KR20150029897A - Photographing device and operating method thereof - Google Patents

Abstract

A method of operating a photographing apparatus according to an embodiment of the present invention includes acquiring a first photographing image of a subject through a first camera module of the photographing apparatus and obtaining color information and first depth information of the first photographing image And acquiring second depth information of the second shot image by acquiring a second shot image of the subject through the second camera module of the photographing apparatus and matching the first depth information to the second depth information Generating a depth map, and generating a composite image of the subject based on the color information and the depth map.

Description

[0001] PHOTOGRAPHING DEVICE AND OPERATING METHOD THEREOF [0002]

The present invention relates to a photographing apparatus and an operation method thereof.

Conventional cameras acquire images using a 2D image sensor, but can not obtain depth information, which is three-dimensional information. In order to measure the depth of the subject, the following methods were suggested.

A depth of a subject is measured by irradiating an object with a laser beam having a specific pattern coded by a structured light method and calculating a shift amount of a pattern of the reflected light coming back.

However, due to the physical size of the light emitting portion and the light receiving portion which receive the coded reflected light by using the laser light source, the structured light method has a limitation in downsizing, which makes it difficult to apply it to mobile products. In addition, the structured optical system generally uses a fixed focus lens and a passive coding element, and thus has a disadvantage in that it lacks a variable method for increasing the resolution with respect to the depth of the subject.

It is a method of measuring the depth of a subject by directly irradiating the object with a time of flight (TOF) method and calculating the time of the reflected light coming back.

However, the TOF method is limited in its use due to the high cost of the TOF-dedicated sensor for calculating the time proportional to the distance of the reciprocating light and the high power consumption of the light-emitting LED in which the brightness is modulated.

As 3D cameras are emerging, new attempts are being made to improve the performance by synthesizing images with existing 2D cameras.

As an example, an RGBIR camera is being developed, which combines a 2D camera and an IR camera for 3D depth measurement, and measures a 2D image and a 3D depth with one camera using an RGBIR sensor and a single lens. However, the RGBIR camera has the problem that the RGB light is cross-incident on the IR pixel and the IR light is cross-incident on the RGB pixel, thereby acting as a light noise and deteriorating the performance.

Fourth, the stereoscopic method using the stereo camera which is the basic of the conventional 3D camera, using two identical cameras. In this method, two cameras were placed at a certain interval and two left and right images were obtained using two completely independent cameras (two lenses, two sensors, two ISPs).

However, the stereoscopic 3D camera uses two cameras and costs twice as much as the 2D camera, and the quality problem due to the assembly error between the two cameras deteriorates the 3D quality, resulting in a problem of a high-precision assembling process and a yield reduction . In addition, there is a problem that a 3D depth range that can be measured by a baseline, which is an interval between two cameras with a fixed 3D depth measurement range, is determined.

An object of the present invention is to provide a photographing apparatus and an operation method thereof capable of accurately acquiring depth information of a subject.

A method of operating a photographing apparatus according to an embodiment of the present invention includes acquiring a first photographing image of a subject through a first camera module of the photographing apparatus and obtaining color information and first depth information of the first photographing image And acquiring second depth information of the second shot image by acquiring a second shot image of the subject through the second camera module of the photographing apparatus and matching the first depth information to the second depth information Generating a depth map, and generating a composite image of the subject based on the color information and the depth map.

The photographing apparatus according to an embodiment of the present invention includes a first camera module for acquiring a first photographing image of a subject and acquiring color information and first depth information of the first photographing image, A second camera module for acquiring second depth information of the second shot image by acquiring a second shot image of the subject through the first camera module and a depth map by matching the first depth information with the second depth information, And a control unit for generating a composite image of the subject based on the color information and the depth map.

According to various embodiments of the present invention, depth information of a subject can be accurately obtained.

Further, when the photographing apparatus, which is an embodiment of the present invention, is mounted on a vehicle, the distance to another vehicle located in front of the vehicle can be accurately grasped based on depth information.

