Patent Publication Number: US-2022232157-A1

Title: Imaging device, signal processing device, signal processing method, program, and imaging apparatus

Description:
TECHNICAL FIELD 
     The present technology relates to an imaging device, a signal processing device, a signal processing method, a program, and an imaging apparatus, and more particularly, to an imaging device, a signal processing device, a signal processing method, a program, and an imaging apparatus that are designed to reduce flicker in the imaging apparatus that does not use any imaging lens. 
     BACKGROUND ART 
     There has been a suggested imaging apparatus that captures an image without the use of an imaging lens by modulating light from the object with a light shielding film covering the light receiving surface of each pixel of an imaging device, and restores a restored image in which an image of the object is formed by a predetermined arithmetic process (see Patent Document 1, for example). 
     CITATION LIST 
     Patent Document 
     
         
         Patent Document 1: WO 2018/012492 A 
       
    
     SUMMARY OF THE INVENTION 
     Problems to be Solved by the Invention 
     Meanwhile, there has been a demand for reduced flicker in an imaging apparatus that does not use any imaging lens as disclosed in Patent Document 1. 
     The present technology has been made in view of such circumstances, and is to reduce flicker in an imaging apparatus that does not use any imaging lens. 
     Solution to Problems 
     An imaging device of a first aspect of the present technology includes: a pixel region in which a plurality of pixels including a pixel that receives incident light and outputs a detection signal indicating an output pixel value modulated depending on the incident angle of the incident light is arranged in a row direction and a column direction, and is sequentially exposed row by row, the incident light entering from an object via neither an imaging lens nor a pinhole; and a plurality of detection regions that are disposed in different rows in the pixel region, and are used for flicker detection. 
     A signal processing device of a second aspect of the present technology includes a flicker detection unit that performs flicker detection on the basis of at least either a plurality of detection images or a plurality of restored images restored from the respective detection images, the plurality of detection images being generated for a plurality of detection regions on the basis of detection signals output from pixels in the plurality of detection regions disposed in different rows in a pixel region that is sequentially exposed row by row, a plurality of pixels being arranged in a row direction and a column direction in the pixel region, the plurality of pixels including a pixel that receives incident light and outputs a detection signal indicating an output pixel value modulated depending on an incident angle of the incident light, the incident light entering from an object via neither an imaging lens nor a pinhole. 
     A signal processing method of the second aspect of the present technology includes performing flicker detection on the basis of at least either a plurality of detection images or a plurality of restored images restored from the respective detection images, the plurality of detection images being generated for a plurality of detection regions on the basis of detection signals output from pixels in the plurality of detection regions disposed in different rows in a pixel region that is sequentially exposed row by row, a plurality of pixels being arranged in a row direction and a column direction in the pixel region, the plurality of pixels including a pixel that receives incident light and outputs a detection signal indicating an output pixel value modulated depending on an incident angle of the incident light, the incident light entering from an object via neither an imaging lens nor a pinhole. 
     A program of the second aspect of the present technology causes a computer to perform a process including performing flicker detection on the basis of at least either a plurality of detection images or a plurality of restored images restored from the respective detection images, the plurality of detection images being generated for a plurality of detection regions on the basis of detection signals output from pixels in the plurality of detection regions disposed in different rows in a pixel region that is sequentially exposed row by row, a plurality of pixels being arranged in a row direction and a column direction in the pixel region, the plurality of pixels including a pixel that receives incident light and outputs a detection signal indicating an output pixel value modulated depending on an incident angle of the incident light, the incident light entering from an object via neither an imaging lens nor a pinhole. 
     An imaging apparatus of a third aspect of the present technology includes: an imaging device that includes: a pixel region that is sequentially exposed row by row, a plurality of pixels being arranged in a row direction and a column direction in the pixel region, the plurality of pixels including a pixel that receives incident light and outputs a detection signal indicating an output pixel value modulated depending on an incident angle of the incident light, the incident light entering from an object via neither an imaging lens nor a pinhole; and a plurality of detection regions that are disposed in different rows in the pixel region, and are used for flicker detection; and a flicker detection unit that performs flicker detection on the basis of at least one of a plurality of detection images or a plurality of restored images restored from the respective detection images, the plurality of detection images being generated for the plurality of detection regions on the basis of detection signals output from the pixels in the respective detection regions. 
     The first aspect of the present technology provides: a pixel region in which a plurality of pixels including a pixel that receives incident light and outputs a detection signal indicating an output pixel value modulated depending on the incident angle of the incident light is arranged in a row direction and a column direction, and is sequentially exposed row by row, the incident light entering from an object via neither an imaging lens nor a pinhole; and a plurality of detection regions that are disposed in different rows in the pixel region, and are used for flicker detection. 
     In the second aspect of the present technology, flicker detection is performed on the basis of at least either a plurality of detection images or a plurality of restored images restored from the respective detection images, the plurality of detection images being generated for a plurality of detection regions on the basis of detection signals output from pixels in the plurality of detection regions disposed in different rows in a pixel region that is sequentially exposed row by row, a plurality of pixels being arranged in a row direction and a column direction in the pixel region, the plurality of pixels including a pixel that receives incident light and outputs a detection signal indicating an output pixel value modulated depending on an incident angle of the incident light, the incident light entering from an object via neither an imaging lens nor a pinhole. 
     In the third aspect of the present technology, flicker detection is performed on the basis of at least either a plurality of detection images or a plurality of restored images restored from the respective detection images, the plurality of detection images being generated for the respective detection regions in a plurality of detection regions on the basis of detection signals output from pixels in the respective detection regions of an imaging device that includes a pixel region and the plurality of detection regions to be used for flicker detection, the pixel region being sequentially exposed row by row, a plurality of pixels being arranged in a row direction and a column direction in the pixel region, the plurality of pixels including a pixel that receives incident light and outputs a detection signal indicating an output pixel value modulated depending on the incident angle of the incident light, the incident light entering from an object via neither an imaging lens nor a pinhole. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG. 1  is a block diagram showing an example configuration of an imaging apparatus to which the present technology is applied. 
         FIG. 2  is a diagram for explaining the principles of imaging in the imaging apparatus to which the present technology is applied. 
         FIG. 3  is a diagram showing an example configuration of the pixel array unit of the imaging device shown in  FIG. 1 . 
         FIG. 4  is a diagram for explaining a first example configuration of the imaging device shown in  FIG. 1 . 
         FIG. 5  is a diagram for explaining a second example configuration of the imaging device shown in  FIG. 1 . 
         FIG. 6  is a diagram for explaining the principles of Generation of incident angle directivities. 
         FIG. 7  is a diagram for explaining changes in incident angle directivity using on-chip lenses. 
         FIG. 8  is a diagram for explaining the relationship between a narrow angle-of-view pixel and a wide angle-of-view pixel. 
         FIG. 9  is a diagram. for explaining the relationship between a narrow angle-of-view pixel and a wide angle-of-view pixel. 
         FIG. 10  is a diagram showing a first example configuration of the pixel region of the imaging device shown in  FIG. 1 . 
         FIG. 11  is a block diagram showing an example functional configuration of the control unit shown in  FIG. 1 . 
         FIG. 12  is a flowchart for explaining a first embodiment of an imaging process to be performed by the imaging apparatus shown in  FIG. 1 . 
         FIG. 13  is a diagram showing an example of exposure periods of the respective detection regions. 
         FIG. 14  is a flowchart for explaining a second embodiment of an imaging process to be performed by the imaging apparatus shown in  FIG. 1 . 
         FIG. 15  is a diagram for explaining a method of adding up and combining restored images. 
         FIG. 16  is a diagram for explaining a moving object detection method. 
         FIG. 17  is a diagram for explaining a flicker reducing effect to be achieved by dividing a pixel region. 
         FIG. 15  is a diagram for explaining a flicker reducing effect to be achieved by dividing a pixel region. 
         FIG. 19  is a diagram showing a second example configuration of the pixel region. 
         FIG. 20  is a diagram showing a modification of the imaging device. 
         FIG. 21  is a diagram showing a modification of the imaging device. 
         FIG. 22  is a diagram showing a modification of the imaging device. 
         FIG. 23  is a diagram showing a modification of the imaging device. 
         FIG. 24  is a diagram showing a modification of the imaging device. 
         FIG. 25  is a block diagram schematically showing an example configuration of a vehicle control system. 
         FIG. 26  is an explanatory diagram showing an example of installation positions of external information detectors and imaging units. 
     
    
    
     MODE FOR CARRYING OUT THE INVENTION 
     The following is a detailed description of preferred embodiments of the present technology, with reference to the accompanying drawings. Note that, in this specification and the drawings, components having substantially the same functional configurations are denoted by the same reference numerals, and repeated explanation of them will not be made. 
     Further, explanation will be made in the following order. 
     1. Embodiment 
     2. Modifications 
     3. Example applications 
     4. Other aspects 
     &lt;&lt;1. Embodiment&gt;&gt; 
     An embodiment of the present technology is described, with reference to  FIGS. 1 to 18 . 
     &lt;Example Configuration of an Imaging Apparatus  101 &gt; 
       FIG. 1  is a block diagram showing an example configuration of an imaging apparatus  101  to which the present technology is applied. 
     The imaging apparatus  101  includes an imaging device  121 , a restoration unit  122 , a control unit  123 , an input unit  124 , a detection unit  125 , an association unit  126 , a display unit  127 , a storage unit  128 , a recording/reproducing unit  129 , a recording medium  130 , and a communication unit  131 . Also, the restoration unit  122 , the control unit  123 , the input unit  124 , the detection unit  125 , the association unit  126 , the display unit  127 , the storage unit  128 , the recording/reproducing uni  129 , the recording medium  130 , and the communication unit  131  constitute a signal processing control unit  111  that performs signal processing, control on the imaging apparatus  101 , and the like. Note that the imaging apparatus  101  does not include any imaging lens (free of imaging lenses). 
     Further, the imaging device  121 , the restoration unit  122 , the control unit  123 , the input unit  124 , the detection unit  125 , the association unit  126 , the display unit  127 , the storage unit  128 , the recording/reproducing unit  129 , and the communication unit  131  are connected to one another via a bus B 1 , and perform data transmission/reception and the like via the bus B 1 . Note that, in the description below, the bus B 1  in a case where each component of the imaging apparatus  101  performs data transmission, reception and the like via the bus B 1  will not be mentioned, for ease of explanation. For example, a case where the input unit  124  supplies data to the control unit  123  via the bus B 1  will be described as a case where the input unit  124  supplies data to the control unit  123 . 
     The imaging device  121  is an imaging device in which the detection sensitivity of each pixel has an incident angle directivity, and outputs an image including a detection signal indicating a detection signal level corresponding to the amount of incident light, to the restoration unit  122  or the bus B 1 . The detection sensitivity of each pixel having an incident angle directivity means that the light-receiving sensitivity characteristics corresponding to the incident angle of incident light entering each pixel vary with each pixel. However, the light-receiving sensitivity characteristics of all the pixels are not necessarily completely different, and the light-receiving sensitivity characteristics of some pixels may be the same. 
     More specifically, the imaging device  121  may have a basic structure similar to that of a general imaging device such as a complementary metal oxide semiconductor (CMOS) image sensor, for example. However, the configuration of each of the pixels constituting the pixel array unit of the imaging device  121  differs from that of a general imaging device, and is a configuration that has an incident angle directivity, as will be described later with reference to  FIGS. 3 to 5 , for example. Further, the imaging device  121  has light-receiving sensitivity that varies (changes) with the incident angle of incident light in each pixel, and has an incident angle directivity with respect to the incident angle of incident light in each pixel. 
     Here, all objects are a set of point light sources, for example, and light is emitted from each point light source in all directions. For example, an object surface  102  of an object in the top left of  FIG. 2  is formed with point light sources PA to PC, and the point light sources PA to PC emit a plurality of light beams of light intensities a to c, respectively, to the surroundings. Further, in the description below, the imaging device  121  includes pixels (hereinafter referred to as pixels Pa to Pc) having different incident angle directivities at positions Pa to Pc. 
     In this case, as shown in the top left of  FIG. 2 , light beams of the same light intensity emitted from the same point light source are made to enter the respective pixels of the imaging device  121 . For example, a light beam of the light intensity a emitted from the point light source PA is made to enter the respective pixels Pa to Pc of the imaging device  121 . However, light beams emitted from the same point light source are made to enter the respective pixels at different incident angles. For example, light beams from the point light source PA are made to enter the respective pixels Pa to Pc at different incident angles. 
