Image capturing apparatus, image capturing method, storage medium, and device control system for controlling vehicle-mounted devices

A method of capturing images by using an image capturing apparatus, comprising the steps of:

• emitting first light from a light source to a light translucent member;
• capturing an adhering detection frame for acquiring an adhering detection image to detect a substance adhering on the light translucent member by using the first light emitted from the light source and an image sensor;
• capturing one or more object recognition frames for acquiring one or more object recognition images for recognizing one or more objects other than the substance by receiving second light, different from the first light emitted from the light source, by using the image sensor by repeatedly performing an image capturing operation of the adhering detection frame and the object recognition frames;
• setting a frame time of the adhering detection frame shorter than a frame time of each of the object recognition frames;
• and
• setting an exposure time of an object recognition frame right after the adhering detection frame (R4) to a value that prevents overlapping of an exposure period of the adhering detection frame and an exposure period of the object recognition frame right after the adhering detection frame.

A non-transitory computer-readable storage medium storing a program that, when executed by a computer, causes the computer to execute a method of capturing images by using an image capturing apparatus, the method comprising the steps of:

• emitting first light from a light source to a light translucent member;
• capturing an adhering detection frame for acquiring an adhering detection image to detect a substance adhering on the light translucent member by using the first light emitted from the light source and an image sensor;
• capturing one or more object recognition frames for acquiring one or more object recognition images for recognizing one or more objects other than the substance by receiving second light, different from the first light emitted from the light source, by using the image sensor by repeatedly performing an image capturing operation of the adhering detection frame and the object recognition frames;
• setting a frame time of the adhering detection frame shorter than a frame time of each of the object recognition frames;
• and
• setting an exposure time of an object recognition frame right after the adhering detection frame (R4) to a value that prevents overlapping of an exposure period of the adhering detection frame and an exposure period of the object recognition frame right after the adhering detection frame.