JP2017147682A - Imaging system for entire celestial sphere - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an imaging system for an entire celestial sphere, capable of forming an entire celestial sphere image while increasing visibility.SOLUTION: An imaging system 10 for an entire celestial sphere, comprises: imaging means 22; an image composition part 30 that forms frame data of the entire celestial sphere; posture detection means 40 that detects posture information of the imaging means; a correction amount calculation part 60 that forms correction amount data for converting a coordinate of the frame data of the entire celestial sphere on the basis of the posture information; and correlation means 70 for obtaining an entire celestial sphere image by correlating the frame data of entire celestial sphere with the correction amount data. The correction calculation part forms the correction amount data for performing an inclination correction to a vertical direction in a global coordinate and a correction excluding a minute vibration component on vibration in a horizontal surface in the global coordinate, and transmits to the correlation means.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an omnidirectional imaging system capable of imaging all directions, and more specifically to an omnidirectional imaging system capable of suppressing horizontal shake.

  2. Description of the Related Art An omnidirectional imaging system that captures a moving image or a still image obtained by using an imaging apparatus and synthesizes the omnidirectional sphere (omnidirectional) is known. In this system, the imaging apparatus includes a plurality of imaging units, and performs correction of distortion on individual captured images captured by the imaging unit and combines them to display a substantially rectangular spherical image that can be displayed on a monitor or the like. Is generated.

  When the orientation of the imaging device changes, the generated omnidirectional image also changes in accordance with the orientation, so that the omnidirectional image becomes an image lacking visibility.

  Therefore, in Patent Literature 1, a sensor that detects the tilt of the imaging device with respect to the vertical direction is provided, and the captured image is converted into an omnidirectional image corrected to global coordinates according to the tilt of the imaging device detected by the sensor. A system is proposed.

JP 2013-214947 A

  As described above, a converted image in which the inclination with respect to the vertical direction is corrected is created by converting the omnidirectional image to global coordinates. However, only by correcting the inclination with respect to the vertical direction, the rotation in the horizontal direction (rotation around the axis in the vertical direction) is not corrected, and the image lacks visibility. For example, when taking a video while wearing an imaging device on the user's head and riding a bicycle, the tilt with respect to the vertical direction is corrected, but the horizontal rotation still remains, resulting in lack of visibility. It becomes a video.

  The objective of this invention is providing the omnidirectional imaging | photography system which can produce the omnidirectional image full of presence, improving visibility.

The omnidirectional imaging system according to the present invention is:
A plurality of imaging means for outputting image data;
Attitude detection means for detecting attitude information of at least one imaging means of the plurality of imaging means;
Control means for generating an omnidirectional image obtained by coordinate-transforming the image data based on the attitude information output by the attitude detection means;
With
The control means generates an omnidirectional image for the image data by performing a tilt correction with respect to the vertical direction in the global coordinates and a coordinate conversion by correcting the global coordinates in the horizontal plane by removing a minute shake component.

An image synthesis unit that creates omnidirectional frame data from image data captured by the plurality of imaging means;
A correction amount calculation unit that generates correction amount data for converting coordinates of the omnidirectional frame data based on posture information of the at least one imaging unit from the posture detection unit;
Association means for associating the omnidirectional frame data and the correction amount data to obtain an omnidirectional image;
With
The correction amount calculation unit creates correction amount data for performing correction of tilt correction with respect to the vertical direction in global coordinates and correction in the global coordinate in a horizontal plane excluding a minute shake component for the omnidirectional frame data. It can be.

The posture information is between local coordinates including x-axis, y-axis, and z-axis that are orthogonal to each other with respect to the imaging means, and global coordinates including X-axis, Y-axis, and vertical Z-axis that are orthogonal to each other. Information representing the amount of rotational displacement of
The correction amount calculation unit creates, as correction amount data, a global coordinate correction amount for correcting the coordinates of the omnidirectional frame data to the global coordinates based on the posture information, and the global coordinate correction amount is: The inclination of the omnidirectional frame data with respect to the vertical direction can be corrected, and a correction amount for correcting only the high-frequency component of the shaking with respect to the rotation around the vertical axis can be obtained.

  The association means may associate the correction amount data as header information of the omnidirectional frame data.

The imaging means captures a moving image,
The correction amount calculation unit can create correction amount data based on posture information of omnidirectional frame data one frame before input from the posture detection means.

