog-to-digital conversion to produce digital stereo image data;
• a correction information memory which stores calibration data of the stereo camera system, the calibration data including first calibration data and second calibration data;
• an image output processing circuit which performs predetermined image processing based on the digital stereo image data generated by the analog-to-digital converting section and the first calibration data stored in the correction information memory;
• and a module side communication interface which outputs stereo image data subjected to the image processing by the image output processing circuit and the second calibration data stored in the correction information memory to the communication line, and
• the central control unit comprising:
• a unit side communication interface which inputs to the central control unit the stereo image data output to the communication line through the module side communication interface;
• and a range image evaluation device which obtains a distance to the object as a target based on the stereo image data and the second calibration data input through the unit side communication interface.

A stereo optical module for use in a stereo camera system which shoots object images seen from a plurality of viewpoints with respect to the same object to obtain a distance to the object as a target, the stereo camera system comprising:

• the stereo optical module which acquires a stereo image;
• a central control unit which evaluates the object as a target based on the stereo image acquired by the stereo optical module;
• and a communication line through which stereo image data output from the stereo optical module is input to the central control unit,
• the stereo optical module comprising:
• a stereo optical system which generates object images seen from a plurality of viewpoints with respect to the same object;
• an imaging element which generates stereo image data based on the object images produced by the stereo optical system;
• an analog-to-digital converting section which subjects the stereo image data generated by the imaging element to analog-to-digital conversion to produce digital stereo image data;
• a correction information memory which stores calibration data of the stereo camera system, the calibration data including first calibration data and second calibration data;
• an image output processing circuit which performs predetermined image processing based on the digital stereo image data generated by the analog-to-digital converting section and the first calibration data stored in the correction information memory;
• and a module side communication interface which outputs stereo image data subjected to the image processing by the image output processing circuit and the second calibration data stored in the correction information memory.

A stereo camera system which shoots object images seen from a plurality of viewpoints with respect to the same object to obtain a distance to the object as a target, comprising:

• a stereo optical module which acquires a stereo image;
• a central control unit which evaluates the object as a target based on the stereo image acquired by the stereo optical module;
• and a communication line through which data concerning the stereo image acquired by the stereo optical module is input to the central control unit,
• the stereo optical module comprising:
• a stereo optical module which generates object images seen from a plurality of viewpoints with respect to the same object;
• an imaging element which generates stereo image data based on the object images produced by the stereo optical system;
• an analog-to-digital converting section which subjects the stereo image data generated by the imaging element to analog-to-digital conversion to produce digital stereo image data;
• an image output processing circuit which performs predetermined image processing with respect to the digital stereo image data generated by the analog-to-digital converting section;
• a range image calculation unit which generates range image data based on stereo image data subjected to the image processing by the image output processing circuit;
• and a module side communication interface which outputs the range image data generated by the range image calculation unit to the communication line, and
• the central control unit comprising:
• a unit side communication interface which inputs the range image data output through the module side communication interface;
• and a range image evaluation device which evaluates the object based on the range image data input through the unit side communication interface.

A stereo optical module for use in a stereo camera system which shoots object images seen from a plurality of viewpoints with respect to the same object to obtain a distance to the object as a target, the stereo camera system comprising:

• the stereo optical module which acquires a stereo image;
• a central control unit which evaluates the object as a target based on the stereo image acquired by the stereo optical module;
• and a communication line through which data concerning the stereo image output from the stereo optical module is input to the central control unit,
• the stereo optical module comprising:
• a stereo optical system which generates object images seen from a plurality of viewpoints with respect to the same object;
• an imaging element which generates stereo image data based on the object images generated in the stereo optical system;
• an analog-to-digital converting section which subjects the stereo image data generated by the imaging element to analog-to-digital conversion to generate digital stereo image data;
• an image output processing circuit which performs predetermined image processing with respect to the digital stereo image data generated by the analog-to-digital converting section;
• a range image calculation unit which generates range image data based on stereo image data subjected to the image processing by the image output processing circuit;
• and
• a module side communication interface which outputs the range image data generated by the range image calculation unit to the communication line.

A stereo camera system which shoots object images seen from a plurality of viewpoints with respect to the same object to obtain a distance to the object as a target, comprising:

• a stereo optical module which comprises:
• a stereo optical system which generates object images seen from a plurality of viewpoints with respect to the same object;
• an imaging element which generate stereo image data based on the object images generated by the stereo optical system;
• an analog-to-digital converting section which subjects the stereo image data to analog-to-digital conversion by the imaging element to generate digital stereo image data;
• an image output processing circuit which performs predetermined image processing with respect to the digital stereo image data generated by the analog-to-digital converting section;
• a range image calculation unit which generates range image data based on stereo image data subjected to image processing by the image output processing circuit;
• and a module side communication interface which outputs at least one of the range image data generated by the range image calculation unit and the stereo image data;
• a central control unit which comprises:
• a unit side communication interface which inputs at least one of the range image data and the stereo image data;
• and a range image evaluation device which evaluates the object based on at least one of the range image data and the stereo image data input through the unit side communication interface;
• and
• a communication line which connects the module side communication interface with the unit side interface to enable data communication between the stereo optical module and the central control unit.

