Camera apparatus and image processing method

An image processing method comprising:

• emitting light in an invisible region;
• taking an image by exposing three color light receivers and an invisible light receiver, each of the three color light receivers being sensitive to the light in the invisible region and also sensitive to a respective one of three primary colors of light, and the invisible light receiver being sensitive to the light in the invisible region;
• generating a timing pulse for the exposure based on a reference signal, and a timing pulse for the emission of the light in the invisible region based on the timing pulse for the exposure;
• creating a detection image by performing a synchronous detection process on outputs from the color light receivers and the invisible light receiver by use of the reference signal;
• and
• creating a color image from the outputs from the respective color light receivers used for creating the detection image, wherein
• the three color light receivers include a first pixel sensitive to emitted light in the invisible region and a red primary color of light, a second pixel sensitive to emitted light in the invisible region and a green primary color of light;
• a third pixel sensitive to emitted light in the invisible region and a blue primary color of light,
• the invisible light receiver includes a fourth pixel sensitive to emitted light in the invisible region, and
• the detection image is created on the basis of the light in the invisible region and the light in the respective one of three primary colors received at the same time by the color light receivers and the invisible light receiver,
• wherein a cycle of the timing pulse for the exposure is shorter than a cycle of the timing pulse for the emission.

A camera apparatus comprising:

• an invisible light projecting means for emitting light in an invisible region;
• three color light receivers sensitive to the light in the invisible region emitted by the invisible light projecting means, and each of the three color light receivers also being sensitive to a respective one of three primary colors of light;
• an invisible light receiver sensitive to the light in the invisible region emitted by the invisible light projecting means;
• an image taking means for taking an image by exposing the color light receivers and the invisible light receiver;
• a marker pulse generating means for generating an exposure timing pulse for the image taking means based on a reference signal, and an emission timing pulse for the invisible light projecting means based on the exposure timing pulse for the image taking means;
• a synchronous detection processing means for creating a detection image by performing a synchronous detection process on outputs from the color light receivers and the invisible light receiver by use of the reference signal;
• and
• a color image creating means for creating a color image from the outputs from the respective color light receivers used for creating the detection image, wherein
• the three color light receivers include a first pixel sensitive to the light in the invisible region emitted by the invisible light projecting means and a red primary color of light;
• a second pixel sensitive to the light in the invisible region emitted by the invisible light projecting means and a green primary color of light;
• and a third pixel sensitive to the light in the invisible region emitted by the invisible light projecting means and a blue primary color of light,
• the invisible light receiver includes a fourth pixel sensitive to the light in the invisible region emitted by the invisible light projecting means, and
• the synchronous detection processing means creates the detection image on the basis of the light in the invisible region and the light in the respective one of three primary colors received at the same time by the color light receivers and the invisible light receiver,
• wherein a cycle of the exposure timing pulse is shorter than a cycle of the emission timing pulse.