In addition, the omnidirectional imaging system of the present invention,
A plurality of imaging means;
Attitude detection means for detecting attitude information of at least one imaging means of the plurality of imaging means;
Image data that is the output of the plurality of imaging means;
Control means for generating and displaying an image signal based on an attitude detection signal which is an output of the attitude detection means;
With
For global coordinates including the X-axis, Y-axis, and vertical Z-axis that are orthogonal to each other,
A first image signal generated by rotating the plurality of imaging units by a first angle in the X-axis direction;
A second image signal generated by photographing the plurality of imaging means by rotating by the first angle in the Y-axis direction;
A third image signal generated by photographing the plurality of imaging means by rotating the first imaging unit in the Z-axis direction by the first angle;
When the image signal is generated and displayed by the control means,
The control means displays the image having substantially no rotational movement as the first image signal and the second image signal, and displays the image having rotational movement at the substantially first angle as the third image signal. .

  According to the omnidirectional imaging system of the present invention, the omnidirectional image created from the image data is not only corrected in the vertical direction, but also follows the rotation in the horizontal plane of the imaging means, so it is full of realism. Further, since the camera shake, which is a minute vibration in the horizontal plane, is also corrected, an image having excellent visibility can be obtained.

FIG. 1 is a block diagram of the omnidirectional imaging system of the present invention. FIG. 2 is a plan view of the imaging apparatus. FIG. 3 is a diagram showing the relationship between local coordinates and global coordinates. FIG. 4 is a diagram showing the relationship between global coordinates and direction vectors. Figure 5 is a graph showing the (a) the rotational angle theta _Z and (b) the rotational angle theta _{Z_lpf} around the Z-axis. FIG. 6 is an explanatory diagram of a procedure for creating an omnidirectional image from a captured image.

  Hereinafter, the omnidirectional imaging system 10 of the present invention will be described with reference to the drawings.

  The present invention relates to the attitude of an imaging device 20 in an omnidirectional imaging system 10 that images an omnidirectional sphere (omnidirectional) and converts the obtained image into omnidirectional frame data to obtain an omnidirectional image. First, the generated omnidirectional image is converted in accordance with the vertical direction, and the horizontal directional image is blurred while performing correction in the horizontal direction in accordance with the rotation direction in accordance with the attitude of the imaging device 20. Shake correction is performed to reduce (shake). Thus, an omnidirectional image with high visibility is provided while being rich in presence.

  FIG. 1 is a block diagram of an omnidirectional imaging system 10 showing an embodiment of the present invention, and FIG. 2 is a schematic external view of an imaging apparatus 20. Note that FIG. 1 illustrates only functional blocks related to the present invention in order to explain the present invention in an easy-to-understand manner, but these are stored in a memory such as a CPU, a RAM, a ROM, a flash memory, a buffer, and the like. This can be realized by connecting various programs. It should be understood that these functional blocks can be realized by hardware only, software only, or a combination thereof, and these functions can be connected so that they can communicate with each other wirelessly or by wire. Further, these functions can be realized by a single device, or for example, a system in which a plurality of functions such as imaging and display are individually realized by a plurality of devices.

  The omnidirectional imaging system 10 includes one or a plurality of image sensors 22 and 22 (imaging elements) as imaging means. The image sensors 22 and 22 are, for example, CCD (Charge Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor) image sensors, to which optical lenses 24 and 24 are attached. The optical lens 24 can be composed of a wide-angle lens, a super-wide-angle lens, or a plurality of lens groups, and the image data of the omnisphere can be acquired by the image sensors 22 and 22.

  For example, when there are two image sensors 22, 22, the optical lenses 24, 24 employ a wide-angle lens or a super-wide-angle lens that can capture an angle of view of 180 ° or more, and as shown in FIG. Are arranged so that the front side and the back side of the imaging device 20 can be photographed.

  Image data sequentially output from the image sensors 22 and 22 is transmitted to the control means 11. For example, as illustrated in FIG. 1, the control unit 11 may include an image composition unit 30, a posture calculation unit 50, a correction amount calculation unit 60, an association unit 70, a memory 80, and a display device 82.

  The image data output from the image sensors 22 and 22 is transmitted to the image composition unit 30, and omnidirectional frame data is created by sequentially performing distortion correction and composition. For example, the image composition unit 30 performs distortion correction on the obtained image data to create omnidirectional frame data composed of equirectangular images. The created omnidirectional frame data is transmitted to the association means 70 described later.