A stereo optical module comprising:

• a stereo optical system which generates object images seen from a plurality of viewpoints with respect to the same object;
• an imaging element which generates stereo image data based on the object images generated by the stereo optical system;
• an analog-to-digital converting section which subjects the stereo image data generated by the imaging element to analog-to-digital conversion to produce digital stereo image data;
• an image output processing circuit which performs predetermined image processing with respect to the digital stereo image data generated by the analog-to-digital converting section;
• a range image calculation unit which generates range image data based on stereo image data subject to the image processing by the image output processing circuit;
• and
• a module side communication interface which outputs at least one of the range image data generated by the range image calculation unit and the stereo image data generated by the imaging element to the communication line.

A stereo camera system which shoots object images seen from a plurality of viewpoints with respect to the same object to obtain a distance to the object as a target, comprising:

• a stereo optical module which acquires a stereo image;
• a central control unit which evaluates the object as a target based on the stereo image obtained by the stereo optical module;
• and a communication line through which data concerning the stereo image acquired by the stereo optical module is input to the central control unit,
• wherein the stereo optical module comprises:
• a stereo optical system which generates object images seen from a plurality of viewpoints with respect to the same object;
• an imaging element which generates stereo image data based on the object images produced by the stereo optical system;
• an analog-to-digital converting section which subjects the stereo image data generated by the imaging element to analog-to-digital conversion to produce digital stereo image data;
• a range image calculation unit which generates range image data based on the digital stereo image data produced by the analog-to-digital converting section;
• and a module side communication interface which outputs the range image data generated by the range image calculation unit to the communication line, and
• the central control unit comprises:
• a unit side communication interface which inputs the range image data output through the module side communication interface;
• and a range image evaluation device which evaluates the object based on the range image data input through the unit side communication interface.

A stereo optical module for use in a stereo camera system which shoots object images seen from a plurality of viewpoints with respect to the same object to obtain a distance to the object as a target, the stereo camera system comprising:

• the stereo optical module which acquires a stereo image;
• a central control unit which evaluates the object as a target based on the stereo image acquired by the stereo optical module;
• and a communication line through which data concerning the stereo image output from the stereo optical module is input to the central control unit,
• the stereo optical module comprising:
• a stereo optical system which generates object images seen from a plurality of viewpoints with respect to the same object;
• an imaging element which generates stereo image data based on the object images produced by the stereo optical system;
• an analog-to-digital converting section which subjects the stereo image data generated by the imaging element to analog-to-digital conversion to produce digital stereo image data;
• a range image calculation unit which generates range image data based on the digital stereo image data produced by the analog-to-digital converting section;
• and
• a module side communication interface which outputs the range image data generated by the range image calculation unit to the communication line.

A stereo camera system which shoots object images seen from a plurality of viewpoints with respect to the same object to obtain a distance to the object as a target, comprising:

• a stereo optical module which acquires a stereo image;
• a central control unit which evaluates the object as a target based on data concerning the stereo image acquired by the stereo optical module;
• and a communication line which allows communication between the stereo optical module and the central control unit by using a digital signal,
• wherein the stereo optical module comprises:
• a stereo optical system which generates object images seen from a plurality of viewpoints with respect to the same object;
• an imaging element which generates stereo image data based on the object images produced by the stereo optical system;
• an analog-to-digital converting section which subjects the stereo image data generated by the imaging element to analog-to-digital conversion to produce digital stereo image data;
• and a module side communication interface which outputs information concerning the stereo image acquired by the stereo optical module to the communication line upon receiving a control command from the central control unit, and
• the central control unit comprises:
• a unit side communication interface which inputs the information concerning the stereo image output through the module side communication interface, and outputs a control command from the central control unit to the stereo optical module;
• and a range image evaluation device which evaluates the object based on the information concerning the stereo image input through the unit side communication interface.

A stereo optical module comprising:

• a stereo optical system which generates object images seen from a plurality of viewpoints with respect to the same object;
• an imaging element which generates stereo image data based on the object images produced by the stereo optical system;
• and
• an analog-to-digital converting section which subjects the stereo image data generated by the imaging element to analog-to-digital conversion to produce digital stereo image data,
• wherein information concerning the stereo image is output to a communication line in response to an externally input control command.

A stereo camera system which shoots object images seen from a plurality of viewpoints with respect to the same object to obtain a distance to the object as a target, comprising:

• at least one stereo optical module which acquires a stereo image;
• at least one optical module which acquires an image different from that of the stereo optical module;
• a central control unit which performs sequence control over the stereo optical module and the optical module;
• and
• a communication line which connects the stereo optical module, the optical module and the central control unit with each other for communication.