     On the other hand, since the incident angle directivities of the pixels Pa to Pc differ from one another, light beams of the same light intensity emitted from the same point light source are detected with different sensitivities in the respective pixels. As a result, light beams of the same light intensity are detected at different detection signal levels in the respective pixels. For example, the detection signal levels with respect to the light beams of the light intensity a from the point light source PA have different values in the respective pixels Pa to Pc. 
     Further, the light-receiving sensitivity level of each pixel with respect to a light beam from each point light source is determined by multiplying the light intensity of the light beam by a coefficient indicating the light-receiving sensitivity (which is the incident angle directivity) with respect to the incident angle of the light beam. For example, the detection signal level of the pixel Pa with respect to the light beam from the point light source PA is determined by multiplying the light intensity a of the light beam of the point light source PA by a coefficient indicating the incident angle directivity of the pixel Pa with respect to the incident angle of the light beam entering the pixel Pa. 
     Accordingly, the detection signal levels DA, DB, and DC of the pixels Pc, Pb, and Pa are expressed by Equations (1) to (3) shown below, respectively. 
         DA=α 1 ×a+β 1 ×b+γ 1 ×c    (1)
 
         DB=α 2 ×a+β 2 ×b+γ 2 ×c    (2)
 
         DC=α 3 ×a+β 3 ×b+γ 3 ×c    (3)
 
     Here, the coefficient α 1  is a coefficient indicating the incident angle directivity of the pixel Pc with respect to the incident angle of the light beam from the point light source PA to the pixel Pc, and is set in accordance with the incident angle. Further, α 1 ×a indicates the detection signal level of the pixel Pc, with respect to the light beam from the point light source PA. 
     The coefficient β 1  is a coefficient indicating the incident angle directivity of the pixel Pc with respect to the incident angle of the light beam from the point light source PB to the pixel Pc, and is set in accordance with the incident angle. Further, β 1 ×b indicates the detection signal level of the pixel Pc with respect to the light beam from the point light source PB. 
     The coefficient γ 1  is a coefficient indicating the incident angle directivity of the pixel Pc with respect to the incident angle of the light beam from the point light source PC to the pixel Pc, and is set in accordance with the incident angle. Further, γ 1 ×c indicates the detection signal level of the pixel Pc with respect to the light beam. from the point light source PC. 
     As described above, the detection signal level DA of the pixel Pa is determined by the sum of products of the respective light intensities a, b, and c of the light beams from the point light sources PA, PB, and PC in the pixel Pc, and the coefficients α 1 , β 1 , and γ 1  indicating the incident angle directivities depending on the respective incident angles. 
     Likewise, the detection signal level DB of the pixel Pb is determined by the sum of products of the respective light intensities a, b, and c of the light beams from the point light sources PA, PB, and PC in the pixel Pb, and the coefficients α 2 , β 2 , and γ 2  indicating the incident angle directivities depending on the respective incident angles, as shown in Equation (2). Also, the detection signal level DC of the pixel Pc is determined by the sum of products of the respective light intensities a, b, and c of the light beams from the point light sources PA, PB, and PC in the pixel Pa, and the coefficients α 2 , β 2 , and γ 2  indicating the incident angle directivities depending on the respective incident angles, as shown in Equation (3). 
     However, the detection signal levels DA, DB, and DC of the pixels Pa, Ph, and Pc are mixed with the light intensities a, b, and c of the light beams emitted from the point light sources PA, PB, and PC, respectively, as shown in Equations (1) to (3). Therefore, as shown in the top right of  FIG. 2 , the detection signal level in the imaging device  121  differs from the light intensity of each point light source on the object surface  102 . Accordingly, an image obtained by the imaging device  121  differs from that in which an image of the object surface  102  is formed. 
     Meanwhile, the light intensities a to c of the light beams of the respective point light sources PA to PC are determined by creating simultaneous equations formed with Equations (1) to (3) and solving the created simultaneous equations. The pixels having the pixel values corresponding to the obtained light intensities a to c are then arranged in accordance with the layout (relative positions) of the point light sources PA to PC, so that a restored image in which an image of the object surface  102  is formed is restored as shown in the bottom right of  FIG. 2 . 
     In this manner, the imaging device  121  that has an incident angle directivity in each pixel without requiring any imaging lens and any pinhole can be obtained. 
     In the description below, a set of coefficients (the coefficients α 1 , β 1 , and γ 1 , for example) for each of the equations forming the simultaneous equations will be referred to as a coefficient set. In the description below, a group formed with a plurality of coefficient sets (the coefficient set of α 1 l, β 1 , and γ 1 , the coefficient set of α 2 , β 2 , and γ 2 , the coefficient set of α 3 , β 3 , and γ 3 , for example) corresponding to a plurality of equations included in the simultaneous equations will be referred to as a coefficient set group. 
     Here, if the object distance from the object surface  102  to the light receiving surface of the imaging device  121  varies, the incident angles of the light beams from the respective point light sources on the object surface  102  to the imaging device  121  vary, and therefore, a different coefficient set group is required for each object distance. 
     Therefore, in the imaging apparatus  101 , coefficient set groups for the respective distances (object distances) from the imaging device  121  to the object surface are prepared in advance, simultaneous equations are created by switching the coefficient set groups for each object distance, and the created simultaneous equations are solved. Thus, restored images of the object surface at various object distances can be obtained on the basis of one detection image. For example, after a detection image is captured and recorded once, the coefficient set groups are switched in accordance with the distance to the object surface, and a restored image is restored, so that a restored image of the object surface at a desired object distance can be generated. 
     Further, even on the object surface  102  at the same object distance, if the number and the layout of the point light sources to be set vary, the incident angles of the light beams from the respective point light sources to the imaging device  121  also vary. Therefore, a plurality of coefficient set groups might be required for the object surface  102  at the same object distance in some cases. Furthermore, the incident angle directivity of each pixel  121   a  needs to be set so that the independence of the simultaneous equations described above can be ensured. 
     Further, an image to be output by the imaging device  121  is an image formed with detection signals in which an image of the object is not formed as shown in the top right of  FIG. 2 , and therefore, the object cannot be visually recognized. That is, a detection image formed with detection signals output from the imaging device  121  is a set of pixel signals, but also is an image from which the user cannot visually recognize the object (the object is visually unrecognizable). 
     In view of this, an image formed with detection signals in which an image of the object is not formed as shown in the top right of  FIG. 2 , or an image captured by the imaging device  121 , will be hereinafter referred to as a detection image. 
     Note that all the pixels do not need to have different incident angle directivities from one another, but some pixels may have the same incident angle directivity. 
     The restoration unit  122  acquires, from the storage unit  128 , a coefficient set group that corresponds to the object distance corresponding to the distance from the imaging device  121  to the object surface  102  (the object surface corresponding to the restored image) in  FIG. 2 , for example, and corresponds to the above coefficients α 1  to α 3 , β 1  to β 3 , and γ 1  to γ 3 . The restoration unit  122  also creates simultaneous equations as expressed by Equations (1) to (3) described above, using the detection signal level of each pixel of the detection image output from the imaging device  121  and the acquired coefficient set group. The restoration unit  122  then solves the created simultaneous equations, to obtain the pixel values of the respective pixels constituting the image in which an image of the object as shown in the bottom right of  FIG. 2  is formed. Thus, an image from which the user can visually recognize the object (visually recognizable object) is restored from the detection image. 
     The image restored from the detection image will he referred to as a restored image. However, in a case where the imaging device  121  has sensitivity only to light out of the visible wavelength band, such as ultraviolet rays, the restored image is not an image from which the object can be recognized as in a normal image, but is also referred to as a restored image in this case. 
     Further, a restored image that is an image in which an image of the object is formed and is an image not yet subjected to color separation such as demosaicing or a synchronization process will be hereinafter referred to as a RAW image, and a detection image captured by the imaging device  121  will be distinguished as an image compliant with the array of color filters, but not as a RAW image. 
     Note that the number of pixels of the imaging device  121  and the number of pixels constituting the restored image are not necessarily the same. 
     Further, the restoration unit  122  performs demosaicing, γ correction, white balance adjustment, conversion into a predetermined compression format, and the like, on the restored image as necessary. The restoration unit  122  then outputs the restored image to the bus B 1 . 
     The control unit  123  includes various processors, for example, to control each component of the imaging apparatus  101  and perform various kinds of processing. 
     The input unit  124  includes an input device (such as keys, switches, buttons, a dial, a touch panel, or a remote controller, for example) for operating the imaging apparatus  101 , inputting data to be used for processing, and the like. The input unit  124  outputs an operation signal, input data, and the like to the bus B 1 . 
     The detection unit  125  includes various sensors and the like to be used for detecting the states and the like of the imaging apparatus  101  and the object. For example, the detection unit  125  includes an acceleration sensor and a gyroscope sensor that detect the posture and movement of the imaging apparatus  101 , a position detecting sensor (such as a global navigation satellite system (GNASS) receiver, for example) that detects the position of the imaging apparatus  101  and a ranging sensor or the like that detects the object distance. The detection unit  125  outputs a signal indicating a detection result to the bus B 1 . 
     The association unit  126  associates a detection image obtained by the imaging device  121  with the metadata corresponding to the detection image. The metadata includes a coefficient set group, the object distance, and the like for restoring the restored image using the target detection image, for example. 
     Note that the method for associating the detection image with the metadata is not limited to any particular method, as long as the correspondence relationship between the detect ion image and the metadata can be specified. For example, the metadata is assigned to the image data including the detection image, the same ID is assigned to the detection image and the metadata, or the detection image and the metadata are recorded on the same recording medium  130 , so that the detection image and the metadata are associated with each other. 
     The display unit  127  is formed with a display, for example, and displays various kinds of information (such as a restored image, for example). Note that the display unit  127  may also include a sound output unit such as a speaker to output sound. 
     The storage unit  128  includes one or more storage devices such as a read only memory (ROM), a random access memory (RAM), and a flash memory, and stores programs, data, and the like to be used in processes by the imaging apparatus  101 , for example. The storage unit  128  associates coefficient set groups corresponding to the above coefficients α 1  to α 3 , β 1  to 62   3 , and γ 1  to γ 3  with various object distances, and stores the coefficient set groups, for example. More specifically, the storage unit  128  stores, for each object surface  102  at each object distance, a coefficient set group including coefficients for the respective pixels  121   a  of the imaging device  121  with respect to the respective point light sources set on the object surface  102 , for example. 
     The recording/reproducing unit  129  records data on the recording medium  130 , and reproduces (reads) the data recorded on the recording medium  130 . For example, the recording/reproducing unit  129  records the restored image on the recording medium  130  or reads the restored image from the recording medium  130 . Further, the recording/reproducing unit  129  records the detection image and the corresponding metadata on the recording medium  130 , or reads the detection image and the corresponding metadata from the recording medium  130 , for example. 
     The recording medium  130  is formed with a hard disk drive (HDD), a solid state drive (SSD), a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like, or a combination of these media, for example. 
     The communication unit  131  communicates with another device (such as another imaging apparatus or a signal processing device, for example) by a predetermined communication scheme. Note that the communication scheme to be used by the communication unit  131  may be either wired or wireless. Further, the communication unit  131  can be compatible with a plurality of communication schemes. 
     &lt;First Example Configuration of the Imaging Device  121 &gt; 
     Next, a first example configuration of the imaging device  121  of the imaging apparatus  101  shown in  FIG. 1  is described with reference to  FIGS. 3 and 4 . 
       FIG. 3  shows a front view of part of the pixel array unit of the imaging device  121 . Note that  FIG. 3  shows an example case where the number of pixels in the pixel array unit is 6×6. However, the number of pixels in the pixel array unit is not limited to this. 
     In the imaging device  121  shown in  FIG. 3 , a light shielding film  121   b  that is one of modulation elements is provided for each pixel  121   a  so as to cover part of the light receiving region (light receiving surface) of the photodiode, and incident light entering each pixel  121   a  is optically modulated in accordance with the incident angle. The light shielding film  121   b  is then provided in a different region for each pixel  121   a , the light-receiving, sensitivity with respect to the incident angle of incident light varies with each pixel  121   a , and each pixel  121   a  has a different incident angle directivity, for example. 
     For example, in a pixel  121   a - 1  and a pixel  121   a - 2 , the ranges in which the light receiving regions of the photodiodes are shielded from light by a light shielding film  121   b - 1  and a light shielding film  121   b - 2  are different (at least the light shielding regions (positions) or the light shielding areas are different). Specifically, in the pixel  121   a - 1 , the light shielding film.  121   b - 1  is provided so as to shield part of the left-side portion of the light receiving region of the photodiode from light by a predetermined width. On the other hand, in the pixel  121   a - 2 , the light shielding film  121   b - 2  is provided so as to shield part of the right-side portion of the light receiving region from light by a predetermined width. Note that the width by which the light shielding film  121   b - 1  shields the light receiving region of the photodiode from light and the width by which the light shielding film  121   b - 2  shields the light receiving region of the photodiode from light may be different or may be the same. Likewise, in the other pixels  121   a , the light shielding films  121   b are randomly disposed in the pixel array unit so as to shield a different region in the light receiving region from light for each pixel. 