1 is a block diagram of a photographing apparatus according to an embodiment of the present invention.
2 is a view schematically showing a structure of a photographing apparatus according to an embodiment of the present invention.
3 is a view for explaining a configuration of a first camera module and a second camera module according to an embodiment of the present invention.
4 is a graph showing a sensitivity curve of each wavelength band when the first sensor uses an RGB IR sensor according to an embodiment of the present invention.
FIG. 5 is a graph showing sensitivity curves according to wavelength bands when the second sensor uses a mono sensor according to an embodiment of the present invention.
6 is a view for explaining a structure of a lens included in each camera module according to an embodiment of the present invention.
7 is a flowchart illustrating an operation method of a photographing apparatus according to an embodiment of the present invention.
8 and 9 are views for explaining an embodiment in which a photographing apparatus according to an embodiment of the present invention is applied to a vehicle.

Hereinafter, embodiments related to the present invention will be described in detail with reference to the drawings. The suffix "module" and " part "for the components used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role.

The photographing apparatus according to an embodiment of the present invention may be mounted on a vehicle such as an automobile, but is not limited thereto, and may be mounted on a TV, a mobile device, or a household appliance.

Hereinafter, a structure of a photographing apparatus according to an embodiment of the present invention will be described with reference to FIGS. 1 to 3. FIG.

1 is a block diagram of a photographing apparatus according to an embodiment of the present invention. FIG. 2 is a view schematically showing a structure of a photographing apparatus according to an embodiment of the present invention. FIG. 4 is a diagram illustrating a configuration of a first camera module and a second camera module according to an embodiment of the present invention. FIG.

1 and 2, a photographing apparatus 100 according to an exemplary embodiment of the present invention includes a light irradiation unit 110, a center lens unit 120, a heat dissipation unit 130, a first camera module 140, A second camera module 150, and a controller 160.

The light irradiation unit 110 can irradiate the object with infrared light (IR light). The light irradiating unit 110 irradiates light to the first camera module 140 and the second camera module 150 when the amount of light entering the first camera module 140 and the second camera module 150 is small ≪ / RTI > The light irradiation unit 110 may be a laser diode (LD), a light emitting diode (LED) or the like.

The central lens unit 120 may be disposed on the front surface of the light irradiation unit 110, which is a position where the light irradiation unit 110 emits light.

The central lens unit 120 can control the distribution of light emitted from the light irradiation unit 110. Specifically, when a laser diode is used as the light irradiating unit 110, the center lens unit 120 has a Gaussian distribution of x, y asymmetry of light emitted from the laser diode, So that the distribution of light can be made uniform. When the light emitting unit 110 is used as the light irradiating unit 110, the central lens unit 120 may make the distribution of the light emitted from the light emitting diode circular so as to make the light distribution uniform.

The radiation angle range of the light emitted from the light irradiating unit 110 is such that the reflected light reflected by the subject is incident on the first camera module 140 and the second camera module 150, 140 and the second camera module 150 of the camera module.

The center lens unit 120 can be moved in the optical axis direction of the light irradiation unit 110 and can change the angle of view range of the first camera module 140 and the second camera module 150 have.

The heat dissipation unit 130 may be disposed on the rear surface of the light irradiation unit 110.

The heat dissipating unit 130 may emit heat generated in the light irradiating unit 110. In order to minimize the wavelength variation of the light, the light emitting unit 110 may include a light emitting unit 110 and a light emitting unit 110. The light emitting unit 110 may include a light emitting diode 110, The heat generated from the heat source can be released.

In one embodiment, the heat dissipation unit 130 may include any one of a heat sink, a fan, and a thermoelectric device as a temperature control device.

