KR20240129706A - Apparatus and method for capturing image - Google Patents

Abstract

The present invention relates to an image capturing device and method, and more particularly, to an image capturing device and method for generating a panoramic image using a plurality of lenses arranged in a vertical direction.
An image capturing device according to an embodiment of the present invention includes a plurality of lens units arranged in a first direction and receiving a plurality of light beams from different directions, a plurality of image sensors generating a plurality of images using the plurality of incident light beams, and an image synthesis unit generating a composite image by synthesizing the plurality of images in a second direction different from the first direction.

Description

{Apparatus and method for capturing image}

The present invention relates to an image capturing device and method, and more particularly, to an image capturing device and method for generating a panoramic image using a plurality of lenses arranged in a vertical direction.

A panoramic camera that creates a panoramic image may include multiple lenses facing different directions. A panoramic image may be created by synthesizing multiple images created using multiple lenses.

When multiple lenses included in a panoramic camera are aligned horizontally, the viewpoints of the angles of view of the multiple lenses are formed differently, which may cause distortion at the boundaries of the synthesized image.

Therefore, an invention is required to create a panoramic image by minimizing distortion occurring at the boundary of the synthesized image.

Japanese Patent Publication No. 2020-120371 (August 6, 2020)

The problem to be solved by the present invention is to provide an image capturing device and method for generating a panoramic image using a plurality of lenses arranged in a vertical direction.

The objects of the present invention are not limited to the objects mentioned above, and other objects not mentioned will be clearly understood by those skilled in the art from the description below.

In order to achieve the above object, an image capturing device according to an embodiment of the present invention includes a plurality of lens units arranged in a first direction and receiving a plurality of lights from different directions, a plurality of image sensors generating a plurality of images using the plurality of incident lights, and an image synthesis unit generating a composite image by synthesizing the plurality of images in a second direction different from the first direction.

The plurality of lens units are arranged in the first direction so that the angle reference point of each of the plurality of lens units is included on the same line parallel to the first direction.

The distance between adjacent lens sections among the above plurality of lens sections is formed to be the same.

The optical axes of the plurality of lens sections with respect to the reference plane are formed at the same angle.

The angle of view range in the second direction by one lens unit among the plurality of lens units overlaps at least partly with the angle of view range in the second direction by the other lens unit.

The above image synthesis unit generates the composite image after moving at least a portion of the plurality of images in the first direction with reference to the distance between the angle reference points of the plurality of lens units.

The above image synthesis unit extracts a target image having the same length in the first direction from the plurality of images, and synthesizes the extracted plurality of target images in the second direction to generate the composite image.

The above plurality of lens sections have a lens distortion rate that allows cracks in an object to be removed from the boundary of adjacent target images among the plurality of target images.

The above image capturing device further includes a communication unit that transmits the composite image.

The above composite image includes a panoramic image.

According to another embodiment of the present invention, an image capturing device includes an image synthesizing unit that generates a composite image by synthesizing a plurality of images arranged in a preset direction so that at least a portion of two adjacent images overlaps, wherein the two adjacent images each include a common image area including the same image information,

When the common image areas of the two adjacent images above are aligned, first non-overlapping areas are arranged on both sides of a first direction different from the listing direction of the plurality of images based on the common image area, and second non-overlapping areas are arranged on both sides of the listing direction of the plurality of images based on the common image area.

The common image area of the two adjacent images is matched by moving one of the two adjacent images in the first direction.

The above image synthesis unit removes the first non-overlapping region from the two adjacent images, synthesizes a second non-overlapping region of one of the two adjacent images and a portion of the common image region to generate a first target image, synthesizes the second non-overlapping region of the remaining one of the two adjacent images and a remaining portion of the common image region to generate a second target image, and synthesizes the first target image and the second target image to generate the synthesized image.

The above plurality of images are arranged in the first direction and include those generated by using a plurality of lens sections that receive a plurality of lights in different directions.