  On the other hand, the posture information of the imaging device 20, that is, the tilt or rotation of the imaging device 20 with respect to the global coordinates is detected by the posture detection unit 40 at a predetermined sampling period and is calculated by the posture calculation unit 50.

  For example, the posture detection means 40 can be an angular velocity sensor 42 and an acceleration sensor 44 as shown in FIG. Further, the posture detection means 40 may include a direction sensor in addition to these sensors.

  As posture information, as shown in FIG. 3, local coordinates including an x-axis, a y-axis, and a z-axis that are orthogonal to each other with respect to the imaging device 20, and an X-axis, a Y-axis, and a vertical Z-axis that are orthogonal to each other. It can be illustrated by the relationship with the global coordinates including. The local coordinate y-axis is set to coincide with the optical axis of any one of the image sensors 22, and the local coordinate origin is set at the center between the image sensors 22 and 22. In FIG. 3, the Z-axis indicates the vertical direction (gravity direction) of the global coordinates.

  When the angular velocity sensor 42 and the acceleration sensor 44 are employed as the posture detection means 40, as shown in FIG. 3, with respect to the x-axis, the y-axis, and the z-axis of the imaging device 20, the angular velocity sensor 42 determines the position of the imaging device 20. A rotational angular velocity (gx, gy, gz) around each axis of the local coordinates is output. From the acceleration sensor 44, a gravitational acceleration component (in each axis direction) decomposed in each axial direction of the local coordinates of the imaging device 20 ( ax, ay, az) are output.

The posture calculation unit 50 calculates posture information of the imaging device 20 based on outputs (rotational angular velocity and gravity acceleration component) obtained from the sensors 42 and 44. The posture information can be expressed using, for example, a quaternion (quaternion) representing the posture of the imaging device 20 on the global coordinates. The quaternion q can be defined as follows using four variables q ₀ , q ₁ , q ₂ , q ₃ and basis vectors i, j, k.

q = q ₀ + q ₁ i + q ₂ j + q ₃ k
i ² = j ² = k ² = ijk = −1
ij = -ji = k, jk = -kj = i, ki = -ik = j

Here, the four variables q ₀ , q ₁ , q ₂ , q ₃ of the quaternion q can be given by the following equations.
q ₀ = cos (θ / 2)
q ₁ = nx · sin (θ / 2)
q ₂ = ny · sin (θ / 2)
q ₃ = nz · sin (θ / 2)
nx ² + ny ² + nz ² = 1

  In the above formula, nx, ny, and nz are direction vectors (nx, ny, nz) on global coordinates as shown in FIG. 4, and θ represents a rotation angle around the direction vector. .

At this time, the relationship between the orientation vector p of the imaging device 20 on the local coordinates and the orientation vector P on the global coordinates is defined by the following equation.
P = R ・ p
Here, R is a 3 × 3 rotation matrix, and is calculated by the following equation from the quarteranion q.

When the optical axis direction of one image sensor of the imaging device 20 is set to the y-axis direction of the local coordinate system, the optical axis direction vector of the imaging device 20 is represented by p = [0,1,0] ^T. At this time, when the attitude quota of the imaging apparatus 20 is qc, the attitude vector P in the global coordinate system of the imaging apparatus is calculated by the following equation.
P = Rc · p

  Thereby, the attitude angle (tilt and rotation angle) of the local coordinates (x, y, z) of the imaging device 20 is defined by the global coordinates (X, Y, Z). Various methods can be adopted as a method for calculating the quaternion qc of the imaging device 20 from the outputs of the angular velocity sensor 42 and the acceleration sensor 44. Further, the posture information may be calculated by other than the quaternion qc.

  The posture information (quartanion qc) of the imaging device 20 calculated by the posture calculation unit 50 is transmitted to the correction amount calculation unit 60. The correction amount calculation unit 60 calculates a correction amount (quartanion qs) for correcting the coordinates of the omnidirectional frame data to global coordinates. The correction amount calculated here completely corrects the inclination of the imaging device 20 with respect to the Z axis indicating the vertical direction, and for the shake around the Z axis indicating the vertical direction, that is, in the horizontal plane in the global coordinates, This is means for creating correction amount data for performing correction excluding a minute shaking component.

