An input signal for each of three primary color components is converted into a luminance signal and a color signal by a color space conversion part. A gain setting part sets a gain for the color signal obtained by color space conversion according to a signal level of a setting reference signal generated on the basis of the input signal, for example, the luminance signal. A gain adjustment part performs gain adjustment of the color signal with the gain set by the gain setting part, and in a case where the luminance signal is larger than a threshold set according to a dynamic range for each color component, the gain adjustment part makes the subject achromatic so that, even in a case where a light amount of the subject is high, influence of a difference in the dynamic range is little.

An imaging device, includes: an imaging unit in which are disposed a plurality of pixels, each including a filter that is capable of changing a wavelength of light passing therethrough to a first wavelength and to a second wavelength and a light reception unit that receives light that has passed through the filter, and that captures an image via an optical system; an analysis unit that analyzes the image captured by the imaging unit; and a control unit that controls the wavelength of the light to be transmitted, by the filter based upon a result of analysis by the analysis unit.

A color imaging apparatus includes a filter having a meta surface, and configured to transmit only light in a first spectral region, a second spectral region and a third spectral region in a time sequence, a monochrome sensor on which the filter is disposed, and configured to acquire three different monochrome images in the time sequence by being consecutively exposed three times in synchronization with the filter, and a processor configured to acquire one color image by merging the three different monochrome images.

Disclosed is a method for controlling a robot cleaner including acquiring, by a camera, an image, irradiating, by a light source, light toward a location the same as a location where the acquired image is captured, receiving, by a sensor, the light irradiated from the light source and reflected on an object, processing an image received from the sensor to contain a distance value of an individual location, and supplementing the image received from the sensor with the image captured by the camera when a singularity is found, wherein distance values calculated in adjacent portions are discontinuous at the singularity.

Disclosed is a method for controlling a robot cleaner including acquiring, by a camera, an image, irradiating, by a light source, light toward a location the same as a location where the acquired image is captured, receiving, by a sensor, the light irradiated from the light source and reflected on an object, processing an image received from the sensor to contain a distance value of an individual location, and supplementing the image received from the sensor with the image captured by the camera when a singularity is found, wherein distance values calculated in adjacent portions are discontinuous at the singularity.

A lens device and an imaging apparatus that can emit illumination light coaxial with a lens optical system are proposed herein. A lens device includes an optical system that includes a first lens and a second lens forming an optical image of a subject; a first optical member that includes a frame that includes a plurality of aperture regions, a plurality of optical filters that include two or more optical filters transmitting lights having at least some wavelength ranges different from each other, and a plurality of polarizing filters that have different polarization directions; and a second optical member that is provided outside the optical system and closer to a subject side than the first optical member and emits illumination light, which is incident from the outside of the optical system, to the subject side via the optical system.

There are provided a lens device, an imaging apparatus, and an imaging method that suppress the occurrence of overexposure by dimming or blocking totally reflected light. The lens device (100) includes: an optical system (100A); a wavelength polarizing filter unit (130) that is disposed at a pupil position of the optical system (100A) or near the pupil position and includes a plurality of aperture regions, a plurality of optical filters that are disposed in the plurality of aperture regions and include two or more optical filters transmitting lights having a part of wavelength ranges different from each other, and a plurality of first polarizing filters that are disposed in the plurality of aperture regions and are at least two first polarizing filters having polarization directions different from each other; and a first circularly polarizing optical element (101) that is provided between a subject and the wavelength polarizing filter unit.

There are provided a lens device, an imaging apparatus, and an imaging method that suppress the occurrence of overexposure by dimming or blocking totally reflected light. The lens device (100) includes: an optical system (100A); a wavelength polarizing filter unit (130) that is disposed at a pupil position of the optical system (100A) or near the pupil position and includes a plurality of aperture regions, a plurality of optical filters that are disposed in the plurality of aperture regions and include two or more optical filters transmitting lights having a part of wavelength ranges different from each other, and a plurality of first polarizing filters that are disposed in the plurality of aperture regions and are at least two first polarizing filters having polarization directions different from each other; and a first circularly polarizing optical element (101) that is provided between a subject and the wavelength polarizing filter unit.

An imaging system for generating a high dynamic range (HDR) image includes a pixel array that includes first pixels and second pixels, a driver circuit configured to control the first pixels based on a first exposure time and control the second pixels based on a second exposure time, an output circuit configured to output first pixel values of the first pixels and second pixel values of the second pixels from the pixel array, and a processing device configured to generate the HDR image based on a first Bayer image and a second Bayer image, where the first Bayer image is generated based on the first pixel values and the second Bayer image is generated based on the second pixel values and third pixel values of the first Bayer image. The quantity of pixels of the first pixels may be greater than the quantity of pixels of the second pixels.

An optical filter (1a) includes a light-absorbing layer (10). The light-absorbing layer absorbs light in at least a portion of the near-infrared region. When light with a wavelength of 300 nm to 1200 nm is incident on the optical filter (1a) at incident angles of 0°, 30°, and 40°, the optical filter (1a) satisfies given transmittance requirements. IE.sub.θ1/θ2.sup.λ1 to λ2, IAE.sub.θ1/θ2.sup.λ1 to λ2, and ISE.sub.θ1/θ2.sup.λ1 to λ2 defined by the following equations (1) to (3) for two incident angles θ1° and θ2° (θ1<θ2) selected from 0°, 30°, and 40° satisfy given requirements in a given domain of a wavelength λ.