A method for capturing an image according to an embodiment of the present invention includes a step of receiving a plurality of light beams in different directions through a plurality of lens units arranged in a first direction, a step of generating a plurality of images using the plurality of incident light beams, and a step of generating a composite image by synthesizing the plurality of images in a second direction different from the first direction.

Specific details of other embodiments are included in the detailed description and drawings.

According to the image capturing device and method of the present invention as described above, since a plurality of lenses are arranged in a vertical direction, there is an advantage in generating a panoramic image by minimizing distortion occurring at the boundary of a synthesized image.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.

FIG. 1 is a block diagram of an image capturing device according to an embodiment of the present invention.
Figure 2 is a drawing for explaining the arrangement relationship of multiple lens parts.
Figure 3 is a side view of a plurality of lens sections.
Figure 4 is a plan view of multiple lens sections.
Figure 5 is a drawing for explaining the angle of view range of multiple lens parts.
Figure 6 is a drawing for explaining how multiple images are used to create a composite image.
Figure 7 is a drawing to explain how the correction angle is calculated.
Figure 8 is a drawing to explain how the offset distance is calculated.
Figure 9 is a drawing to explain the removal of cracks in an object at the boundary of adjacent target images.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. The advantages and features of the present invention, and the methods for achieving them, will become apparent with reference to the embodiments described in detail below together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and the present embodiments are provided only to make the disclosure of the present invention complete and to fully inform those skilled in the art of the scope of the invention, and the present invention is defined only by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

Unless otherwise defined, all terms (including technical and scientific terms) used in this specification may be used with a meaning that can be commonly understood by a person of ordinary skill in the art to which the present invention belongs. In addition, terms defined in commonly used dictionaries shall not be ideally or excessively interpreted unless explicitly and specifically defined.

FIG. 1 is a block diagram of an image capturing device according to an embodiment of the present invention.

Referring to FIG. 1, an image capturing device (10) according to an embodiment of the present invention is configured to include a lens unit (110, 120, 130), an image sensor (210, 220, 230), an image synthesis unit (300), and a communication unit (400).

The lens units (110, 120, 130) can receive light. The lens units (110, 120, 130) can receive light for a subject and a background. A plurality of lens units (110, 120, 130) may be provided. The plurality of lens units (110, 120, 130) can receive a plurality of lights from different directions. The plurality of lens units (110, 120, 130) may be arranged in the first direction. The arrangement of the plurality of lens units (110, 120, 130) will be described later with reference to FIGS. 2 to 4.

The image sensor (210, 220, 230) can generate multiple images by using multiple lights incident through multiple lens units (110, 120, 130). For example, a charge coupled device (CCD) or a complementary metal-oxide semiconductor (CMOS) device can perform the role of the image sensor (210, 220, 230).

A plurality of image sensors (210, 220, 230) may be provided. Image sensors (210, 220, 230) may be provided for each lens unit (110, 120, 130). For example, the first image sensor (210) may generate an image using light incident on the first lens unit (110), and the second image sensor (220) may generate an image using light incident on the second lens unit (120).

The image synthesis unit (300) can generate a composite image by synthesizing multiple images in a second direction different from the first direction. In the present invention, the composite image can include a panoramic image. The composite image generated by the image synthesis unit (300) can be a still image or a moving image.

The communication unit (400) can transmit a composite image. The composite image can be transmitted to a management server (not shown) that manages it or to a user's terminal (not shown). The management server can store the received composite image. The user's terminal can receive and output the composite image from the management server or the image capturing device (10).

As described above, the image capturing device (10) may include a plurality of lens units (110, 120, 130). When a plurality of lens units (110, 120, 130) are arranged in the second direction, distortion may occur at the boundary of a plurality of images generated by using adjacent lens units. Each lens unit (110, 120, 130) includes a view angle reference point (P1, P2) (see FIG. 3) that serves as a reference for the view angle, and when the view angle reference points (P1, P2) of adjacent lens units are spaced apart in the second direction, distortion occurs at the boundary of a plurality of images.