  As shown in FIG. 1, for example, the correction amount calculation unit 60 can include a delay holding unit 61, a rotation angle extraction unit 62, a low-pass filter 63, a coordinate conversion unit 64, and a coordinate multiplication unit 65.

  The posture information input to the correction amount calculation unit 60 is transmitted to the coordinate multiplication unit 65 and also transmitted to the delay holding unit 61.

  The delay holding unit 61 holds the quarteranion qc (t−1) of the previous sampling time t−1 for the input coordinate information.

Then, the rotation angle extracting unit 62 extracts, from quaternion qc (t-1), calculates a rotation angle theta _Z around the Z-axis of the global coordinates. For example, the rotation angle θ _Z can be calculated from the Euler angle R _zxy obtained by converting the quaternion qc (t−1) to the Euler angle R _zxy .

FIGS. 5 (a) shows an example of the rotation angle theta _Z waveform W calculated. Referring to FIG. 5 (a), the rotation angle theta _Z is found to be in the low-frequency component is a waveform the high frequency component is superimposed. Such a waveform W is obtained when, for example, the user attaches the imaging device 20 to the head and shoots while riding a bicycle, changes the traveling direction of the bicycle, or moves the head in a horizontal plane. Detected.

  High-frequency components in the waveform W are minute vibrations in the horizontal plane in the global coordinates of the imaging device 20, that is, minute vibration components that are not intended by the user, such as camera shake and vibration.

  On the other hand, the low frequency component in the waveform W is detected when the direction of the imaging device 20 itself is changed. That is, in the above example, it means an intentional change in direction detected when the user changes the traveling direction of the bicycle or moves the head in a horizontal plane.

  In the present invention, in order to maintain a sense of reality, the low-frequency component fluctuation is left to follow the direction of the imaging device 20, and the high-frequency component fluctuation that causes a reduction in visibility is removed. Make corrections.

Specifically, the rotation angle θ _Z calculated by the rotation angle extraction unit 62 is passed through the low-pass filter 63 to remove the high frequency component, and the rotation angle θ _{Z_lpf} having only the low frequency component is created. FIG. 5B shows a waveform of the rotation angle θ _{Z_lpf} obtained by passing through the low-pass filter 63.

The rotation angle theta _{Z_lpf} waveform w, since high-frequency components such as hand shake is removed, the rotation angle theta _{Z_lpf} is a posture amount around the Z-axis including only the intended orientation change of the imaging device 20.

The coordinate conversion unit 64 calculates an attenuation amount that attenuates the rotation amount around the Z axis of the imaging device 20 from the obtained rotation angle θ _{Z_lpf} . For example, as shown by the following equation, the quaternion is calculated by inverting the sign of the rotation angle θ _{Z_lpf} . This quarteranion is referred to as centering quarternion qd.
qd ₀ = cos (−θ _{z_lpf} / 2)
qd ₁ = 0
qd ₂ = 0
qd ₃ = sin (−θ _{z_lpf} / 2)

Then, by applying the centering quaternion qd reflecting the rotation angle θ _{Z_lpf} to the global coordinate correction amount (quartanion qc (t)) serving as the attitude information of the imaging device 20, minute vibrations in the horizontal plane of the global coordinates, That is, correction amount data of posture information that follows the direction of the imaging device 20 can be obtained while suppressing camera shake.

The calculation is performed by the coordinate multiplication unit 65. The coordinate multiplication unit 65 multiplies the calculated global coordinate correction amount (quartanion qc (t)) at the current sampling time t by the calculated centering quaternion qd to obtain a posture correction amount quaternion serving as correction amount data applied to the omnidirectional image. qs is calculated.
qs = qd * qc (t)
Here, * represents a quarteranion multiplication and is defined by the following equation using each element.
qs ₀ = qd ₀ · qc ₀ −qd ₁ · qc ₁ −qd ₂ · qc ₂ −qd ₃ · qc ₃
qs ₁ = qd ₀ · qc ₁ + qd ₁ · qc ₀ + qd ₂ · qc ₃ −qd ₃ · qc ₂
qs ₂ = qd ₀ · qc ₂ −qd ₁ · qc ₃ + qd ₂ · qc ₀ + qd ₃ · qc ₁
qs ₃ = qd ₀ · qc ₃ + qd ₁ · qc ₂ −qd ₂ · qc ₁ + qd ₃ · qc ₀

  The obtained correction amount data (posture correction amount quota qs) is transmitted to the association means 70.