     The top portion of  FIG. 4  is a side cross-sectional view of the first example configuration of the imaging device  121 , and the middle portion of  FIG. 4  is a top view of the first example configuration of the imaging device  121 . The side cross-sectional view an the top portion of  FIG. 4  is also an A-B cross-section in the middle portion of  FIG. 4 . Further, the bottom portion of  FIG. 4  shows an example circuit configuration of the imaging device  121 . 
     In the imaging device  121  in the top portion of  FIG. 4 , incident light enters from the top side toward the bottom side of the drawing. The adjacent pixels  121   a - 1  and  121   a - 2  are of a so-called back-illuminated type, having a wiring layer Z 12  provided as the lowermost layer in the drawing and a photoelectric conversion layer Z 11  provided thereon. 
     Note that, in the description below, in a case where there is no need to distinguish the pixels  121   a - 1  and  121   a - 2  from each other, the number at the end of each reference numeral will be omitted, and the pixels will be simply referred to as the pixels  121   a . In the description below, numbers and alphabets at the end of reference numerals might be omitted too for other components in the specification. 
     Further,  4  shows a side view and a top view of only two of the pixels constituting the pixel array unit of the imaging device  121 , and more pixels  121   a  are of course also provided but are not shown in the drawings. 
     The pixels  121   a - 1  and  121   a - 2  further include photodiodes  121   e - 1  and  121   e - 2 , respectively, in the photoelectric conversion layer Z 11 . Furthermore, on the photodiodes  121   e - 1  and  121   e - 2 , on-chip lenses  121   c - 1  and  121   c - 2 , and color filters  121   d - 1  and  121   d - 2  are stacked in this order from the top. 
     The on-chip lenses  121   c - 1  and  121   c - 2  condense incident light onto the photodiodes  121   e - 1  and  121   e - 2 . 
     The color filters  121   d - 1  and  121   d - 2  are optical filters that transmit light of a specific wavelength such as red, green, blue, infrared, and white, for example. Note that, in the case of white, the color filters  121   d - 1  and  121   d - 2  may be transparent filters, or may not be provided. 
     In the photoelectric conversion layer Z 11  of the pixels  121   a - 1  and  121   a - 2 , light shielding films  121   g - 1  to  121   g - 3  are formed at boundaries between the respective pixels, and prevent incident light L from entering the adjacent pixels and causing crosstalk, as shown in FIG.  4 , for example. 
     Further, as shown in the top and the middle portions of  FIG. 4 , the light shielding films  121   b - 1  and  121   b - 2  shield part of the light receiving surface S from light as viewed from above. On the light receiving surface S of the photodiodes  121   e - 1  and  121   e - 2  in the pixels  121   a - 1  and  121   a - 2 , different regions are shielded from light by the light shielding films  121   b - 1  and  121   b - 2 , so that a different incident angle directivity is set independently for each pixel. However, the regions to be shielded from light do not need to be different among all the pixels  121   a  of the imaging device  121 , and there may be some pixels  121   a  among which the same region is shielded from light. 
     Note that, as shown in the top portion of  FIG. 4 , the light shielding film  121   b - 1  and the light shielding film  121   g - 1  are connected to each other, and are arranged in an L shape when viewed from the side. Likewise, the light shielding film  121   b - 2  and the light shielding film  121   g - 2  are connected to each other, and are arranged in an L shape when viewed from the side. Further, the light shielding film  121   b - 1 , the light shielding film  121   b - 2 , and the light shielding films  121   g - 1  to  121   g - 3  are formed with a metal, and, for example, are formed with tungsten (N), aluminum (Al), or an alloy of Al and copper (Cu). Also, the light shielding film  121   b - 1 , the light shielding film  121   b - 2 , and the light shielding films  121   g - 1  to  121   g - 3  may be simultaneously formed with the same metal as the wiring lines in the same process as the process of forming the wiring lines in a semiconductor process. Note that the thicknesses of the light shielding film  121   b - 1 , the light shielding film  121   b - 2 , and the light shielding films  121   g - 1  to  121   g - 3  may not be the same depending on positions. 
     Further, as shown in the bottom portion of  FIG. 4 , a pixel  121   a  includes a photodiode  161  (corresponding to the photodiode  121   e ), a transfer transistor  162 , a floating diffusion (FD) unit  163 , a select transistor  164 , an amplification transistor  165 , and a reset transistor  166 , and is connected to a current source  168  via a vertical signal line  167 . 
     The anode electrode of the photodiode  161  is grounded, and the cathode electrode of the photodiode  161  is connected to the gate electrode of the amplification transistor  165  via the transfer transistor  162 . 
     The transfer transistor  162  is driven in accordance with a transfer signal TG. For example, when the transfer signal TG supplied to the gate electrode of the transfer transistor  162  switches to the high level, the transfer transistor  162  is turned on. As a result, the electric charge accumulated in the photodiode  161  is transferred to the FD unit  163  via the transfer transistor  162 . 
     The FD unit  163  is a floating diffusion region that has a charge capacity C 1  and is provided between the transfer transistor  162  and the amplification transistor  165 , and temporarily accumulates the electric charge transferred from the photodiode  161  via the transfer transistor  162 . The FD unit  163  is a charge detection unit that converts electric charge into voltage, and the electric charge accumulated in the FD unit  163  is converted into voltage at the amplification transistor  165 . 
     The select transistor  164  is driven in accordance with a select signal SEL. When the select signal SEL supplied to the gate electrode of the select transistor  164  is switched to the high level, the select transistor  164  is turned on, to connect the amplification transistor  165  and the vertical signal line  167 . 
     The amplification transistor  165  serves as the input unit for a source follower that is a readout circuit that reads out a signal obtained through photoelectric conversion performed at the photodiode  161 , and outputs a detection signal (pixel signal) at the level corresponding to the electric charge accumulated in the FD unit  163 , to the vertical signal line  167 . That is, the amplification transistor  165  has its drain terminal connected to a power supply VDD, and its source terminal connected to the vertical signal line  167  via the select transistor  164 , to form a source follower together with the current source  168  connected to one end of the vertical signal line  167 . The value (output pixel value) of the detection signal is modulated in accordance with the incident angle of incident light from the object, and has characteristics (directivity) that vary with the incident angle (or has an incident angle directivity). 
     The reset transistor  166  is driven in accordance with a reset signal RST. For example, when the reset signal RST supplied to the gate electrode of the reset transistor  166  is switched to the high level, the electric charge accumulated in the FD unit  163  is released to the power supply VDD, so that the FD unit  163  is reset. 
     Note that the shape of the light shielding film  121   b  of each pixel  121   a  is not limited to the example shown in  FIG. 3 , but can have any appropriate shape. For example, it is possible to adopt a shape extending in the horizontal direction in  FIG. 3 , an L shape extending in the vertical direction and the horizontal direction, a shape having a rectangular opening, or the like. 
     &lt;Second Example Configuration of the Imaging Device  121 &gt; 
       FIG. 5  is a diagram showing a second example configuration of the imaging device  121 . The top portion of  FIG. 5  shows a side cross-sectional view of a pixel  121   a  of the imaging device  121  as the second example configuration, and the middle portion of  FIG. 5  shows a top view of the imaging device  121 . The side cross-sectional view in the top portion of  FIG. 5  is also an A-B cross-section in the middle portion of  FIG. 5 . Further, the bottom portion of  FIG. 5  shows an example circuit configuration of the imaging device  121 . 
     The configuration of the imaging device  121  in  FIG. 5  differs from that of the imaging device  121  in  FIG. 4  in that four photodiodes  121   f - 1  to  121   f - 4  are formed in one pixel.  121   a , and a light shielding film  121   g  is formed in a region that separates the photodiodes  121   f - 1  to  121   f - 4  from one another. That is, in the imaging device  121  in  FIG. 5 , the light shielding film  121   g  is formed in a cross shape as viewed from above. Note that the same components as those shown in  FIG. 4  are denoted by the same reference numerals as those in  FIG. 4 , and detailed explanation of them is not made herein. 
     In the imaging device  121  in  FIG. 5 , the photodiodes  121   f - 1  to  121   f - 4  are separated by the light shielding film  121   g , so that occurrence of electrical and optical crosstalk among the photodiodes  121   f - 1  to  121   f - 4  is prevented. That is, like the light shielding films  121   g  of the imaging device  121  in  FIG. 4 , the light shielding film  121   g  in  FIG. 5  is for preventing crosstalk, and is not for providing an incident angle directivity. 
     Further, in the imaging device  121  in  FIG. 5 , one FD unit  163  is shared among the four photodiodes  121   f - 1  to  121   f - 4 . The bottom portion of  FIG. 5  shows an example circuit configuration in which one FD unit  163  is shared among the four photodiodes  121   f - 1  to  121   f - 4 . Note that, as for the bottom portion of  FIG. 5 , explanation of the same components as those shown in the bottom portion of  FIG. 4  is not made herein. 
     The circuit configuration shown in the bottom portion of  FIG. 5  differs from that shown in the bottom portion of  FIG. 4  in that photodiodes  161 - 1  to  161 - 4  (corresponding to the photodiodes  12   1   f - 1  to  121   f - 4  in the top portion of  FIG. 5 ) and transfer transistors  162 - 1  to  162 - 4  are provided in place of the photodiode  161  (corresponding to the photodiode  121   e  in the top portion of  FIG. 4 ) and the transfer transistor  162 , and the FD unit  163  is shared. 
     With such a configuration, the electric charges accumulated in the photodiodes  121   f - 1  to  121   f - 4  is transferred to the common FD unit  163  having a predetermined capacity provided in the connecting portion between the photodiodes  121   f - 1  to  121   f - 4  and the gate electrode of the amplification transistor  165 . A signal corresponding to the level of the electric charge retained in the FD unit  163  is then read as a detection signal (pixel signal). 
     Accordingly, the electric charges accumulated in the photodiodes  121   f - 1  to  121   f - 4  can be made to selectively contribute to the output of the pixel  121   a , or the detection signal in various combinations. That is, electric charges can be read independently from each of the photodiodes  121   f - 1  to  121   f - 4 , and the photodiodes  121   f - 1  to  121   f - 4  to contribute to outputs (or the degrees of contribution of the photodiodes  121   f - 1  to  121   f - 4  to out are made to differ from one another. Thus, different incident angle directivities can be obtained. 
     For example, the electric charges in the photodiode  121   f - 1  and the photodiode  121   f - 3  are transferred to the FD unit  163 , and the signals obtained by reading the respective electric charges are added, so that an incident angle directivity in the horizontal direction can be obtained. Likewise, the electric charges in the photodiode  121   f - 1  and the photodiode  121   f - 2  are transferred to the FD unit  163 , and the signals obtained by reading the respective electric charges are added, so that an incident angle directivity in the vertical direction can be obtained. 
     Further, a signal obtained on the basis of the electric charges selectively read out independently from the four photodiodes  121   f - 1  to  121   f - 4  is a detection signal corresponding to one pixel of a detection image. 
     Note that contribution of (the electric charge in) each photodiode  121   f  to a detection signal depends not only on whether or not the electric charge (detection value) in each photodiode  121   f  is to be transferred to the FD unit  163 , but also on resetting of the electric charges accumulated in the photodiodes  121   f  before the transfer to the FD unit  163  using an electronic shutter function or the like, for example. For example, if the electric charge in a photodiode  121   f  is reset immediately before the transfer to the FD unit  163 , the photodiode  121   f  does not contribute to a detection signal at all. On the other hand, time is allowed between resetting the electric charge in a photodiode  121   f  and transfer of the electric charge to the FD unit  163 , so that the photodiode  121   f  partially contributes to a detection signal. 
     As described above, in the case of the imaging device  121  in  FIG. 5 , the combination to be used for a detection signal is changed among the four photodiodes  121   f - 1  to  121   f - 4 , so that a different incident angle directivity can be provided for each pixel. Further, a detection signal that is output from each pixel  121   a  of the imaging device  121  in  FIG. 5  has a value (output pixel value) modulated in accordance with the incident angle of incident light from the object, and has characteristics (directivity) that vary with the incident angle (has an incident angle directivity). 