In order to prevent such distortion, a plurality of lens units (110, 120, 130) included in the image capturing device (10) according to an embodiment of the present invention may be arranged in a first direction. Hereinafter, the first lens unit (110) and the second lens unit (120) will be described as examples, but the image capturing device (10) according to an embodiment of the present invention may include three or more lens units (110, 120, 130).

Fig. 2 is a drawing for explaining the arrangement relationship of multiple lens parts, Fig. 3 is a side view of multiple lens parts, and Fig. 4 is a plan view of multiple lens parts.

Referring to FIGS. 2 to 4, the lens unit (110, 120) is configured to include a lens body (111, 121) and a lens (112, 122).

The lens body (111, 121) can accommodate a lens. A plurality of lenses (112, 122) can be provided. The plurality of lenses (112, 122) are accommodated in the lens body (111, 121) and their positions can be fixed inside the lens body (111, 121). Light transmitted through the plurality of lenses (112, 122) can be transmitted to the image sensor (210, 220, 230).

A plurality of lens units (110, 120) may be arranged in a first direction. FIG. 2 and FIG. 3 illustrate that the first lens unit (110) and the second lens unit (120) are arranged in the first direction. In the present invention, the second direction may represent a direction parallel to the reference plane (RS), and the first direction may represent a direction perpendicular to the reference plane (RS). In other words, the first direction and the second direction may be perpendicular to each other. Here, the reference plane (RS) may represent the ground or an installation surface on which the image capturing device (10) is installed.

Each of the plurality of lens units (110, 120) may include a view angle reference point (P1, P2) that serves as a reference for the view angle. Light from the subject and the background may be focused on the view angle reference point (P1, P2) and transmitted through the plurality of lenses (112, 122). The position of the view angle reference point (P1, P2) may be determined by synthesizing the optical refractive indices of the plurality of lenses (112, 122) included in the lens units (110, 120).

The configuration of the plurality of lenses (112, 122) included in one lens unit may be the same as the configuration of the plurality of lenses (112, 122) included in another lens unit. For example, when three lenses (112, 122) are included in the first lens unit (110), three lenses (112, 122) may also be included in the second lens unit (120). In addition, the optical refractive index of each lens (112, 122) included in the first lens unit (110) and the optical refractive index of each lens (112, 122) included in the second lens unit (120) may be the same. Accordingly, each of the plurality of lens units (110, 120) may refract light with the same performance, and the angle of view reference point (P1, P2) may be formed at the same point for each lens unit (110, 120).

A plurality of lens units (110, 120) may be arranged in the first direction such that the angle reference points (P1, P2) of each of the plurality of lens units (110, 120) are included on the same line (VL) parallel to the first direction. As illustrated in FIG. 3, the angle reference points (P1, P2) of the first lens unit (110) and the second lens unit (120) may be included in the virtual line in the first direction. As the angle reference points (P1, P2) of the plurality of lens units (110, 120) are aligned in the first direction, distortion at the boundary of the plurality of images synthesized in the second direction may be prevented or reduced.

The angle reference points (P1, P2) of adjacent lens parts can be spaced apart by a certain distance. The distance between adjacent lens parts among the plurality of lens parts (110, 120) can be formed to be the same. When three or more lens parts (110, 120) are provided, the distance between adjacent lens parts can be formed to be the same.

In the present invention, the optical axes (Ax, Bx) of the plurality of lens units (110, 120) with respect to the reference plane (RS) can be formed at the same angle. As illustrated in FIG. 4, when the plurality of lens units (110, 120) are viewed from above, the optical axis (Ax) of the first lens unit (110) and the optical axis (Bx) of the second lens unit (120) (hereinafter referred to as the second optical axis) face different directions. However, as illustrated in FIG. 3, the first optical axis (Ax) and the second optical axis (Bx) can have the same angle with respect to the reference plane (RS). For example, when the angle of the first optical axis (Ax) with respect to the reference plane (RS) is 10 degrees, the angle of the second optical axis (Bx) with respect to the reference plane (RS) can also be formed at 10 degrees.