The use of the heat dissipation unit 130 minimizes the wavelength variation of the light and can provide an effect that is not sensitive to the external light introduced into the first camera module 140 and the second camera module 150. Specifically, when the wavelength of the light changes, the first filter 149 and the second filter 157 disposed at the front end of the first sensor 149 and the second sensor 157, respectively, The transmission range of the light having a wide range of light is widened and the transmission range of the light is widened, so that the image of the object can not be restored properly due to the influence of external light. Accordingly, the heat dissipation unit 130 minimizes the wavelength variation of the light so as not to widen the light transmission range of the first filter 147 and the second filter 157, and properly restores the image of the object Can help.

The first camera module 140 may acquire the first shot image of the subject to obtain the color information and the first depth information of the first shot image.

The second camera module 150 may acquire the second captured image of the subject and acquire the second depth information of the second captured image.

The distance between the first camera module 140 and the second camera module 150 may be fixed but is not limited thereto.

The detailed configuration of the first camera module 140 and the second camera module 150 will be described with reference to FIG.

3, the first camera module 140 includes a first lens 141, a first diaphragm 143, a first visible light blocking part 145, a first filter 147, and a first sensor 149, And the second camera module 150 may include a second lens 151, a second diaphragm 153, a second visible light blocking part 155, a second filter 157, and a second sensor 159. [ . ≪ / RTI >

The first lens 141 and the second lens 151 can receive the light reflected from the subject.

The first diaphragm 143 may be disposed at the center of the first lens 141 and the second diaphragm 153 may be disposed at the center of the second lens 151. The first diaphragm 143 can adjust the amount of light passing through the first lens 141. That is, the first diaphragm 143 can adjust the amount of light entering the first lens 141 and transmit it to the first filter 147. Likewise, the second diaphragm 153 can transmit the amount of light passing through the second lens to the second filter 157.

The size of the first diaphragm 143 and the second diaphragm 153 may be fixed basically, but it is not limited thereto and may be automatically changed according to the amount of light entering the first lens 141.

For example, the first diaphragm 143 may be smaller in size in the daytime when the amount of light can be increased, so that the depth of focus of the first lens 141 may be increased and the first depth information may be acquired . In contrast, the first diaphragm 143 and the second diaphragm 153 have a large size at the time of sunrise, which is an environment where the amount of light can be reduced, So that the first depth information 149 can be accurately obtained.

Also, the second diaphragm 153 is reduced in size in the daytime when the amount of light can be increased, and the depth of focus of the second lens 151 is increased, . On the contrary, the second diaphragm 153 can obtain the second depth information precisely by sufficiently securing the light amount even when the depth of focus is increased by increasing the size at the time of the sunrise, which is the environment where the light amount can be reduced.

The first diaphragm 143 and the second diaphragm 153 can be synchronized in size according to the amount of incident light. The control unit 160 can simultaneously adjust the size of the first diaphragm 143 and the second diaphragm 153 according to the amount of light entering the first camera module 140 and the second camera module 150. [ If the sizes of the first diaphragm 143 and the second diaphragm 153 are different from each other, the amount of light to be introduced and the inflow timing of the light amount are different, and distortion occurs, It is because there is not.

The first visible light blocking part 145 and the second visible light blocking part 155 can block visible light other than the infrared light irradiated by the light irradiation part 110. Specifically, the first visible light blocking part 145 and the second visible light blocking part 155 may not block or block the visible light according to whether the light irradiation part 110 irradiates infrared light. This will be described in more detail.

The first visible light blocking unit 145 can transmit only infrared light when the light irradiation unit 110 operates to irradiate the subject with infrared light. In one embodiment, the first visible light intercepting unit 145 may include an infrared band pass filter (IR band pass filter). When the light irradiating unit 110 operates to irradiate infrared light to a subject, (IR band pass filter) can be activated to transmit only infrared light. On the contrary, when the light irradiating unit 110 does not operate, the first visible light intercepting unit 145 may pass the visible light and the infrared light by inactivating the infrared band-pass filter.