     Note that, in the imaging device  121  in  FIG. 5 , incident light is enters all the photodiodes  121   f - 1  to  121   f - 4  without being optically modulated. Therefore, a detection signal is not a signal obtained by optical modulation. Meanwhile, a photodiode  121   f  that does not contribute to a detection signal will be hereinafter also referred to as a photodiode  121   f  that does not contribute to the pixel or its output. 
     Further,  FIG. 5  shows an example in which the light receiving surface of a pixel (a pixel  121   a ) is divided into four equal regions, and the photodiodes  121   f  each having a light receiving surface of the same size are disposed in the respective regions, or an example in which a photodiode is divided into four equal portions. However, the number of divisions and dividing positions of a photodiode can be set as appropriate. 
     For example, a photodiode is not necessarily divided into equal portions, and the dividing positions of the photodiode may vary with each pixel. Therefore, even if the photodiodes  121   f  at the same position among a plurality of pixels are made to contribute to outputs, for example, the incident angle directivity varies among the pixels. Also, the number of divisions is made to vary among the pixels, for example, incident angle directivities can be set more freely. Further, both the number of divisions and the dividing positions may be made to vary among the pixels, for example. 
     Furthermore, both The imaging device  121  in  FIG. 4  and the imaging device  121  in  FIG. 5  have a configuration in which each pixel can have an incident angle directivity that is set independently. Note that, in the imaging device  121  in  FIG. 4 , the incident angle directivity of each pixel is set at the time of manufacturing by the light shielding film  121   b . In the imaging device  121  in  FIG. 5 , on the other hand, the number of divisions and the dividing position of the photodiode of each pixel are set at the time of manufacturing, but the incident angle directivity (the combination of photodiodes to contribute to an output) of each pixel can be set at a time of use (for example, at a time of imaging). Note that, in both the imaging device  121  in  FIG. 4  and the imaging device  121  in  FIG. 5 , not all the pixels necessarily need to have an incident angle directivity. 
     Note that, as for the imaging device  121  in  FIG. 4 , the shape of the light shielding film  121   b  of each pixel  121   a  will be hereinafter referred to as a light shielding pattern. Meanwhile, as for the imaging device  121  of  FIG. 5 , the shape of the region of a photodiode  121   f  that does not contribute to an output in each pixel  121   a  will be hereinafter referred to as a light shielding pattern. 
     &lt;Principles of Generating an Incident Angle Directivity&gt; 
     The incident angle directivity of each pixel of the imaging device  121  is generated by the principles illustrated in  FIG. 6 , for example. Note that the top left portion and the top right portion of  FIG. 6  re diagrams for explaining the principles of generation of an incident angle directivity in the imaging device  121  shown in  FIG. 4 . The bottom left portion and the bottom right portion of  FIG. 6  are diagrams for explaining the principles of generation of an incident angle directivity in the imaging device  121  shown in  FIG. 5 . 
     Each of the pixels in the top left portion and the top right portion of  FIG. 6  includes one photodiode  121   e . On the other hand, each of the pixels in the bottom left portion and the bottom right portion of  FIG. 6  includes two photodiodes  121   f . Note that an example in which one pixel includes two photodiodes  121   f  is shown herein, for ease of explanation. However, the number of photodiodes  121   f  included in one pixel may be other than two. 
     In the pixel shown in the top left portion of  FIG. 6 , a light shielding film  121   b - 11  is formed so as to shield the right half of the light receiving surface of the photodiode  121   e - 11 . Meanwhile, in the pixel shown in the top right portion of  FIG. 6 , a light shielding film  121   b - 12  is formed so as to shield the left half of the light receiving surface of the photodiode  121   e - 12 . Note that each dot-and-dash line in the drawing is an auxiliary line that passes through the center of the light receiving surface of the photodiode  121   e  in the horizontal direction and is perpendicular to the light receiving surface. 
     For example, in the pixel shown in the top left portion of  FIG. 6 , incident light from upper right that forms an incident angle θ 1  with the dot-and-dash line in the drawing is easily received by the left half region of the photodiode  121   e - 11  that is not shielded from light by the light shielding film  121   b - 11 . On the other hand, incident light from upper left that forms an incident angle θ 2  with the dot-and-dash line in the drawing is hardly received by the left half region of the photodiode  121   e - 11  that is not shielded from light by the light shielding film  121   b - 11 . Accordingly, the pixel shown in the top left portion of  FIG. 6  has an incident angle directivity with a high light-receiving sensitivity to incident light from upper right in the drawing and a low light-receiving sensitivity to incident light from upper left. 
     Meanwhile, in the pixel shown in the top right portion of  FIG. 6 , for example, incident light from upper right that forms the incident angle θ 1  is hardly received by the left half region or the photodiode  121   e - 12  shielded from light by the light shielding film  121   b - 12 . 
     On the other hand, incident light from upper left that forms the incident angle θ 2  with the dot-and-dash line is easily received by the right half region of the photodiode  121   e - 12  that is not shielded from light by the light shielding film  121   b - 12 . Accordingly, the pixel shown in the top right portion of  FIG. 6  has an incident angle directivity with a low light-receiving sensitivity to incident light from upper right in the drawing and a high light-receiving sensitivity to incident light from upper left. 
     Further, in the pixel shown in the bottom left portion of  FIG. 6 , photodiodes  121   f - 11  and  121   f - 12  are provided on the right and left sides in the drawing, and one of the detection signals is read. Thus, the pixel has an incident angle directivity, without any light shielding film  121   b.    
     Specifically, in the pixel shown in the bottom left portion of  FIG. 6 , only the signal of the photodiode  121   f - 11  provided on the left side in the drawing is read out. Thus, an incident angle directivity similar to that of the pixel shown in the top left portion of  FIG. 6  can be obtained. That is, incident light from upper right that forms the incident angle θ 1  with the dot-and-dash line in the drawing enters the photodiode  121   f - 11 , and the signal corresponding to the amount of received light is read out from the photodiode  121   f - 11 . Thus, the incident light contributes to the detection signal to be output from this pixel. On the other hand, incident light from upper left that forms the incident angle θ 2  with the dot-and-dash line in the drawing enters the photodiode  121   f - 12 , but is not read out from the photodiode  121   f - 12 . Therefore, the incident light does not contribute to the detection signal to be output from this pixel. 
     Likewise, in a case where two photodiodes  121   f - 13  and  121   f - 14  are included as in the pixel shown in the bottom right portion of  FIG. 6 , only the signal of the photodiode  121   f - 14  provided on the right side in the drawing is read out, so that an incident angle directivity similar to that of the pixel shown in the top right portion of  FIG. 6  can be obtained. That is, incident light from upper right that forms the incident angle θ 1  enters the photodiode  121   f - 13 , but any signal is not read out from the photodiode  121   f - 13 . Therefore, the incident light does not contribute to the detection signal to be output from this pixel. On the other hand, incident light from upper left that forms the incident angle θ 2  enters the photodiode  121   f - 14 , and the signal corresponding to the amount of received light is read out from the photodiode  121   f - 14 . Thus, the incident light contributes to the detection signal to be output from this pixel. 
     Note that, in each pixel shown in the top portions of  FIG. 6 , the region shielded from light and the region not shielded from light are divided at the center position of (the light receiving surface of the photodiode  121   e  of) the pixel in the horizontal direction in the example described above. However, the regions may be divided at some other position. Meanwhile, in each pixel shown in the bottom portions of  FIG. 6 , the two photodiodes  121   f  are divided at the center position of the pixel in the horizontal direction in the example described above. However, the two photodiodes may be divided at some other position. As the light-shielded region or the position at which the photodiodes  121   f  are divided is changed in the above manner, different incident angle directivities can be generated. 
     &lt;Incident Angle Directivities in Configurations Including On-Chip Lenses&gt; 
     Next, incident angle directivities in configurations including on-chip lenses  121   c  are described with reference to  FIG. 7 . 
     The graph in the top portion of  FIG. 7  shows the incident angle directivities of the pixels shown in the middle and bottom portions of  FIG. 7 . Note that the abscissa axis indicates incident angle θ, and the ordinate axis indicates detection signal level. Note that the incident angle θ is 0 degrees in a case where the direction of incident light coincides with the dot-and-dash line on the left side of the middle part of  FIG. 7 , the incident angle θ  21  side on the left side in the middle portion of  FIG. 7  is a positive direction, and the side of an incident angle θ 22  on the right side in the middle portion of  FIG. 7  is a negative direction. Accordingly, the incident angle of incident light entering the on-chip lens  121   c  from upper right is greater than that of incident light entering from upper left. That is, the incident angle θ is greater when the inclination of the traveling direction of incident light to the left is greater (or the incident angle θ increases in the positive direction), and the incident angle θ is smaller when the inclination of the traveling direction of incident light to the right is greater (or the incident angle θ increases in the negative direction). 
     Meanwhile, the pixel shown in the middle left portion of  FIG. 7  is obtained by adding an on-chip lens  121   c - 11  that condenses incident light and a color filter  121   d - 11  that transmits light of a predetermined wavelength, to the pixel shown in the top left portion of  FIG. 6 . That is, in this pixel, the on-chip lens  121   c - 11 , the color filter  121   d - 11 , the light shielding film  121   b - 11 , and the photodiode  121   e - 11  are stacked in this order from the incident direction of light from above in the drawing. 
     Likewise, the pixel shown in the middle right portion of  FIG. 7 , the pixel shown in the bottom left portion of  FIG. 7 , and the pixel shown in the bottom right portion of  FIG. 7  are obtained by adding an on-chip lens  121   c - 11  and a color filter  121   d - 11 , or an on-chip lens  121   c - 12  and a color filter  121   d - 12  to the pixel shown in the top right portion of  FIG. 6 , the pixel shown in the bottom left portion of  FIG. 6 , and the pixel shown in the bottom right portion of  FIG. 6 , respectively. 
     In the pixel shown in the middle left portion of  FIG. 7 , as indicated by the solid-line waveform in the top portion of No.  7 , the detection signal level (light-receiving sensitivity) of the photodiode  121   e - 11  varies depending on the incident angle θ of incident light That is, when the incident angle θ, which is the angle formed by incident light with respect to the dot-and-dash line in the drawing, is greater (or when the incident angle θ is greater in the positive direction (or inclines to the right in the drawing)), light is condensed in the region in which the light shielding film  121   b - 11  is not provided, and accordingly, the detection signal level of the photodiode  121   e - 11  becomes higher. Conversely, when the incident angle θ of incident light is smaller (or when the incident angle θ is greater in the negative direction (as inclines to the left in the drawing)), light is condensed in the region in which the light shielding film  121   b - 11  is provided, and accordingly, the detection signal level of the photodiode  121   e - 11  becomes lower. 
     Also, in the pixel shown in the middle right portion of  FIG. 7 , as indicated by the dashed-line waveform in the top portion of  FIG. 7 , the detection signal level (light-receiving sensitivity) of the photodiode  121   e - 12  varies depending on the incident angle θ of incident light. Specifically, when the incident angle θ of incident light is greater (or when the incident angle θ is greater in the positive direction), light is condensed in the region in which the light shielding film  121   b - 12  is provided, and accordingly, the detection signal level of the photodiode  121   e - 12  becomes lower. Conversely, when the incident angle θ of incident light is smaller (or when the incident angle θ is greater in the negative direction), light is condensed in the region in which the light shielding film  121   b - 12  is not provided, and accordingly, the detection signal level of the photodiode  121   e - 12  becomes higher. 
     The solid-line and dashed-line waveforms shown in the top portion of  FIG. 7  can be made to vary depending on the region of the light shielding film  121   b . Accordingly, different incident angle directivities that vary with the respective pixels can be generated, depending on the region of the light shielding film  121   b.    
     As described above, an incident angle directivity is the characteristics of the light-receiving sensitivity of each pixel depending on the incident angle θ, but it can also be said that this is the characteristics of the light shielding value depending on the incident angle θ in each pixel in the middle portions of  FIG. 7 . That is, the light shielding film  121   b  blocks incident light in a specific direction at a high level, but cannot sufficiently block incident light from other directions. The changes caused in level by this light shielding generates detection signal levels that vary with the incident angle θ as shown in the top portion of  FIG. 7 . 
     Therefore, when the direction in which light can be blocked at the highest level in each pixel is defined as the light shielding direction of each pixel, the respective pixels having different incident angle directivities from one another means the respective pixels having different light shielding directions from one another. 