When the angles of the first optical axis (Ax) and the second optical axis (Bx) with respect to the reference plane (RS) are different, distortion may occur between the image generated by the first lens unit (110) (hereinafter referred to as the first image) and the image generated by the second lens unit (120) (hereinafter referred to as the second image). When the angles of the first optical axis (Ax) and the second optical axis (Bx) with respect to the reference plane (RS) are formed to be the same, distortion between the first image and the second image can be prevented or reduced.

Figure 5 is a drawing for explaining the angle of view range of multiple lens parts.

Referring to FIG. 5, multiple lens units (110, 120) can receive light from different directions.

FIG. 5 illustrates that the first lens unit (110) receives light from the left front, and the second lens unit (120) receives light from the right front. As described above, the plurality of lens units (110, 120) may include lenses (112, 122) having the same configuration. Accordingly, the angle of view (hereinafter referred to as the first angle of view) (FOV1) of the first lens unit (110) and the angle of view (hereinafter referred to as the second angle of view) (FOV2) of the second lens unit (120) may be the same, and the first angle of view (FOV1) and the second angle of view (FOV2) may be formed based on angle of view reference points (P1, P2) of the first lens unit (110) and the second lens unit (120). Hereinafter, the light incident range included in the first field of view (FOV1) is referred to as the first field of view range (RVA1), and the light incident range included in the second field of view (FOV2) is referred to as the second field of view range (RVA2).

The second direction angle of view range (RVA1, RVA2) of one lens unit among the plurality of lens units (110, 120) may at least partially overlap with the second direction angle of view range (RVA1, RVA2) of the other lens unit. As illustrated in FIG. 5, the first angle of view range (RVA1) and the second angle of view range (RVA2) may partially overlap to form an overlapping range (ROA). A virtual line (BL) radiating from the angle of view reference points (P1, P2) to the overlapping range (ROA) may form a boundary between the first image and the second image.

Figure 6 is a drawing for explaining how multiple images are used to create a composite image.

Referring to FIG. 6, a first image (IMG1) and a second image (IMG2) can be synthesized to generate a synthesized image. Here, the first image (IMG1) represents an image generated using the first lens unit (110), and the second image (IMG2) represents an image generated using the second lens unit (120).

The image synthesis unit (300) can generate a composite image by synthesizing a plurality of images arranged in a pre-set direction so that at least a portion of two adjacent images overlaps. Here, the arrangement direction of the plurality of images indicates the second direction described above.

Two adjacent images may each include a region containing the same image information. Hereinafter, an area of each of two adjacent images containing the same image information is referred to as a common image area.

When two adjacent images are simply superimposed in the second direction, the common image area may not match. This is because multiple images are generated by using multiple lens sections arranged in the first direction. The common image area of two adjacent images can be matched by moving one of the two adjacent images in the first direction.

When the common image regions of two adjacent images match, non-overlapping regions may be arranged around the common image region. Specifically, when the common image regions of two adjacent images match, first non-overlapping regions may be arranged on both sides of a first direction different from the ordering direction (second direction) of the plurality of images based on the common image region. One of the two first non-overlapping regions may be an image region included in one of the two adjacent images, and the other of the two first non-overlapping regions may be an area region included in the other of the two adjacent images. In addition, when the common image regions of two adjacent images match, second non-overlapping regions may be arranged on both sides of the ordering direction (second direction) of the plurality of images based on the common image region. One of the two second non-overlapping regions may be an image region included in one of the two adjacent images, and the other of the two second non-overlapping regions may be an area region included in the other of the two adjacent images.

Two adjacent images may each include a first non-overlapping region and a second non-overlapping region. The first non-overlapping region may be removed, and the common image region and the second non-overlapping region may be synthesized to generate a composite image.

This process will be described with reference to Fig. 6. In Fig. 6, the first image (IMG1) and the second image (IMG2) can be understood as two adjacent images among the multiple images described above.

