Patent ID: 11900571
Assignee: CANON KABUSHIKI KAISHA
Field: Audio-visual technology (Electrical engineering)
Classification: CPC G  H | IPC G  H

Claim 13:
14. A moving device comprising:
an imaging element;
an optical system configured to form an image on an imaging surface of the imaging element and has a characteristic in which an image formation magnification differs depending on a position in the imaging surface; and
at least one processor or circuit configured to function as
a demosaic unit configured to generate color image data of at least two colors from the data output from the imaging element,
a distortion correction unit configured to correct distortion of the color image data of at least two colors generated by the demosaic unit,
an object recognition unit configured to perform object recognition based on the color image data of which the distortion has been corrected by the distortion correction unit,
a controller configured to control a warning operation or controls a movement direction or a movement speed of the moving device based on a recognition result from the object recognition unit, and
an optical correction unit configured to perform peripheral light quantity decrease correction or chromatic aberration correction on data output from the imaging element and provided before the demosaic unit.