High-speed multispectral three-dimensional imaging with a compound-eye camera TOMBO

We propose a high-speed multispectral three-dimensional imaging system based on a compact and thin compound-eye camera called TOMBO. Wavelengths and times are assigned to the lenses in TOMBO. The time delays are introduced by the rolling shutter of CMOS image sensors, and wavelength decomposition is realized by attaching several kinds of wavelength filters to the lenses. A depth map is reproduced based on disparities in the unit images captured at the same timing. In reproducing the depth map, sum of sum of absolute differences (SSAD) is evaluated after average equalization to compare images for different wavelengths. A prototype of TOMBO is built with a SXGA monochrome CMOS image sensor with a rolling shutter, optical crosstalk barriers, a commercial 5x5-element microlens array, and commercial gelatin color filters. Enhancement of the frame rate and reproduction of a depth map and a 5-band deep-focus image are demonstrated.