Similarly, the second visible light blocking unit 155 may include an infrared band pass filter (IR band pass filter). When the light irradiation unit 110 operates to irradiate infrared light to a subject, an infrared band pass filter (IR band pass filter can be activated to transmit only the infrared light. On the other hand, when the light irradiating unit 110 is not operated, the second visible light intercepting unit 155 may pass the visible light and the infrared light by inactivating the infrared band-pass filter.

As a result, the first visible light blocking portion 145 and the second visible light blocking portion 155 can be selectively activated because they can be activated or deactivated depending on whether the light irradiation portion 110 irradiates infrared light.

The first filter 147 may transmit visible light and infrared light incident on the first lens 141 to the first sensor 149. In one embodiment, the first filter 147 may be a dual band pass filter. That is, the first filter 147 may include a dual band pass filter to pass the wavelength of the visible light band and the infrared light band, and to block the wavelengths of the visible light and the infrared light band.

The second filter 157 may transmit the visible light and the wavelength of the infrared light band incident on the second lens 151 to the second sensor 159. In one embodiment, the first filter 147 may be a dual band pass filter. That is, the second filter 149 may include a dual band pass filter to pass the wavelength of the visible light band and the wavelength of the infrared light band, and to block the wavelengths of the visible light and the infrared band other than the infrared light band.

The second filter 157 may include a dual band pass filter, such as the first filter 147, to pass the same wavelength band as the wavelength band of light passing through the first filter 147.

In another embodiment, unlike the first filter 147 with the second filter 157, an all pass filter capable of passing the entire wavelength band can be used.

The first filter 147 may be included in the first sensor 149 and the second filter 157 may be included in the second sensor 159.

The first sensor 149 and the second sensor 159 may be an image sensor that detects a photographed image of a subject and converts the sensed photographed image into an electrical image signal.

The first sensor 149 can acquire the color information and the first depth information of the first captured image using the wavelengths of the visible light and the infrared light band passed through the first filter 147. In one embodiment, the first sensor 149 may comprise an RGB infrared light (RGBIR) sensor.

The first sensor 149 may include a plurality of pixels, and may acquire the first depth information in units of pixels at regular intervals.

The second sensor 159 can acquire the second depth information of the second photographic image using the wavelengths of the visible light and the infrared light band passed through the second filter 157. In one embodiment, the second sensor 159 may comprise a mono sensor, the mono sensor may comprise a plurality of pixels and may acquire second depth information of the second captured image on a pixel by pixel basis have.

When the first sensor 149 uses the RGB IR sensor and the second sensor 159 uses the mono sensor, each sensor has a specific wavelength-dependent sensitivity curve. This will be described with reference to FIGS. 4 and 5. FIG.

FIG. 4 is a graph illustrating sensitivity curves for respective wavelength bands when the first sensor uses an RGB IR sensor according to an exemplary embodiment of the present invention. FIG. 5 is a graph illustrating sensitivity curves , And a sensitivity curve for each wavelength band.

First, referring to FIG. 4, in the case of the RGB IR sensor, it can be confirmed that the sensitivity to the wavelength of a specific band is good for each pixel. In particular, it can be seen that the sensitivity to the wavelength of the blue, green and red colors is better than that of the other bands. This is because a dual band-pass filter that allows only visible light and infrared light to pass through the first filter 147 at the front end of the first sensor 149 is used. The good sensitivity means that it is better to restore the photographed image.

Referring to FIG. 5, in the case of a mono sensor, since the light of the entire wavelength band is received, overall sensitivity is better than that of the RGB IR sensor.

Each of the first lens 141 and the second lens 151 has a wide wavelength range from the visible light region to the infrared light region in consideration of the sensitivity characteristic of the first sensor 149 and the sensitivity characteristic of the second sensor 159 Can be made to focus. This will be described with reference to FIG.

6 is a view for explaining a structure of a lens included in each camera module according to an embodiment of the present invention.