     Further, in the pixel shown in the bottom left portion of  FIG. 7 , only the signal of the photodiode  121   f - 11  in the left portion of the drawing is used, so that an incident angle directivity similar to that of the pixel shown in the middle left portion of  FIG. 7  can be obtained, as in the pixel shown in the bottom left portion of  FIG. 6 . That is, as the incident angle θ of incident light becomes greater (or as the incident angle θ becomes greater in the positive direction), light is condensed in the region of the photodiode  121   f - 11  from which the signal is to be read, and accordingly, the detection signal level becomes higher. Conversely, as the incident angle θ of incident light is smaller (or as the incident angle θ is greater in the negative direction), light is condensed in the region of the photodiode  121   f - 12  from which the signal is not to be read, and accordingly, the detection signal level becomes lower. 
     Further, likewise, in the pixel shown in the bottom. right portion of  FIG. 7 , only the signal of the photodiode  121   f - 14  in the right portion of the drawing is used, so that an incident angle directivity similar to that of the pixel shown in the middle right portion of  FIG. 7  can be obtained, as in the pixel shown in the bottom right portion of  FIG. 6 . That is, when the incident angle θ of incident light is greater (or when the incident angle θ is greater in the positive direction), light is condensed in the region of the photodiode  121   f - 13  that does not contribute to the output (detection signal), and accordingly, the level of the detection signal of each pixel becomes lower. Conversely, when the incident angle of incident light is smaller (or when the incident angle θ is greater in the negative direction), light is condensed in the region of the photodiode  121   f - 14  that contributes to the output (detection signal), and accordingly, the level of the detection signal in each pixel becomes higher. 
     Note that, as in the pixels shown in the bottom portions of  FIG. 7 , in a pixel that includes a plurality of photodiodes so as to be able to change the photodiode contributing to an output, each photodiode is made to have a directivity with respect to the incident angle of incident light. The on-chip lenses  121   c  need to be provided in each pixel so that an incident angle directivity is generated in each pixel. 
     Note that, in the description below, an example case where pixels  121   a  that achieve incident angle directivities using the light shielding films  121   b  like the pixel.  121   a  shown in  FIG. 4  will be mainly described. However, unless the light shielding films  121   b  are necessary, it is also possible to use pixels  121   a  that basically divides photodiodes to obtain incident angle directivities. 
     &lt;Relationship Between Light-Shielded Region and Angle of View&gt; 
     Next, the relationship between the light-shielded regions and the angles of view is described with reference to  FIGS. 8 and 9 . 
     For example, a pixel  121   a  shielded from light by the light shielding film  121   b  by a width d 1  from each edge of the four sides as shown in the top portion of  FIG. 8 , and a pixel  121   a ′ shielded from light by the light shielding film  121   b  by a width d 2  (&gt;d 1 ) from each edge of the four sides as shown in the bottom portion of  FIG. 8  are now described. 
       FIG. 9  shows an example of incident angles of incident light from the object surface  102  to the center position C 1  of the imaging device  121 . Note that  FIG. 9  shows a example of incident angles of incident light in the horizontal direction, but similar incident angles are observed in the vertical direction. Further, the right portion of  FIG. 9  shows the pixels  121   a  and  121   a ′ shown in  FIG. 8 . 
     For example, in a case where the pixel  121   a  shown in  FIG. 8  is disposed at the center position C 1  of the imaging device  121 , the range of the incident angle of incident light from the object surface  102  to the pixel  121   a  is represented by an angle A 1  as shown in the left portion of  FIG. 9 . Accordingly, the pixel  121   a  can receive incident light of the width W 1  of the object surface  102  in the horizontal direction. 
     On the other hand, in a case where the pixel  121   a ′ in  FIG. 8  is disposed at the center position C 1  of the imaging device  121 , the range of the incident angle of incident light from the object surface  102  to the pixel  121   a ′ is represented by an angle A 2  (&lt;A 1 ) as shown in the left portion of  FIG. 9 , because the pixel  121   a ′ has a wider light-shielded region than the pixel  121   a . Therefore, the pixel  121   a ′ can receive incident light of the width W 2  (&lt;W 1 ) of the object surface  102  in the horizontal direction. 
     That is, the pixel  121   a  having a narrow light-shielded region is a wide angle-of-view pixel suitable for imaging a wide region on the object surface  102 , while the pixel  121   a ′ having a wide light-shielded region is a narrow angle-of-view pixel suitable for imaging a narrow region on the object surface  102 . Note that the wide angle-of-view pixel and the narrow angle-of-view pixel mentioned herein are expressions for comparing both the pixels  121   a  and  121   a ′ shown in  FIG. 8 , and are not limited to these pixels in comparing pixels having other angles of view. 
     Therefore, the pixel  121   a  is used to restore an image I 1  shown in  FIG. 8 , for example. On the other hand, the pixel  121   a ′ is used to restore an image I 2  shown in  FIG. 8 , for example. 
     Note that the angle of view SQ 2  is smaller than the angle of view SQ 1 . Therefore, in a case where an image of the angle of view SQ 2  and an image of the angle of view SQ 1  are to be restored with the same number of pixels, it is possible to obtain a restored image with higher image quality by restoring the image of the angle of view SQ 2  than by restoring the image of the angle of view SQ 1 . That is, in a case where restored images are to be obtained with the same number of pixels, a restored image with higher image quality can be obtained by restoring an image with a smaller angle of view. 
     Alternatively, coefficient set groups corresponding to the angles of view of restored images in addition to object distances may be further prepared as described above, for example, and a restored image may be restored with the use of the coefficient set group corresponding to the object distance and the angle of view. Note that the resolution with respect to the object distance and the angle of view depends on the number of prepared coefficient set groups. 
     Further, in a case where the object distance and the angle of view can be specified, a restored image may be generated with the use of a detection signal of a pixel having an incident angle directivity suitable for imaging of the object surface corresponding to the specified object distance and angle of view, without the use of all the pixels. As a result, the restored image can be generated with the use of the detection signal of a pixel suitable for imaging the object surface corresponding to the specified object distance and angle of view. 
     &lt;Example Configuration of the Pixel Region of the Imaging Device  121 &gt; 
       FIG. 10  schematically shows an example configuration of the pixel region (the pixel array unit) of the imaging device  121 . 
     A pixel region  201  is a region in which pixels  121   a  (not shown) having different incident angle directivities are two-dimensionally arranged in the row direction (horizontal direction) and the column direction (vertical direction). Note that all the pixels  121   a do not need to have different incident angle directivities from one another, but some of the pixels  121   a  may have the same incident angle directivity. Also, not all the pixels  121   a  need to have an incident angle directivity. 
     Further, the pixel region  201  is divided into three equal regions in the column direction by detection regions  202 A to  202 C that are disposed in different rows from one another and extend in the row direction. Each of the detection regions  202 A to  202 C is used for restoration of a restored image and detection of flicker, as described later. 
     The detection regions  202 A to  202 C are regions that have the same light shielding pattern and the same incident angle directivity. That is, in the detection regions  202 A to  202 C, the arrangement of the pixels  121   a  (the number and positions of the pixels  121   a ) is the same, and the pixels  121   a  having the same light shielding pattern are arranged at the same positions (coordinates) in the respective regions. Accordingly, in the detection regions  202 A to  202 C, images of substantially the same object are captured at substantially the same object distance and angle of view. 
     Further, the imaging device  121  is of a rolling shutter type, and the pixel region  20  is sequentially exposed row by row. Specifically, exposure is sequentially started from the first row to the last row of the pixel region  201 , reading of the detection signals of the respective pixels  121   a  is sequentially started from the first row to the last row of the pixel region  201 , and the exposure period is shifted row by row. 
     Note that exposure of the pixel region  201  is not necessarily performed row by row, and may be performed for each plurality of rows. Specifically, exposure and reading may be performed for each plurality of rows in the pixel region  201 , and the exposure period may be shifted for each plurality of rows. 
     For each detection region  202 , the imaging device  121  then generates a plurality of detection images including detection signals output from the pixels  121   a  in each detection region  202 , and outputs the detection images to the restoration unit  122  or the bus B 1 . 
     Note that, hereinafter, in a case where there is no need to distinguish the detection regions  202 A to  202 C from one another, the detection regions  202 A to  202 C will be referred to simply as the detection regions  202 . 
     &lt;Example Configuration of the Control Unit  123 &gt; 
       FIG. 11  is a block diagram showing an example configuration of some of the functions implemented by the control unit  123 . The control unit  123  implements the functions of a flicker detection unit  221  and a moving object detection unit  222 . 
     The flicker detection unit  221  performs flicker detection, on the basis of at least either a plurality of detection images corresponding to the respective detection regions  202  or a plurality of restored images restored from the respective detection images. The flicker detection unit  221  also detects a flicker region that is presumed to have flicker, on the basis of the luminance of the restored images. The flicker detection unit  221  supplies information indicating the flicker and the flicker detection result, and the like to the restoration unit  122 . 
     The moving object detection unit  222  detects feature points of the plurality of restored images corresponding to the respective detection regions  202 , and performs moving object detection, on the basis of the detected feature points. The moving object detection unit  222  supplies information indicating a moving object detection result to the recording/reproducing unit  129 , and records the information on the recording medium  130  or outputs the information to another device via the communication unit  131  as necessary. 
     &lt;First Embodiment of an Imaging Process&gt; 
     Next, an imaging process to be performed by the imaging apparatus  101  is described, with reference to a flowchart shown in  FIG. 12 . 
     In step S 1 , the imaging device  121  images an object. As a result, detection signals indicating detection signal levels corresponding to the amounts of incident light from the object are output from the respective pixels  121   a  of the imaging device  121  having different incident angle directivities. The imaging device  121  also performs A/D conversion on the detection signals of the respective pixels  121   a , generates a plurality of detection images including the detection signals of the respective pixels  121   a  of each detection region  202 , and supplies the detection images to the flicker detection unit  221 . 
     Since the imaging device  121  is of a rolling shutter type herein, the exposure varies with each detection region  202 . 
     Specifically, A of  FIG. 13  shows the pixel region  201  of the imaging device  121 , and B of  FIG. 1.3  shows the exposure periods of the respective rows in the pixel region  201 . A straight line L 1  in  FIG. 13  indicates the exposure start timing of each row in the pixel region  201 , and a straight line L 2  indicates the read start timing of each row in the pixel region  201 . Accordingly, the exposure period of each row in the pixel region  201  is the period between the straight line L 1  and the straight line L 2 . 
     Further, A of  FIG. 13  schematically shows a blinking object  251  (such as a lamp of a traffic light, for example). Hereinafter, as shown in A of  FIG. 13 , the object  251  is off during the exposure period of the detection region  202 A, transits from the off-state to the on-state during the exposure period of the detection region  202 B, and is on during the exposure period of the detection region  202 C. 
     In step S 2 , the flicker detection unit  221  compares the luminances of the detection images of the respective detection regions  202 . For example, the flicker detection unit  221  calculates the average luminance value of the detection image of each detection region  202 , and calculates the differences in the average luminance value among the respective detection images. 
     In step S 3 , the flicker detection unit  221  determines whether or not there is flicker. For example, in a case where the difference in the average luminance value between the detection images of any combination is smaller than a predetermined threshold, which is where the difference in the luminance between the detection images of any combination is small, the flicker detection unit  221  determines that there is no flicker, and the process moves on to step S 4 . 
     In step S 4 , the restoration unit  122  restores only the detection image of a predetermined detection region  202 . Specifically, the flicker detection unit  221  supplies the restoration unit  122  with the detection image of a predetermined detection region  202  (such as the detection region  202 A, for example) among the detection images of the detection regions  202 A to  202 C. 
     The restoration unit  122  sets the distance to the object surface to be restored, which is the object distance. Note that any method can be adopted as the method for setting the object distance. For example, the restoration unit  122  sets an object distance that is input by a user via the input unit  124 , or an object distance detected by the detection unit  125  as the distance to the object surface  102  to be restored. 
     Next, the restoration unit  122  reads, from the storage unit  128 , the coefficient set group associated with the set object distance. 
     Next, the restoration unit  122  creates the simultaneous equations described above with reference to Equations (1) to (3), using the detection signal level of each pixel in the detection images supplied from the flicker detection unit  221 , and the acquired coefficient set group. Next, the restoration unit  122  solves the created simultaneous equations, to calculate the light intensity of each point light source on the object surface corresponding to the set object distance. The restoration unit  122  then arranges the pixels having the pixel values corresponding to the calculated light intensities, in accordance with the layout of the respective point light sources on the object surface. By doing so, the restoration unit  122  generates a restored image in which an image of the object is formed. 
     Further, the restoration unit  122  performs demosaicing, γ correction, white balance adjustment, conversion into a predetermined compression format, and the like, on the restored image as necessary. The restoration unit  122  also supplies the restored image to the display unit  127  to display the restored image, supplies the restored image to the recording/reproducing unit  129  to record the restored image on the recording medium  130 , or outputs the restored image to another device via the communication unit  131 , as necessary. 