The image synthesis unit (300) can arrange the first image (IMG1) and the second image (IMG2) in the second direction (X) so that at least a portion of the first image (IMG1) and the second image (IMG2) overlap. FIG. 6 (b) illustrates that the first image (IMG1) and the second image (IMG2) are arranged in the second direction (X) to form an overlapping area (OA).

The first image (IMG1) and the second image (IMG2) may each include a common image area including the same image information, and the common image area may be included in an overlapping area (OA) of the first image (IMG1) and the second image (IMG2).

Meanwhile, since the first angle reference point (P1) and the second angle reference point (P2) are spaced apart in the first direction (Y), if the first image (IMG1) and the second image (IMG2) are simply listed in the second direction (X), the common image areas of the first image (IMG1) and the second image (IMG2) in the overlapping area (OA) may not match. Accordingly, the image synthesis unit (300) can generate a synthesis image after moving at least some of the plurality of images in the first direction (Y) with reference to the distance between the angle reference points (P1, P2) of the plurality of lens units (110, 120). That is, the image synthesis unit (300) moves one of the first image (IMG1) and the second image (IMG2) in the first direction (Y) with reference to the distance between the first angle reference point (P1) and the second angle reference point (P2). Hereinafter, the distance of movement of the moving image with reference to the distance between the angle reference points (P1, P2) is called the offset distance (OFFSET). A detailed explanation of the calculation of the offset distance (OFFSET) will be described later with reference to FIGS. 7 and 8.

As shown in (c) of Fig. 6, when one of the first image (IMG1) and the second image (IMG2) moves by the offset distance (OFFSET), the common image area (CIA) included in the overlapping area (OA) coincides.

When the common image area (CIA) of two adjacent images (IMG1, IMG2) is matched, first non-overlapping areas (NOA1a, NOA1b) may be arranged on both sides in the first direction (Y) based on the common image area (CIA), and second non-overlapping areas (NOA2a, NOA2b) may be arranged on both sides in the second direction (X) based on the common image area (CIA). Here, the first non-overlapping area (NOA1a, NOA1b) and the second non-overlapping area (NOA2a, NOA2b) represent non-overlapping areas among the entire areas of the first area (IMG1) and the second area (IMG2).

The image synthesis unit (300) can remove the first non-overlapping area (NOA1a, NOA1b) from the listed plurality of images. In addition, the image synthesis unit (300) can generate a first target image (T-IMG1) by synthesizing a second non-overlapping area (NOA2a, NOA2b) of one of the two adjacent images (IMG1, IMG2) and a part of the common image area (CIA), and can generate a second target image (T-IMG2) by synthesizing a second non-overlapping area (NOA2a, NOA2b) of the remaining one of the two adjacent images (IMG1, IMG2) and a part of the remaining common image area (CIA). Specifically, the image synthesis unit (300) can generate a first target image (T-IMG1) by synthesizing a second non-overlapping area (NOA2a) of the first image (IMG1) and a part of the common image area (CIA), and can generate a second target image (T-IMG2) by synthesizing a second non-overlapping area (NOA2b) of the second image (IMG2) and a remaining part of the common image area (CIA). Here, the lengths of the first target image (T-IMG1) and the second target image (T-IMG2) in the first direction (Y) can be the same.

As illustrated in (d) of Fig. 6, the image synthesis unit (300) can generate a synthetic image by synthesizing a first target image (T-IMG1) and a second target image (T-IMG2). A plurality of target images (T-IMG1, T-IMG2) arranged in the second direction (X) can be synthesized to generate a synthetic image including continuous image information.

Figure 7 is a drawing for explaining how a correction angle is calculated, and Figure 8 is a drawing for explaining how an offset distance is calculated.

Referring to FIG. 7, the first directional angle of view of the first lens unit (110) and the second lens unit (120) can be referenced to calculate the correction angle (CA).

