An electronic device includes at least one optical lens assembly. The optical lens assembly includes four lens elements, and the four lens elements are, in order from an outside to an inside, a first lens element, a second lens element, a third lens element and a fourth lens element. The first lens element has an outside surface being convex in a paraxial region thereof. The second lens element has an inside surface being convex in a paraxial region thereof. The fourth lens element has an inside surface being concave in a paraxial region thereof, wherein at least one of an outside surface and the inside surface of the fourth lens element includes at least one critical point in an off-axis region thereof.

An imaging system includes a camera, a display panel and a processor for providing image data to the display panel. The camera has a sensor with pixel rows for capturing an image taken by a camera lens through a lenticular sheet with first lenticules, such that each first lenticule covers at least two pixel rows. The display panel is used to show a displayed image based on the image data. The display panel is covered by a viewing lenticular sheet with second lenticules. The displayed image has a plurality of segments, with each segment under a second lenticule and each segment has sub-segments corresponding to pixel rows under a first lenticule. Image data provided to the image display panel is arranged such that image contents in the sub-segments under each second lenticule and image contents in the pixel rows under each first lenticule have different arrangement orders.

An imaging system includes a camera, a display panel and a processor for providing image data to the display panel. The camera has a sensor with pixel rows for capturing an image taken by a camera lens through a lenticular sheet with first lenticules, such that each first lenticule covers at least two pixel rows. The display panel is used to show a displayed image based on the image data. The display panel is covered by a viewing lenticular sheet with second lenticules. The displayed image has a plurality of segments, with each segment under a second lenticule and each segment has sub-segments corresponding to pixel rows under a first lenticule. Image data provided to the image display panel is arranged such that image contents in the sub-segments under each second lenticule and image contents in the pixel rows under each first lenticule have different arrangement orders.

Erroneous detection due to erroneous parallax measurement is suppressed to accurately detect a step present on a road. An in-vehicle environment recognition device 1 includes a processing device that processes a pair of images acquired by a stereo camera unit 100 mounted on a vehicle. The processing device includes a stereo matching unit 200 that measures a parallax of the pair of images and generates a parallax image, a step candidate extraction unit 300 that extracts a step candidate of a road on which the vehicle travels from the parallax image generated by the stereo matching unit 200, a line segment candidate extraction unit 400 that extracts a line segment candidate from the images acquired by the stereo camera unit 100, an analysis unit 500 that performs collation between the step candidate extracted by the step candidate extraction unit 300 and the line segment candidate extracted by the line segment candidate extraction unit 400 and analyzes validity of the step candidate based on the collation result and an inclination of the line segment candidate, and a three-dimensional object detection unit 600 that detects a step present on the road based on the analysis result of the analysis unit 500.

In a measuring device, a second objective optical system is arranged to have a parallax with respect to a first objective optical system. An imaging unit captures a first subject image formed through the first objective optical system at a first imaging timing and captures a second subject image formed through the second objective optical system at a second imaging timing different from the first imaging timing. A virtual image generating unit generates a virtual image based on the first subject image acquired in a case in which the imaging unit is assumed to capture the first subject image at the second imaging timing. A measurement processing unit measures a shape of a subject on the basis of a second image based on the second subject image and the virtual image.

In a measuring device, a second objective optical system is arranged to have a parallax with respect to a first objective optical system. An imaging unit captures a first subject image formed through the first objective optical system at a first imaging timing and captures a second subject image formed through the second objective optical system at a second imaging timing different from the first imaging timing. A virtual image generating unit generates a virtual image based on the first subject image acquired in a case in which the imaging unit is assumed to capture the first subject image at the second imaging timing. A measurement processing unit measures a shape of a subject on the basis of a second image based on the second subject image and the virtual image.

A three-dimensional object detection apparatus includes an input interface and a controller. The input interface accepts input of first and second images having mutual parallax in a first direction. The controller generates a parallax image that uses a pixel value to represent a difference in the first direction between positions of a subject in the first image and in the second image and divides the parallax image into a plurality of partial regions extending along a second direction. For each partial region, the controller segments a distance in the direction towards the subject into a plurality of distance intervals; and calculates, on the basis of a pixel count of pixels belonging to the distance interval, an evaluation value of a three-dimensional object belonging to the distance interval. The controller uses a different threshold for each distance interval to determine whether or not a three-dimensional object is present.

A three-dimensional object detection apparatus includes an input interface and a controller. The input interface accepts input of first and second images having mutual parallax in a first direction. The controller generates a parallax image that uses a pixel value to represent a difference in the first direction between positions of a subject in the first image and in the second image and divides the parallax image into a plurality of partial regions extending along a second direction. For each partial region, the controller segments a distance in the direction towards the subject into a plurality of distance intervals; and calculates, on the basis of a pixel count of pixels belonging to the distance interval, an evaluation value of a three-dimensional object belonging to the distance interval. The controller uses a different threshold for each distance interval to determine whether or not a three-dimensional object is present.

Provided is a parallax minimization stitching method and apparatus using control points in an overlapping region. A parallax minimization stitching method may include defining a plurality of control points in an overlapping region of a first image and a second image received from a plurality of cameras, performing a first geometric correction by applying a homography to the control points, defining a plurality of patches based on the control points, and performing a second geometric correction by mapping the patches.

Provided is a parallax minimization stitching method and apparatus using control points in an overlapping region. A parallax minimization stitching method may include defining a plurality of control points in an overlapping region of a first image and a second image received from a plurality of cameras, performing a first geometric correction by applying a homography to the control points, defining a plurality of patches based on the control points, and performing a second geometric correction by mapping the patches.