     After that, the imaging process comes to an end. 
     In a case where, in step S 3 , the difference in the average luminance value between the detection images of at least one combination is equal to or larger than the predetermined threshold, which is a case where the difference in the luminance between the detection images of at least one combination is large, for example, on the other hand, the flicker detection unit  221  determines that there is flicker, and the process moves on to step S 5 . 
     For example, in the example shown in A of  FIG. 13 , the blinking state of the object  251  varies among the exposure periods of the detection regions  202 A to  202 C as described above. Therefore, the differences in luminance become larger among the detection images of the detection regions  202 A to  202 C, and it is determined that there is flicker. 
     In step S 5 , the restoration unit  122  restores only the detection image of the detection region having the highest luminance. Specifically, the flicker detection unit  221  selects the detection image having the highest average luminance value from among the detection images of the detection regions  202 A to  2020 , and supplies the selected detection image to the restoration unit  122 . 
     For example, in the example shown in A of  FIG. 13 , the detection image of the detection region  202 C captured (exposed) when the object  251  is on is selected from among the detection images of the detection regions  202 A. to  202 C. 
     The restoration unit  122  restores the detection image selected by the flicker detection unit  221  by a process similar to that in step S 4  described above. 
     After that, the imaging process comes to an end. 
     In this manner, flicker can be reduced. For example, in the example shown in A of  FIG. 13 , the detection image of the detection region  202 C captured when the object  251  is on is restored. Thus, the blinking object  251  can be detected without fail. 
     For example, in a case where the lamp of a traffic light is formed with a light emitting diode (LED), the lamp actually blinks even while the lamp is on. Therefore, flicker occurs, and a conventional imaging apparatus might fail to detect the lamp in an on-state in some cases. 
     On the other hand, the imaging apparatus  101  can restore a restored image from a detection image captured when the lamp of the traffic light is on, and thus, failures in detection of a lamp in an on-state can be reduced. As a result, it becomes possible to achieve safe automated driving by using restored images in controlling the automated driving, for example. 
     The imaging apparatus  101  also performs flicker detection at the stage of detection images prior to restoration, and thus, flicker detection can be quickly performed. 
     Further, as only the restored image of one detection region  202  is restored, the amount of calculation can be reduced, and the frame rate (sampling period) can be raised, for example. 
     &lt;Second Embodiment of an Imaging Process&gt; 
     Next, a second embodiment of an imaging process to be performed by the imaging apparatus  101  is described, with reference to a flowchart shown in  FIG. 14 . 
     In step S 51 , object imaging is performed in a manner similar to the process in step S 1  in  FIG. 12 . he imaging device  121  then supplies the detection image of each detection region  202  to the restoration unit  122 . 
     In step S 52 , the restoration unit  122  restores the detection image of each detection region  202  by a process similar to step S 4  in  FIG. 12 . The restoration unit  122  supplies the restored image of each detection region  202  to the flicker detection unit  221 . 
     In step S 53 , the flicker detection unit  221  compares the luminances of the restored images of the respective detection regions  202 . For example, the flicker detection unit  221  calculates the average luminance value of the restored image of each detection region  202 , and calculates the differences in the average luminance value among the respective restored images. 
     In step S 54 , the flicker detection unit  221  determines whether or not there is flicker. For example, in a case where the difference in the average luminance value between the restored images of any combination is smaller than a predetermined threshold, which is where the difference in the luminance between the restored images of any combination is small, the flicker detection unit  221  determines that there is no flicker, and the process moves on to step S 55 . 
     In step S 55 , the restoration unit  122  adds up the restored images. Specifically, the flicker detection unit  221  notifies the restoration unit  122  that there is no flicker. The restoration unit  122  adds up the restored image by adding up the pixel values of the pixels at the same position in the restored images of the respective deter-ton regions  202 . 
     Further, the restoration unit  122  performs demosaicing, γ correction, white balance adjustment, conversion into a predetermined compression format, and the like, on the combined restored image, as necessary. The restoration unit  122  also supplies the restored image to the display unit  127  to display the restored image, supplies the restored image to the recording/reproducing unit  129  to record the restored image on the recording medium  130 , or outputs the restored image to another device via the communication unit  131 , as necessary. 
     After that, the imaging process comes to an end. 
     In a case where, in step S 54 , the difference in the average luminance value between the restored images of at least one combination is equal to or larger than the predetermined threshold, which is a case where the difference in the luminance between the restored images of at least one combination is large, for example, on the other hand, the flicker detection unit  221  determines that there is flicker, and the process moves on to step S 56 . 
     In step S 56 , the flicker detection unit  221  detects flicker regions, on the basis of the luminance of the restored image of each detection region  202 . For example, the flicker detection unit  221  compares the luminances of the restored images of the respective detection regions  202  pixel by pixel, and extracts pixels having a difference in luminance equal to or larger than the predetermined threshold. Next, the flicker detection unit  221  performs processing such as removal of pixels whose luminance fluctuates due to noise from the extracted pixels, and then detects the regions formed with the extracted pixels as flicker regions. As a result, the region in which the luminance greatly varies among the restored images of the respective detection regions  202  is detected as flicker regions. 
     For example, the left side in  FIG. 15  shows an example of restored images  301 A to  301 C restored from the detection images of the detection regions  202 ; to  202 C captured in the state shown in A of  FIG. 13 . The object  251  in  FIG. 13  is captured in regions  302 A to  302 C in the restored images  301 A to  301 C. 
     In this case, in the restored images  301 A to  301 C, the regions  302 A. to  302 C having large changes in luminance are detected as flicker regions. 
     In step S 57 , the flicker detection unit  221  detects the flicker region having the highest luminance. For example, the flicker detection unit  221  calculates the average luminance value of the flicker region in the restored image of each detection region  202 . The flicker detection unit  221  then detects the flicker region having the highest average luminance value among the flicker regions of the respective restored images. 
     For example, in the example shown on the left side in  FIG. 15 , the flicker region  302 C of the restored image  301 C is detected as the flicker region having the highest luminance. 
     Note that, in a case where there is a plurality of flicker regions in each restored image (such as a case where there is a plurality of blinking objects, for example), the luminances of the respective flicker regions are compared with one another, and the flicker region having the highest luminance is detected. Therefore, the restored image from which the flicker region having the highest luminance is detected might vary with each flicker region or with each blinking object) in some cases. 
     In step S 58 , the flicker detection unit  221  adds up the restored images and combines the flicker regions. Specifically, the flicker detection unit  221  adds up the pixel values of the pixels at the same positions in the regions excluding the flicker regions in the respective restored images. The flicker detection unit  221  also combines the image of the flicker region having the highest luminance detected by the process in step S 57  with the restored image obtained by adding up the pixel values. 
     For example, in the example shown in  FIG. 15 , the pixel values of the pixels at the same positions in the region excluding the region  302 A in the restored image  301 A, the region excluding the region  302 B in the restored image  301 B, and the region excluding the region  302 C of the restored image  301 C are added up. Further, the image in the flicker region  302 C having the highest luminance among the flicker regions  302 A to  302 C is combined with the restored image after the addition. As a result, a restored image  303  is generated. 
     Further, the restoration unit  122  performs demosaicing, γ correction, white balance adjustment, conversion into a predetermined compression format, and the like, on the obtained restored image, as necessary. The restoration unit  122  also supplies the restored image to the display unit  127  to display the restored image, supplies the restored image to the recording/reproducing unit  129  to record the restored image on the recording medium  130 , or outputs the restored image to another device via the communication unit  131 , as necessary. 
     After that, the imaging process comes to an end. 
     Note that the restored images of the respective detection regions  202  are images obtained by capturing the same object at the same object distance and angle of view substantially at the same time. Accordingly, in a case where there is no flicker, the restored images of the respective detection regions  202  are added up, to increase image quality. For example, noise can be removed, or a high resolution can be a achieved 
     In a case where there is flicker, on the other hand, pixels are added up to increase image quality in a region having no flicker. Further, in a region having flicker, an image of the region having the highest luminance is generated from the respective restored images. As a result, the image quality of a restored image is increased, and flicker can be reduced. 
     Note that, as shown in  FIG. 16 , it is possible to detect a moving object (an optical flow) by detecting feature points in the restored images  301 A to  301 C, for example. 
     For example, as shown in A of  FIG. 16 , the moving object detection unit  222  detects a vanishing point  351 A and feature points  352 A to  354 A in the restored image  301 A, detects a vanishing point  351 B and feature points  352 B to  354 B in the restored image  301 B, and detects a vanishing point  351 C and feature points  352 C to  354 C in the restored image  301 C. Note that the feature points  352 A to  352 C correspond to one another, the feature points  353 A to  353 C correspond to one another, and the feature points  354 A to  354 C correspond to one another. 
     Further, as shown in an enlarged manner in B of  FIG. 16 , for example, the moving object detection unit  222  generates an optical flow on the basis of the feature points  352 A to  352 C in the restored image  303  after the addition and combining of the restored images  301 A to  301 C, and performs moving object detection. Likewise, in the restored image  303 , the moving object detection unit  222  generates an optical flow on the basis of the feature points  353 A to  353 C and performs moving object detection, and generates an optical flow on the basis of the feature points  354 A to  354 C and performs moving object detection. 
     &lt;Flicker Reducing Effect of Pixel Region Dividing&gt; 
     Next, the flicker reducing effect to be achieved by dividing the pixel region is described, with reference to  FIGS. 17 and 18 . Note that  FIG. 17  shows an example of the exposure period in a case where the pixel region is not divided, and  FIG. 18  shows an example of the exposure periods in a case where the pixel region is divided into five detection regions  401 A to  401 E. 
     Note that, hereinafter, in a case where there is no need to distinguish the detection regions  401 A to  401 E from one another, the detection regions  401 A to  401 E will be referred to simply as the detection regions  401 . 
     In the examples shown in  FIGS. 17 and 18 , the exposure period of the entire pixel region is the same. Specifically, the exposure of the first row in the pixel region is started at time t 1 , and the exposure of the last row in the pixel region ends at time t 3 . Further, at time t 4 , reading of the detection signal of the first row in the pixel region is started. At time t 6 , reading of the detection signal of the last row in the pixel region is finished. Accordingly, an exposure time s 1  is calculated as (time t 4 −time t 1 ), and a curtain speed m 1  is calculated as (time t 3 −time t 1 ). 
     Here, a case where an object that blinks (hereinafter referred to as the blinking object) such as a. lamp of a traffic light formed with an LED is imaged is described, for example. 
     The blinking object is turned off at time t 2 , and is turned on at time t 5 , for example. In this case, the periods indicated by hatching in the exposure periods shown in  FIGS. 17 and 16  are the periods overlapping the lights-out period d 1  of the blinking object. Further, the length of the Lights-out period d 1  is calculated as (time t 5 −time t 2 ). 
     For example, as shown in  FIG. 17 , in a case where the pixel region is not divided, the variation in the intensity of incident light from the blinking object is greater between the respective rows in the pixel region. For example, in the rows near the center of the pixel region, light from the blinking object hardly enters over substantially the entire exposure period. In the rows near the ends of the pixel region, light from the blinking object enters during almost a half of the exposure period. 
     Note that, the lower the curtain speed m 1 , the greater the variation in the intensity of incident light from the blinking object in each row. 
     Meanwhile, the simultaneous equations described above with reference to Equations (1) to (3) are created on the assumption that the object is stationary and does not change during imaging. Therefore, when the difference in the intensity of incident light from the blinking object becomes larger between the respective rows, inconsistency appears in the relationship between the simultaneous equations, and it becomes difficult to solve the simultaneous equations. As a result, an error in a solution to the simultaneous equations might become larger, the image quality of a restored image might be degraded, or the accuracy of detection of the blinking object might become lower, for example. 
     Note that it is possible to solve the simultaneous equations more accurately by taking into account the relationship between the curtain speed m 1  and the lighting time of the blinking object, for example. However, the relationship between the curtain speed m 1  and the lighting time of the blinking object needs to be predicted in advance, and the amount of calculation will become larger, which is not very realistic. Particularly, in a case where a restored image is to be used for automated driving or the like, priority is put on real-time properties, and therefore, practicality becomes poorer. 
     On the other hand, as shown in  FIG. 18 , as the pixel region is divided, the curtain speed in each detection region  401  becomes higher and reaches m 1 /5. Accordingly, the variation in the intensity of incident light from the blinking object in each detection region  401  is smaller than in the case where the pixel region is not divided. 
     As a result, compared with the case in which the pixel region is not divided, it is easier to solve the simultaneous equations, the image quality of the restored image restored from each detection region  401  is higher, and the accuracy of detection of the blinking object also higher. 