The first optical axis (Ax) and the second optical axis (Bx) may be parallel to each other and perpendicular to the reference plane. In this case, the first angle of view (A1) in the first direction with respect to the first optical axis (Ax) and the second angle of view (A2) in the first direction with respect to the second optical axis (Bx) may be the same.

When the first lens unit (110) and the second lens unit (120) are facing the reference plane, the first field of view area (AF1) and the second field of view area (AF2) can be mapped to the reference plane. In FIG. 7, H1 represents the distance from the second optical axis (Bx) to the upper boundary of the second field of view area (AF2). In order to align the first field of view area (AF1) and the second field of view area (AF2) in the first direction, the second field of view (A2) must be corrected by the correction angle (CA) so that the upper boundary of the second field of view area (AF2) aligns with the upper boundary of the first field of view area (AF1). When the second field of view (A2) is corrected by the correction angle (CA), the distance from the second optical axis (Bx) to the vertical boundary of the second field of view area (AF2) can be H2. Here, the distance between H2 and H1 may be equal to the distance between the first angle reference point (P1) and the second angle reference point (P2).

In order to calculate the offset distance (OFFSET), the compensation angle (CA) must first be calculated. The compensation angle (CA) can be calculated using the mathematical formula below.

[Mathematical Formula 1]

CA = arctan (I/D + tanA2)

Here, CA represents a compensation angle, I represents a distance between a first angle reference point (P1) and a second angle reference point (P2), D represents a distance between angle reference points (P1, P2) and a reference plane, and A2 represents a second angle.

Referring to Fig. 8, the second angle of view (A2) and the correction angle (CA) can be referenced to calculate the offset distance (OFFSET).

In FIG. 8, F represents the focus of the second lens unit (120), FL represents the focal length of the second lens unit (120), H3 represents the height of the second image (IMG2) mapped to the second image sensor (220) before the second angle of view (A2) of the second lens unit (120) is corrected, and H4 represents the height of the second image (IMG2) mapped to the second image sensor (220) after the second angle of view (A2) of the second lens unit (120) is corrected.

In order to align the first field of view area (AF1) and the second field of view area (AF2) in the first direction, the second image (IMG2) must be moved in the first direction by an offset distance (OFFSET). The offset distance (OFFSET) may correspond to the difference between H4 and H3.

Accordingly, the offset distance (OFFSET) can be calculated by the mathematical formula below.

[Mathematical formula 2]

H3 = FLХtanA2

H4 = FLХtanCA

OFFSET = H4 - H3

As the second image (IMG2) is moved in the first direction by the offset distance (OFFSET), the first field of view area (AF1) and the second field of view area (AF2) can be aligned in the first direction. The image synthesis unit (300) can extract the first target image (T_IMG1) and the second target image (T_IMG2) from the first image (IMG1) and the second image (IMG2) after the first field of view area (AF1) and the second field of view area (AF2) are aligned in the first direction. Then, the image synthesis unit (300) can generate a composite image by synthesizing the first target image (T_IMG1) and the second target image (T_IMG2) in the second direction.

Figure 9 is a drawing to explain the removal of cracks in an object at the boundary of adjacent target images.

Referring to FIG. 9, the plurality of lens units (110, 120) may have a lens distortion rate that allows cracks in an object to be removed from the boundary of adjacent target images among the plurality of target images (T_IMG1, T_IMG2).

FIG. 9 illustrates that a first target image (T_IMG1) and a second target image (T_IMG2) are synthesized to generate a synthesized image. The first target image (T_IMG1) and the second target image (T_IMG2) may each include a portion of an object (OBJ1, OJB2). Hereinafter, a portion of an object included in the first target image (T_IMG1) is referred to as a first partial object (OBJ1), and a portion of an object included in the second target image (T_IMG2) is referred to as a second partial object (OBJ2).