Referring to FIG. 6A, each of the first lens 141 of the first camera module 140 and the second lens 151 of the second camera module 150, which are described in FIGS. 1 to 3, And may include a plurality of lenses to effectively receive the light incident on the lens. The plurality of lenses may be arranged in a line. However, the inclusion of a plurality of lenses increases the optical length of the lens, which in turn leads to an increase in the spacing of each camera module.

6B, each of the first lens 141 of the first camera module 140 and the second lens 151 of the second camera module 150 includes a plurality of lenses and a prism 200 .

Some of the plurality of lenses may be disposed perpendicular to the remaining lenses. A prism may be disposed between the partial lens and the other lens to vertically fold the light rays. Therefore, the size of each camera module can be reduced, and the overall size of the photographing apparatus can be reduced.

1 and Fig. 2 will be described again.

The control unit 160 can control the components of the photographing apparatus 100 as a whole.

More specifically, the control unit 160 checks the amount of light entering the surrounding environment of the photographing apparatus 100, that is, the first camera module 140 and the second camera module 150, The irradiation unit 110 can be operated. That is, when the amount of light entering the first camera module 140 and the second camera module 150 is less than a preset value, the control unit 160 may control the light irradiation unit 110 to irradiate the infrared ray to the subject .

The control unit 160 may correct the first depth information acquired by the first camera module 140 and the second depth information acquired by the second camera module 150. [

The controller 160 may match the first depth information and the second depth information using the corrected first depth information and the second depth information.

The controller 160 may generate a depth map using the matched first depth information and the second depth information.

The control unit 160 may acquire a two-dimensional color image through the color information, and may generate a composite image based on the obtained two-dimensional color image and the generated depth map.

The control unit 160 may output the generated composite image to the display unit or the storage unit.

The detailed operation of the control unit 160 will be described later.

The photographing apparatus 100 may further include a display unit (not shown) for displaying the first photographing image, the second photographing image, and the restored image in addition to the above-described components.

7 is a flowchart illustrating an operation method of a photographing apparatus according to an embodiment of the present invention.

Referring to FIG. 7, the first camera module 140 of the photographing apparatus 100 acquires color information and first depth information of the first photographed image photographed by the first camera module 140 ( S101 ) . Specifically, the first sensor 149 of the first camera module 140 may acquire color information and first depth information of the first captured image obtained using the light incident on the first lens 141 .

In one embodiment, the first sensor 149 may be an RGB infrared (RGB) IR sensor. The RGB IR sensor is used to acquire the color of the subject, but it is also used to acquire the depth information of the subject.

The RGB IR sensor can acquire the first depth information of the subject in units of pixels at regular intervals. The constant interval may be? / 4 pixel unit, but this is only an example.

The color information and the first depth information acquired through the first sensor 149 may be separated later. The separated color information can be color tuned through image signal processing (ISP) and can be restored to a two-dimensional color image after color tuning.

The separated first depth information may be used to generate a depth map by matching with second depth information to be described later.

The second camera module 150 of the photographing apparatus 100 acquires the second depth information of the second photographic image through the light incident on the second camera module 150 ( S103 ). Specifically, the second sensor 159 of the second camera module 150 can acquire the second depth information of the second captured image obtained using the light incident on the second lens 151.

In one embodiment, the second sensor 159 may be a mono sensor. Since the mono sensor has the same luminance information of all the pixels, accurate disparisity in pixel units can be obtained and used to acquire accurate depth information of the photographed image.

In the embodiment of the present invention, the first camera module 140 uses an RGB IR sensor and the second camera module 150 uses a mono sensor. This is because the first camera module 140 and the second camera module 150 ), The use of a mono sensor in the same manner requires a very large amount of computation for pixel matching. In other words, since it is necessary to process a large amount of mating quantity, the unit price of the photographing apparatus 100 is increased with the expensive hardware configuration, the configuration becomes complicated, and color information of the subject can not be obtained.

Therefore, in the embodiment of the present invention, an RGB IR sensor capable of acquiring color information and depth information of a subject in the first camera module 140 is used to acquire color information and depth information of a subject, A mono sensor capable of acquiring depth information of a subject in the module 150 is used.