     &lt;&lt;2. Modifications&gt;&gt;. 
     The following is a description of modifications of the above described embodiment of the present technology. 
     &lt;Modifications Relating to Detection Regions&gt; 
     The number of divisions of the pixel region described above, which is the number of detection regions, is merely an example, and can be changed to any appropriate number. 
     Also, the light shielding patterns in the respective detection region, which are the incident angle directivities of the respective detection regions, do not need to be completely the same. For example, the arrangement of some of the pixels may vary among the respective detection regions, or the light shielding pattern of some of the pixels  121   a  at the same position may vary. 
     Further, in the above description, examples in which (the pixels in) each detection region is used for restoring a restored image has been described. However, as shown in  FIG. 19 , for example, the detection regions may differ from the restoration regions, to be used for restoring restored images. 
     A pixel region  501  shown in  FIG. 19  is divided into detection regions  502 A to  502 C, a restoration region  503 A, and a restoration region  503 B in the column direction (vertical direction). The detection regions  502 A. to  502 C, the restoration region  503 A, and the restoration region  503 B are disposed in different rows from one another in the pixel region  501 , and extend in the row direction (horizontal direction). Further, the detection regions and the restoration regions are alternately arranged. 
     The detection regions  502 A to  502 C are used only for detecting flicker, and are not used for restoring restored images. 
     On the other hand, the restoration region  503 A and the restoration region  503 B are used only for restoring restored images, and are not used for detecting flicker. Also, individual detection images are generated from the restoration region  503 A and the restoration region  503 B, and an individual restored image is restored from each detection image. 
     With this arrangement, the number of pixels in the detection regions  502 A to  502 C can be reduced, and the flicker detection time can be shortened in each of the imaging processes shown in  FIGS. 12 and 14  described above, for example. 
     Note that the number of detection regions and the number of restoration regions can be changed. 
     Also, the number of rows in a detection region can be set at any appropriate number, and may be one, for example. 
     Further, the respective detection regions are only required to be disposed in different rows as a whole, and may partially overlap one another. However, it is preferable that the respective detection regions do not overlap one another, and the number of overlapping rows is preferably minimized in a case where there are overlaps. 
     &lt;Modifications Relating to a Restoration Process&gt; 
     In the above described restoration process, a restored image corresponding to a predetermined object distance is restored immediately after detection images are captured. However, a restoration process may not be performed immediately. Instead, a restored image may be restored with the use of detection images at desired timing after detection images are recorded on the recording medium  130 , or are output to another device via the communication unit  131 , for example. In this case, the restored image may be restored by the imaging apparatus  101  or by some other device. For example, a restored image may be obtained by solving simultaneous equations created with a coefficient set group corresponding to a desired object distance and angle of view. In this manner, a restored image corresponding to an object surface at a desired object distance and angle of view can be obtained, and thus, refocusing and the like can be achieved. 
     Further, it is also possible to achieve an autofocus function, like an imaging apparatus that uses an imaging lens. For example, it is possible to achieve an autofocus function by determining the optimum object distance on the basis of a restored image by a hill climbing method similar to a contrast auto focus (AF) method. 
     &lt;Modifications Relating to the Configuration of the System&gt; 
     For example, some or all of the processes to be performed by the signal processing control unit  111  of the imaging apparatus  101  may be performed by an external device. For example, flicker detection and restoration of restored images may be performed by an external device. 
     &lt;Modifications Relating to the Imaging Device  121 &gt; 
       FIG. 4  shows an example in which the light shielding films  121   b  are used as modulation elements, or combinations of photodiodes that contribute to outputs are changed, so that different incident angle directivities are provided for the respective pixels. However, according to the present technology, an optical filter  902  covering the light receiving surface of an imaging device  901  may be used as a modulation element so that incident angle directivities are provided for the respective pixels, as shown in  FIG. 20 , for example. 
     Specifically, the optical filter  902  is disposed at a predetermined distance from the light receiving surface  901 A of the imaging device  901  so as to cover the entire surface of the light receiving surface  901 A. Light from the object surface  102  is modulated by the optical filter  902 , and then enters the light receiving surface  901 A of the imaging device  901 . 
     For example, an optical filter  902 BW having a black-and-white lattice pattern shown in  FIG. 21  can be used as the optical filter  902 . In the optical filter  902 BW, white pattern portions that transmit light and black pattern portions that block light are randomly arranged. The size of each pattern is set independently of the size of the pixels of the imaging device  901 . 
       FIG. 22  shows the light-receiving sensitivity characteristics of the imaging device  901  with respect to light from a point light source PA and a point light source PB on the object surface  102  in a case where the optical filter  902 BW is used. Light from each of the point light source PA and the point light source PB is modulated by the optical filter  902 BW, and then enters the light receiving surface  901 A of the imaging device  901 . 
     The light-receiving sensitivity characteristics of the imaging device  901  with respect to light from the point light source PA are like a waveform Sa, for example. That is, shadows are formed by the black pattern portions of the optical filter  902 BW, and therefore, a grayscale pattern is formed in the image on the light receiving surface  901 A with respect to the light from the point light source PA. Likewise, the light-receiving sensitivity characteristics of the imaging device  901  with respect to light from the point light source PB are like a waveform. Sb, for example. That is, shadows are formed by the black pattern portions of the optical filter  902 BW, and therefore, a grayscale pattern is formed in the image on the light receiving surface  901 A with respect to the light from the point light source PB. 
     Note that light from the point light source PA and light from the point light source PB have different incident angles with respect to the respective white pattern portions of the optical filter  902 BW, and therefore, differences are generated in the appearance of the grayscale pattern on the light receiving surface. Accordingly, each pixel of the imaging device  901  has an incident angle directivity with respect to each point light source on the object surface  102 . 
     Details of this method are disclosed by M. Salman Asif and four others in “Flatcam: Replacing lenses with masks and computation”, “2015 IEEE international Conference on Computer Vision Workshop (ICCVW)”, 2015, pp. 663-666, for example. 
     Note that an optical filter  902 HW shown in  FIG. 23  may be used, instead of the black pattern portions of the optical filter  902 BW. The optical filter  902 HW includes a linearly polarizing element  911 A and a linearly polarizing element  911 B that have the same polarizing direction, and a ½ wavelength plate  912 . The ½ wavelength plate  912  is interposed between the linearly polarizing element  911 A and the linearly polarizing element  911 B. Instead of the black pattern portions of the optical filter  902 BW, polarizing portions indicated by shaded portions are provided in the ½ wavelength plate  912 , and the white pattern portions and the polarizing portions are randomly arranged. 
     The linearly polarizing element  911 A transmits only light in a predetermined polarizing direction among substantially unpolarized light beams emitted from the point light source PA. In the description below, the linearly polarizing element  911 A transmits only light in a polarizing direction parallel to the drawing. Of the polarized light beams transmitted through the linearly polarizing element  911 A, polarized light transmitted through the polarizing portions of the ½ wavelength plate  912  changes its polarizing direction to a direction perpendicular to the drawing, as the polarization plane is rotated. On the other hand, of the polarized light beams transmitted through the linearly polarizing element  911 A, polarized light transmitted through the white pattern portions of the ½ wavelength plate  912  does not change its polarizing direction that remains parallel to the drawing. The linearly polarizing element  911 B then transmits the polarized light transmitted through the white pattern portions, but hardly transmits the polarized light transmitted through the polarizing portions. Therefore, the light amount of the polarized light transmitted through the polarizing portions becomes smaller than that of the polarized light transmitted through the white pattern portions. As a result, a grayscale pattern substantially similar to that in the case with the optical filter BW is formed on the light receiving surface  901 A of the imaging device  901 . 
     Further, as shown in A of  FIG. 24 , an optical interference mask can be used as an optical filter  9021 F. Light emitted from the point light sources PA and PB on the object surface  102  is emitted onto the light receiving surface  901 A of the imaging device  901  via the optical filter  902 LF. As shown in an enlarged view in a lower portion of A of  FIG. 24 , the light incident face of the optical filter  902 LF has irregularities of a size similar to the size of a wavelength, for example. Also, the optical filter  902 LF maximizes transmission of light of a specific wavelength emitted from the vertical direction. When the change in the incident angle of light of the specific wavelength emitted from the point light sources PA. and PB on the object surface  102  with respect to the optical filter  9021 F (or the inclination with respect to the vertical direction) becomes greater, the optical path length changes. Here, when the optical path length is an odd multiple of the half wavelength, light beams weaken each other. When the optical path length is an even multiple of the half wavelength, light beams strengthen each other. That is, as shown in B of  FIG. 24 , the intensity of transmitted light of the specific wavelength emitted from the point light sources PA and PB and transmitted through the optical filter  902 LF is modulated in accordance with the incident angle with respect to the optical filter  902 LF, and then enters the light receiving surface  901 A of the imaging device  901 . Accordingly, the detection signal output from each pixel of the imaging device  901  is a signal obtained by combining the light intensities after modulation of the respective point light sources for each pixel. 
     Details of this method are disclosed in JP 2016-510910 W mentioned above, for example. 
     &lt;Other Modifications&gt; 
     The present technology can also be applied to an imaging apparatus and an imaging device that images light of a wavelength other than visible light, such as infrared light. In this case, a restored image is not an image from which the user can visually recognize the object, but an image from which the user cannot visual recognize the object. In This case, the present technology is also used to increase the quality of a restored image in an image processing apparatus or the like that can recognize the object. Note that it is difficult for a conventional imaging lens to transmit far-infrared light, and therefore, the present technology is effective in a case where imaging of far-infrared light is performed, for example. Accordingly, a restored image may be an image of far-infrared light. Alternatively, a restored image is not necessarily an image of far-infrared light, but may be an image of some other visible light or invisible light. 
     Further, by applying machine learning such as deep learning, for example, it is also possible to perform image recognition and the like using a detection image before restoration, without a restored image. In this case, the present technology can also be used to increase the accuracy of image recognition using a detection image before restoration. In other words, the image quality of the detection image before restoration becomes higher. 
     &lt;&lt;3. Example Applications&gt;&gt; 
     The technology according to the present disclosure may be applied to various products. For example, the technology according to the present disclosure may be embodied as an apparatus mounted on any type of mobile structure, such as an automobile, an electrical vehicle, a hybrid electrical vehicle, a motorcycle, a bicycle, a personal mobility device, an airplane, a drone, a vessel, a robot, a construction machine, or an agricultural machine (a tractor). 
       FIG. 25  is a block diagram schematically showing an example configuration of a vehicle control system  7000  that is an example of a mobile structure control system to which the technology according to the present disclosure may be applied. The vehicle control system  7000  includes a plurality of electronic control units connected via a communication network  7010 . In the example shown in  FIG. 25 , the vehicle control system  7000  includes a drive system control unit  7100 , a body system control unit  7200 , a battery control unit  7300 , an external information detection unit  7400 , an in-vehicle information detection unit  7500 , and an overall control unit  7600 . The communication network  7010  connecting the plurality of control units may be an in-vehicle communication network compliant with an appropriate standard, such as a controller area network (CAN), a local interconnect network (LIN), a local area network (LAN), or FlexRay (registered trademark), for example. 
     Each of the control units includes: a microcomputer that performs arithmetic processing according to various programs; a storage unit that stores the programs to be executed by the microcomputer, the parameters to be used for various calculations, or the like; and a drive circuit that drives the current device to be subjected to various kinds of control. Each of the control units includes a communication interface for performing communication through wired communication or wireless communication with an external device or a sensor or the like, as well as a network interface for communicating with another control unit via the communication network  7010 . In  FIG. 25 , a microcomputer  7610 , a general-purpose communication interface  7620 , a dedicated communication interface  7630 , a positioning unit  7640 , a beacon reception unit  7650 , an in-vehicle device interface  7660 , a sound/image output unit  7670 , an in-vehicle network interface  7680 , and a storage unit  7690  are shown as the functional components of the overall control unit  7600 . Likewise, the other control units each include a microcomputer, a communication interface, a storage unit, and the like. 
     The drive system control unit  7100  controls operations of the devices related to the drive system of the vehicle according to various programs. For example, the drive system control unit  7100  functions as control devices such as a driving force generation device for generating a driving force of the vehicle such as an internal combustion engine or a driving motor, a driving force transmission mechanism for transmitting the driving force to the wheels, a steering mechanism for adjusting the steering angle of the vehicle, and a braking device for generating a braking force of the vehicle. The drive system. control unit  7100  may also have functions as a control device such as an antilock brake system (ABS) or an electronic stability control (ESC). 