When the lens distortion rates of the first lens unit (110) and the second lens unit (120) are not appropriate, as shown in (a), the first partial object (OBJ1) and the second partial object (OBJ2) cannot be naturally connected at the boundary between the first target image (T_IMG1) and the second target image (T_IMG2), and a crack may occur. In order to remove the crack of the object, the lens distortion rates of the first lens unit (110) and the second lens unit (120) can be appropriately determined. When the lens distortion rates of the first lens unit (110) and the second lens unit (120) are appropriately determined, the first partial object (OBJ1) and the second partial object (OBJ2) can be naturally connected at the boundary between the first target image (T_IMG1) and the second target image (T_IMG2), and the crack can be removed.

Although the embodiments of the present invention have been described with reference to the above and the attached drawings, those skilled in the art to which the present invention pertains will understand that the present invention can be implemented in other specific forms without changing the technical idea or essential characteristics thereof. Therefore, it should be understood that the embodiments described above are exemplary in all respects and not restrictive.

10: Video recording device
110, 120, 130: Lens section
210, 220, 230: Image sensor
300: Video Compositing Section
400: Communications Department

Claims (15)

A plurality of lens sections arranged in a first direction and receiving a plurality of rays of light from different directions;
A plurality of image sensors that generate a plurality of images using the plurality of incident lights; and
An image capturing device including an image synthesizing unit that generates a composite image by synthesizing the plurality of images in a second direction different from the first direction. In the first paragraph,
An image capturing device in which the plurality of lens units are arranged in the first direction so that the angle reference point of each of the plurality of lens units is included on the same line parallel to the first direction. In the first paragraph,
An image capturing device in which the distance between adjacent lens units among the above-mentioned plurality of lens units is formed to be the same. In the first paragraph,
An imaging device in which the optical axes of the plurality of lens sections with respect to the reference plane are formed at the same angle. In the first paragraph,
An image capturing device wherein the angle of view range in the second direction by one lens unit among the plurality of lens units overlaps at least partly with the angle of view range in the second direction by another lens unit. In the first paragraph,
An image capturing device in which the image synthesis unit generates the composite image after moving at least a portion of the plurality of images in the first direction with reference to the distance between the angle reference points of the plurality of lens units. In Article 6,
The above video synthesis unit,
Extracting a target image having the same length in the first direction from the above plurality of images,
An image capturing device that generates the composite image by synthesizing the plurality of target images extracted above in the second direction. In Article 7,
An image capturing device wherein the plurality of lens sections have a lens distortion rate that removes cracks in an object at the boundary of adjacent target images among the plurality of target images. In the first paragraph,
An image capturing device further comprising a communication unit for transmitting the above-mentioned composite image. In the first paragraph,
The above composite image is an image capturing device including a panoramic image. Including an image synthesis unit that generates a composite image by synthesizing a plurality of images arranged in a pre-set direction so that at least a portion of two adjacent images overlaps,
The two adjacent images each include a common image area containing the same image information,
An image capturing device in which, when the common image areas of the two adjacent images match, first non-overlapping areas are arranged on both sides of a first direction different from the listing direction of the plurality of images based on the common image area, and second non-overlapping areas are arranged on both sides of the listing direction of the plurality of images based on the common image area. In Article 11,
An image capturing device in which the common image area of the two adjacent images is matched by moving one of the two adjacent images in the first direction. In Article 11,
The above video synthesis unit,
Remove the first non-overlapping region from the two adjacent images,
Generating a first target image by synthesizing a second non-overlapping region of one of the two adjacent images and a part of the common image region,
A second target image is generated by synthesizing a second non-overlapping region of the remaining one of the two adjacent images and the remaining part of the common image region,
An image capturing device that generates the composite image by synthesizing the first target image and the second target image. In Article 11,
An image capturing device including a plurality of images, wherein the plurality of images are arranged in the first direction and generated using a plurality of lens sections that receive a plurality of lights in different directions. A step of receiving a plurality of lights in different directions by a plurality of lens units arranged in a first direction;
A step of generating multiple images using the multiple incident lights; and
An image capturing method comprising the step of generating a composite image by synthesizing the plurality of images in a second direction different from the first direction.

Images