Steps S101 and S103 may be performed simultaneously.

The controller 160 of the photographing apparatus 100 corrects the acquired first depth information and second depth information ( S105 ). Specifically, the control unit 160 rectifies the first depth information separated through the first sensor 149 and the second depth information acquired through the second sensor 159 to generate a depth map . More specifically, the controller 160 performs distortion correction on the acquired first depth information and distortion correction on the second depth information using the same distortion correction method.

In one embodiment, the controller 160 may include a storage unit that associates the distance between the subject and the photographing apparatus 100, the internal temperature of the photographing apparatus 100, and the depth correction value in the form of a look-up table. The control unit 160 may perform distortion correction by searching the lookup table stored in the storage unit for each of the first depth information and the second depth information. This is because the distance between the subject and the photographing apparatus 100 and the internal temperature of the photographing apparatus 100 may be always different and therefore the depth correction value may be varied depending on the distance between the subject and the photographing apparatus 100 and the internal temperature of the photographing apparatus 100 Thereby correcting the acquired depth information more precisely.

The control unit 160 of the photographing apparatus 100 matches the first depth information and the second depth information using the corrected first depth information and the second depth information ( S107 ). In one embodiment, the controller 160 may match the corrected first depth information to the corrected second depth information. Specifically, the controller 160 may match the corrected first depth information to the second depth information, which are obtained in units of pixels at regular intervals.

The controller 160 of the photographing apparatus 100 using the first depth information and the second depth information matching depth maps (depth map ( S109 ). The generated depth map may be used to identify the distance between the photographing apparatus 100 and the subject, or may be combined with the color image of the subject to generate a composite image.

The control unit 160 of the photographing apparatus 100 acquires a two-dimensional color image through the color information, and generates a composite image based on the obtained two-dimensional color image and the generated depth map ( S111 ). That is, the control unit 160 acquires a two-dimensional color image through the color information of the first captured image acquired by the first camera module 140, and generates a composite image of the subject using the two- Can be generated.

The control unit 160 of the photographing apparatus 100 outputs the generated composite image Display portion  Or outputs it to the storage unit ( S113 ).

Next, an embodiment in which the photographing apparatus according to an embodiment of the present invention is applied to a vehicle will be described with reference to Figs. 8 and 9. Fig.

8, the photographing apparatus 100 according to the embodiment of the present invention may be disposed at the top of the front seat of the vehicle. Specifically, the photographing apparatus 100 can be placed in contact with a windshield 300 of a vehicle to photograph a subject in front of the vehicle.

The vehicle may further include an optical shield unit 400 for adjusting the direction of light emitted from the photographing apparatus 100. The optical shield section 400 may be disposed in contact with the windshield 300 and the photographing apparatus 100, respectively.

However, the structure as shown in FIG. 8 differs from the structure shown in FIG. 8 in that external light introduced from the outside flows into the photographing apparatus 100 due to mutual reflection action of the windshield 300 of the vehicle and the light shielding section 400, There is a problem that it is difficult to properly restore the image of the subject in front. As shown in FIG. 9, if the arrangement of the optical shield section 400 is changeable, external light introduced into the photographing apparatus 100 can be reduced.

9, the optical shield part 500 is disposed at a predetermined angle (?) In the direction opposite to the windshield 300 with respect to the horizontal line A and the windshield 300, ). ≪ / RTI > The optical shield portion 500 may be formed of a step-like diffusely reflecting material to minimize reflection in a specific direction.

The external light is minimally introduced into the photographing apparatus 100 due to the light shielding section 500 having a predetermined angle with the windshield 300 on the basis of the horizontal line A so that the photographing apparatus 100 is located in front of the vehicle It is possible to accurately acquire an image of a subject located on the screen. In particular, the photographing apparatus 100 can accurately obtain the distance to another vehicle located in front of the vehicle through the depth information.