  The associating unit 70 associates the omnidirectional frame data at the current sampling time t created by the image composition unit 30 with the correction amount data. In the present embodiment, as described above, the correction amount data is the posture correction amount quarternion qs obtained by correcting the global coordinate correction amount at the current sampling time t with the centering quarternion qd at the previous sampling time t−1. The associating unit 70 can perform the association by writing correction amount data in the header information of the omnidirectional frame data, for example. An image created by this association is referred to as an omnidirectional image.

  The obtained omnidirectional image can be transferred and stored in a recording medium such as a memory 80 or an external storage as shown in FIG. Also, the omnidirectional image can be directly displayed on the display device 82 as a through image.

  Examples of the display device 82 include a digital camera, a smartphone, a portable electronic device such as a PDA (Personal Digital Assistant), a monitor, and the like. In this case, the display device 82 installs reproduction display software or application, reads the correction amount data from the header information of the omnidirectional image, applies the correction amount data to the omnidirectional frame data, In addition to the conversion to coordinates, correction in the horizontal plane may be performed to display the omnidirectional image.

  FIG. 6 shows an example of an omnidirectional image obtained by applying the correction amount data to the omnidirectional frame data. In FIG. 6, in order to explain the present invention more easily, two captured images that are continuous in time series and omnidirectional frame data are displayed in an overlapping manner.

  6A and 6B show image data acquired by the image sensors 22 and 22, respectively. As shown in the figure, it can be seen that the subject 90 is shaken by camera shake in two consecutively taken images.

  The image composition unit 30 performs distortion correction and composition on these image data to create omnidirectional frame data such as an equirectangular image as shown in FIG. In FIG. 6C, the omnidirectional frame data is created so that FIG. 6A is at the center. Referring to the figure, it can be seen that the subject 90 in the omnidirectional frame data is also shaken with the shake of the captured image. Further, the horizontal line 92 of the omnidirectional frame data is inclined due to the inclination of the imaging device 20.

  Then, the correction amount data is applied to the obtained omnidirectional frame data, and the local coordinates of the imaging device 20 are corrected with respect to the vertical direction based on the global coordinate correction amount (see FIG. 6D), and the vertical coordinates are also corrected. An omnidirectional image as shown in FIG. 6F is created by performing conversion around the y-axis direction of the imaging device 20 while removing minute shakes in the direction (reference FIG. 6E). Is done. As shown in FIG. 6F, the obtained omnidirectional image is obtained by correcting the inclination of the horizontal line 92 and the y-axis direction of the imaging device 20 with respect to the omnidirectional frame data (FIG. 6C). It can be seen that the rotation correction in the horizontal plane as the center and the correction of the fluctuation of the high frequency component in the horizontal plane are performed.

  As a result, the obtained omnidirectional image is not only corrected in the vertical direction, but also follows a large shake (rotation) with a relatively small frequency in the horizontal plane of the imaging device 20, so it overflows with a sense of reality. Since minute shaking such as camera shake in the horizontal plane is corrected, the image is excellent in visibility.

  In addition, as shown by the dashed-dotted line in FIG.6 (f), it can also process into the image which cut out the predetermined range of the produced omnidirectional image as needed.

  In the above, FIG. 6C to FIG. 6E are included for easy understanding of the conversion procedure, but actually, the correction amount data is added to the omnidirectional frame data shown in FIG. 6C. By applying, the omnidirectional image shown in FIG. 6F is directly created.

  That is, in the present invention, regardless of the posture of the imaging unit 20, the imaging unit 20 follows the rotation with respect to the Z axis, which is a rotation in the horizontal plane with respect to the global coordinates, but the rotation is not in the horizontal plane. The rotation in the axial direction and the Y-axis direction is not followed. Therefore, the first image signal and the second image signal obtained by rotating the imaging unit 20 by a predetermined angle (first angle) in the X-axis direction and the Y-axis direction are displayed on the display device. In some cases, the third image signal obtained by taking an image by rotating the imaging means 20 by a predetermined angle (first angle) about the Z-axis is not rotated in the horizontal plane. It is possible to obtain an image having a rotational movement of approximately a predetermined angle by following the image. The same applies to images obtained by cutting out the first to third image signals.

