Image taking apparatus, image processing method, and image processing program for connecting into a single image a plurality of images taken by a plurality of imaging units disposed such that viewpoints coincide with each other

摘要

An image taking apparatus including a plurality of imaging units each including a lens with a variable focal distance and an image sensing device is provided. The plurality of imaging units are disposed such that their viewpoints are substantially coincident with each other and image areas partially overlap each other so as to allow it obtain a wide angle image by connecting a plurality of images obtained by the imaging units. Each imaging unit includes a set of mapping tables each of which represents the correspondence, for a particular focal distance, between a particular coordinate system and a coordinate system in which an image taken by each image sensing device is represented. Each imaging unit further includes a controller adapted to select a mapping table corresponding to the focal distance, and a mapping unit adapted to map the image into the particular coordinate system according to the selected mapping table.