According to an embodiment of the present invention, the above-described method can be implemented as a code readable by a processor on a medium on which a program is recorded. Examples of the medium that can be read by the processor include ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage, etc., and may be implemented in the form of a carrier wave (e.g., transmission over the Internet) .

The mobile terminal described above can be applied to not only the configuration and method of the embodiments described above but also all or some of the embodiments may be selectively combined so that various modifications may be made to the embodiments It is possible.

Claims (15)

A method of operating a photographing apparatus,
Acquiring a first captured image of a subject through the first camera module of the photographing apparatus to obtain color information and first depth information of the first captured image;
Acquiring a second captured image of the subject through the second camera module of the photographing device to obtain second depth information of the second captured image;
Matching the first depth information with the second depth information to generate a depth map; And
And generating a composite image of the subject based on the color information and the depth map
A method of operating a photographing apparatus. The method according to claim 1,
Further comprising distortion correcting the obtained first depth information and the obtained second depth information,
The matching step
And matching the distortion-corrected first depth information to the distortion-corrected second depth information
A method of operating a photographing apparatus. 3. The method of claim 2,
The distortion correction step
Correcting each of the first depth information and the second depth information using a distance between the subject and the photographing apparatus, an internal temperature of the photographing apparatus, and a depth correction value,
A method of operating a photographing apparatus. The method according to claim 1,
The color information and the first depth information of the first captured image are acquired through the RGB infrared sensor of the photographing apparatus,
The second depth information of the second captured image is acquired through a mono sensor
A method of operating a photographing apparatus. The method according to claim 1,
And irradiating the subject with infrared light when the amount of light entering the photographing apparatus is less than a predetermined value
A method of operating a photographing apparatus. In a photographing apparatus,
A first camera module for acquiring a first captured image of a subject to acquire color information and first depth information of the first captured image;
A second camera module for acquiring a second captured image of the subject through the second camera module of the photographing device and acquiring second depth information of the second captured image; And
And a control unit for generating a depth map by matching the first depth information with the second depth information and generating a composite image of the subject based on the color information and the depth map
Shooting device. The method according to claim 6,
The control unit
Distortion-correcting the obtained first depth information and the obtained second depth information, and generating the depth map by matching the distortion-corrected first depth information with the distortion-corrected second depth information
Shooting device. 8. The method of claim 7,
The control unit
Corrects each of the first depth information and the second depth information using a distance between the subject and the photographing apparatus, an internal temperature of the photographing apparatus, and a depth correction value
Shooting device. The method according to claim 6,
The first camera module
And an RGB infrared sensor for acquiring color information and first depth information of the first captured image,
The second camera module
And a mono sensor for acquiring second depth information of the second captured image
Shooting device. The method according to claim 6,
And a light irradiation unit for irradiating the subject with infrared light when the amount of light entering the photographing apparatus is less than a preset value
Shooting device. 11. The method of claim 10,
And a central lens unit for adjusting the distribution of light emitted from the light irradiation unit
Shooting device. 11. The method of claim 10,
And a heat dissipation unit disposed on one side of the light irradiation unit and emitting heat generated in the light irradiation unit
Shooting device. The method according to claim 6,
The first camera module
A first lens for receiving the light reflected from the subject;
And a first diaphragm for adjusting an amount of light passing through the first lens,
The second camera module
A second lens for receiving light reflected from the subject;
And a second diaphragm for adjusting an amount of light passing through the second lens
Shooting device. 14. The method of claim 13,
The first diaphragm and the second diaphragm
The magnitude of which is adjusted according to the amount of light entering the first lens and the second lens, respectively
Shooting device. 11. The method of claim 10,
The first camera module
Further comprising a first visible light blocking unit for blocking visible light depending on whether the light irradiation unit irradiates infrared light,
The second camera module
And a second visible light blocking unit for blocking visible light depending on whether the light irradiation unit irradiates infrared light
Shooting device.

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