<Other methods for calculating the correction amount>
In the above embodiment, the posture quarteranion q is once converted into the Euler angle R _zxy , the rotation amount θz around the Z axis is calculated, and the centering quarternion qd is calculated again. It doesn't matter. For example, in the component of the posture quarterion qc, the component q _z representing the rotation around the Z axis is changed to q _z = qc ₀ ² + qc ₃ ²
When _qz is close to 1, rotation around the Z axis is dominant. At this time, the centering quarteron qd is changed to qd ₀ = −k · q _z · q ₀
qd ₁ = 0
qd ₂ = 0
qd ₃ = (1-qd ₀ ² ) ^1/2
k is an attenuation coefficient (0 <k <1)
The centering quota can be calculated as follows.

  The above description is for explaining the present invention, and should not be construed as limiting the invention described in the claims or limiting the scope thereof. Further, the configuration of each part of the present invention is not limited to the above-described embodiment, and various modifications can be made within the technical scope described in the claims.

10 spherical imaging system 11 control means 22 image sensor (imaging means)
30 Image composition unit 40 Posture detection unit 42 Angular velocity sensor 44 Acceleration sensor 50 Posture calculation unit 60 Correction amount calculation unit 62 Rotation angle extraction unit 63 Low pass filter 64 Coordinate conversion unit 65 Coordinate multiplication unit 70 Association unit

Claims (6)

A plurality of imaging means for outputting image data;
Attitude detection means for detecting attitude information of at least one imaging means of the plurality of imaging means;
Control means for generating an omnidirectional image obtained by coordinate-transforming the image data based on the attitude information output by the attitude detection means;
With
The control means generates an omnidirectional image for the image data by performing a tilt correction with respect to a vertical direction in global coordinates and a coordinate conversion by a correction in a horizontal plane in the global coordinates excluding a minute shake component.
An omnidirectional photographic system characterized by this. An image synthesis unit that creates omnidirectional frame data from image data captured by the plurality of imaging means;
A correction amount calculation unit that generates correction amount data for converting coordinates of the omnidirectional frame data based on posture information of the at least one imaging unit from the posture detection unit;
Association means for associating the omnidirectional frame data and the correction amount data to obtain an omnidirectional image;
With
The correction amount calculation unit creates correction amount data for the omnidirectional frame data to perform inclination correction with respect to a vertical direction in global coordinates and correction in a global coordinate in a horizontal plane excluding a minute vibration component.
The omnidirectional imaging system according to claim 1. The posture information is between local coordinates including x-axis, y-axis, and z-axis that are orthogonal to each other with respect to the imaging means, and global coordinates including X-axis, Y-axis, and vertical Z-axis that are orthogonal to each other. Information representing the amount of rotational displacement of
The correction amount calculation unit creates, as correction amount data, a global coordinate correction amount for correcting the coordinates of the omnidirectional frame data to the global coordinates based on the posture information, and the global coordinate correction amount is: It is a correction amount that corrects the inclination of the omnidirectional frame data with respect to the vertical direction and corrects only the high-frequency component of shaking for rotation around the vertical axis.
The omnidirectional imaging system according to claim 2. The association means associates the correction amount data as header information of the omnidirectional frame data.
The omnidirectional imaging | photography system of Claim 2 or Claim 3. The imaging means captures a moving image,
The correction amount calculation unit creates correction amount data based on posture information of omnidirectional frame data one frame before input from the posture detection means.
The omnidirectional imaging | photography system in any one of Claim 2 thru | or 4. A plurality of imaging means;
Attitude detection means for detecting attitude information of at least one imaging means of the plurality of imaging means;
Image data that is the output of the plurality of imaging means;
Control means for generating and displaying an image signal based on an attitude detection signal which is an output of the attitude detection means;
With
For global coordinates including the X-axis, Y-axis, and vertical Z-axis that are orthogonal to each other,
A first image signal generated by rotating the plurality of imaging units by a first angle in the X-axis direction;
A second image signal generated by photographing the plurality of imaging means by rotating by the first angle in the Y-axis direction;
A third image signal generated by photographing the plurality of imaging means by rotating the first imaging unit in the Z-axis direction by the first angle;
When the image signal is generated and displayed by the control means,
The control means displays the image having substantially no rotational movement as the first image signal and the second image signal, and displays the image having rotational movement at the substantially first angle as the third image signal. ,
An omnidirectional photographic system characterized by that.

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