     A vehicle state detector  7110  is connected to the drive system control unit  7100 . For example, the vehicle state detector  7110  includes at least one of the following components: a gyroscope sensor that detects an angular velocity of axial rotation motion of the vehicle body; an acceleration sensor that detects an acceleration of the vehicle; and a sensor for detecting an operation amount of the gas pedal, an operation amount of the brake pedal, a steering angle of the steering wheel, an engine rotation speed, a wheel rotation speed, or the like. The drive system control unit  7100  performs arithmetic processing using a signal input from the vehicle state detector  7110 , and controls the internal combustion engine, the driving motor, the electrical power steering device, the brake device, or the like. 
     The body system control unit  7200  controls operations of the various devices mounted on the vehicle body accord in to various programs. For example, the body system control unit  7200  functions as a keyless entry system, a smart key system, a power window device, or a control device for various lamps such as a headlight, a backup lamp, a brake lamp, a turn signal lamp, or a fog lamp. In this case, the body system control unit  7200  can receive radio waves transmitted from a portable device that substitutes for a key, or signals from various switches. The body system control unit  7200  receives inputs of these radio waves or signals, and controls the door lock device, the power window device, the lamps, and the like of the vehicle. 
     The battery control unit  7300  controls a secondary battery  7310  that is a power supply source for the driving motor, according to various programs. For example, the battery control unit  7300  receives information, such as a battery temperature, a battery output voltage, or a remaining capacity of the battery, from a battery device including the secondary battery  7310 . The battery control unit  7300  performs arithmetic processing using these signals, to control temperature adjustment of the secondary battery  7310  or to control a cooling device or the like provided in the battery device. 
     The external information detection unit  7400  detects information outside the vehicle equipped with the vehicle control system  7000 . For example, an imaging unit  7410  and/or an external information detector  7420  is connected to the external information detection unit  7400 . The imaging unit  7410  includes at least one of the following cameras: a time-of-flight (ToF) camera, a stereo camera, a monocular camera, an infrared camera, or other cameras. The external information detector  7420  includes an environment sensor for detecting the current weather or meteorological phenomenon, and/or an ambient information detection sensor for detecting another vehicle, an obstacle, a pedestrian, or the like around the vehicle equipped with the vehicle control system  7000 , for example. 
     The environment sensor may be formed with at least one of the following sensors: a raindrop sensor that detects rain, a fog sensor that detects a fog, a solar radiation sensor that detects a degree of solar radiation, or a snow sensor that detects a snowfall, for example. The ambient information detection sensor may be at least one of the following devices: an ultrasonic sensor, a radar device, or a light detection and ranging, laser imaging detection and ranging (LIDAR) device. The imaging unit  7410  and the external information detector  7420  may be provided as an independent device and an independent sensor, respectively, or may be provided as a device in which a plurality of sensors or devices is integrated. 
     Here,  FIG. 26  shows an example of installation positions of imaging units  7410  and external information detectors  7420 . Imaging units  7910 ,  7912 ,  7914 ,  7916 , and  7918  are provided at at least one of the following positions: the front end edge of a vehicle  7900 , a side mirror, the rear bumper, a rear door, or an upper portion of the front windshield inside the vehicle, for example. The imaging unit  7910  provided on the front end edge and the imaging unit  7918  provided on the upper portion of the front windshield inside the vehicle mainly capture images ahead of the vehicle  7900 . The imaging units  7912  and  7914  provided on the side mirrors mainly capture images on the sides of the vehicle  7900 . The imaging unit  7916  provided on the rear bumper or a rear door mainly captures images behind the vehicle  7900 . The imaging unit  7918  provided on the upper portion of the front windshield inside the vehicle is mainly used for detection of a vehicle running in front of the vehicle, a pedestrian, an obstacle, a traffic signal, a traffic sign, a lane, or the like. 
     Note that  FIG. 26  shows an example of the imaging range of each of the imaging units  7910 ,  7912 ,  7914 , and  7916 . An imaging range a indicates the imaging range of the imaging unit  7910  provided on the front end edge, imaging ranges b and c indicate the imaging ranges of the imaging units  7912  and  7914  provided on the respective side mirrors, and an imaging range d indicates the imaging range of the imaging unit  7916  provided on the rear bumper or a rear door. For example, image data captured by the imaging units  7910 ,  7912 ,  7914 , and  7916  are superimposed on one another, so that an overhead image of the vehicle  7900  viewed from above is obtained. 
     External information detectors  7920 ,  7922 ,  7924 ,  7926 ,  7928 , and  7930  provided on the front, the rear, the sides, the corners of the vehicle  7900  and an upper portion of the front windshield inside the vehicle may be ultrasonic sensors or radar devices, for example. The external information detectors  7920 ,  7926 , and  7930  provided on the front end edge of the vehicle  7900 , the rear bumper, and the rear doors, and the upper portion of the front windshield inside the vehicle may be LIDAR devices, for example. These external information detectors  7920  through  7930  are mainly used for detecting a vehicle running in front of the vehicle  7900 , a pedestrian, an obstacle, or the like. 
     Referring back to  FIG. 25 , the explanation is continued. The external information detection unit  7400  causes the imaging unit  7410  to capture an image of the outside of the vehicle, and receives the captured image data. The external information detection unit  7400  also receives detection information from the external information detector  7420  connected thereto. In a case where the external information detector  7420  is an ultrasonic sensor, a radar device, or a LIDAR device, the external information detection unit  7400  causes the external information detector  7420  to transmit ultrasonic waves, or electromagnetic waves, or the like, and receive information about received reflected waves. On the basis of the received information, the external information detection unit  7400  may perform an object detection process for detecting a person, a vehicle, an obstacle, a sign, characters on the road surface, or the like, or perform a distance detection process. On the basis of the received information, the external information detection unit  7400  may also perform an environment recognition process for recognizing a rainfall, a fog, a road surface condition, or the like. On the basis of the received information, the external information detection unit  7400  may also calculate the distance to an object outside the vehicle. 
     Further, on the basis of the received image data, the external information detection unit  7400  may perform an image recognition process for recognizing a person, a vehicle, an obstacle, a sign, characters on the road surface, or the like, or a distance detection process. The external information detection unit  7400  may also perform processing such as distortion correction or positioning on the received image data, and combine the image data captured by different imaging units  7410 , to generate an overhead image or a panoramic image. The external information detection unit  7400  may also perform a viewpoint conversion process using image data captured by different imaging units  7410 . 
     The in-vehicle information detection unit  7500  detects information about the inside of the vehicle. For example, a driver state detector  7510  that detects the state of the driver is connected to the in-vehicle information detection unit  7500 . The driver state detector  7510  may include a camera that captures images of the driver, a biometric sensor that detects biological information about the driver, a microphone that collects sounds inside the vehicle, or the like. The biometric sensor is provided on the seating surface or the steering wheel or the like, for example, and detects biological information about a passenger sitting on a seat or the driver holding the steering wheel. On the basis of the detection information input from the driver state detector  7510 , the in-vehicle information detection unit  7500  may calculate the degree of fatigue or the degree of concentration of the driver, or determine whether the driver is dozing off. The in-vehicle information detection unit  7500  may also perform a noise cancel process or the like on the collected sound signals. 
     The overall control unit  7600  controls the entire operation in the vehicle control system  7000  according to various programs. An input unit  7800  is connected to the overall control unit  7600 . The input unit  7800  is formed with a device on which a passenger can perform an input operation, such as a touch panel, buttons, a microphone, a switch, or a lever, for example. The overall control unit  7600  may receive data obtained by performing speech recognition on sound input through a microphone. For example, the input unit  7800  may be a remote control device using infrared rays or some other radio waves, or an external connection device such as a portable telephone or a personal digital assistant (PDA) compatible with operations on the vehicle control system  7000 . The input unit  7800  may be a camera, for example, and in that case, a passenger can input information by gesture. Alternatively, data obtained by detecting movement of a wearable device worn by a passenger may be input. Further, the input unit  7800  may include an input control circuit or the like that generates an input signal on the basis of information input by a passenger or the like using the above input unit  7800 , for example, and outputs the input signal to the overall control unit  7600 . By operating this input unit  7800 , a passenger or the like inputs various data to the vehicle control system  7000  or issues a processing operation instruction to the vehicle control system  7000 . 
     The storage unit  7690  may include a read only memory (ROM) that stores various programs to be executed by the microcomputer, and a random access memory (RAM) that stores various parameters, calculation results, sensor values, and the like. Also, the storage unit  7690  may be formed with a magnetic storage device such as a hard disc drive (HDD), a semiconductor storage device, an optical storage device, a magneto-optical storage device, or the like. 
     The general-purpose communication interface  7620  is a. general communication interface that mediates communication with various devices existing in external environments  7750 . The general-purpose communication interface  7620  may implement a cellular communication protocol such as global system of mobile communications (GSM) (registered trademark), WiMAX (registered trademark), long term evolution (LTE (registered trademark)), or LTE-Advanced (LTE-A), or some other wireless communication protocol such as wireless LAN (also called Wi-Fi (registered trademark)) or Bluetooth (registered trademark). The general-purpose communication interface  7620  may be connected to a device (an application server or a control server, for example) existing in an external network (the Internet, a cloud network, or a company-specific network, for example) via a base station or an access point, for example. Alternatively, the general-purpose communication interface  7620  may be connected to a terminal (a terminal of a driver, a pedestrian, or a shop, or a machine type communication (MTC) terminal, for example) existing in the vicinity of the vehicle, using the peer-to-peer (P2P) technology, for example. 
     The dedicated communication interface  7630  is a communication interface that supports a communication protocol formulated for use in a vehicle. The dedicated communication interface  7630  may implement a standard protocol such as Wireless Access in Vehicle Environment (WAVE), which is a combination of IEEE802.11p as the lower layer and IEEE1609 as the upper layer, Dedicated Short Range Communications (DSRC), or a cellular communication protocol, for example. Typically, the dedicated communication interface  7630  conducts V2X communication, which is a concept including at least one of the following kinds of communication: vehicle-to-vehicle communication, vehicle-to-infrastructure communication, vehicle-to-home communication, and vehicle-to-pedestrian communication. 
     The positioning unit  7640  receives a GNSS signal (a. GPS signal from a global positioning system (GPS) satellite, for example) from a global navigation satellite system (GNSS) satellite, performs positioning, and generates location information including the latitude, the longitude, and the altitude of the vehicle, for example. Note that the positioning unit  7640  may identify the current location by exchanging signals with a wireless access point, or may acquire the location information from a terminal having a positioning function, such as a portable telephone, a PHS, or a smartphone. 
     The beacon reception unit  7650  receives radio waves or electromagnetic waves transmitted from a wireless station or the like installed on a road, for example, and acquires information about the current location, traffic congestion, closing of a road, a required time, or the like. Note that the functions of the beacon reception unit  7650  may be included in the dedicated communication interface  7630  described above. 
     The in-vehicle device interface  7660  is a communication interface that mediates connection between the microcomputer  7610  and various in-vehicle devices  7760  existing in the vehicle. The in-vehicle device interface  7660  may establish a wireless connection, using a wireless communication protocol such as wireless LAN, Bluetooth (registered trademark), Near Field Communication (NFC), or wireless USB (WUSB). Further, the in-vehicle device interface  7660  may establish a wired connection to a universal serial bus (USB), a high-definition multimedia interface (HDMI (registered trademark)), a mobile high-definition link (MHL), or the like via a connecting terminal (not shown) (and a cable, if necessary). The in-vehicle devices  7760  may include a mobile device or a wearable device owned by a passenger, and/or an information device installed in or attached to the vehicle, for example. The in-vehicle devices  7760  may also include a navigation device that searches for a route to a desired destination. The in-vehicle device interface  7660  exchanges control signals or data signals with these in-vehicle devices  7760 . 
     The in-vehicle network interface  7680  is an interface that mediates communication between the microcomputer  7610  and the communication network  7010 . The in-vehicle network interface  7680  transmits and receives signals and the like, according to a predetermined protocol supported by the communication network  7010 . 
     The microcomputer  7610  of the overall control unit  7600  controls the vehicle control system  7000  according to various programs, following information acquired via at least one of the following components: the general-purpose communication interface  7620 , the dedicated communication interface  7630 , the positioning unit  7640 , the beacon reception unit  7650 , the in-vehicle device interface  7660 , and the in-vehicle network interface  7680 . For example, on the basis of acquired external and internal information, the microcomputer  7610  may calculate the control target value of the driving force generation device, the steering mechanism, or the braking device, and output a control command to the drive system control unit  7100 . For example, the microcomputer  7610  may perform cooperative control to achieve the functions of an advanced driver assistance system (ADAS), including vehicle collision avoidance or impact mitigation, follow-up running based on the distance between vehicles, vehicle speed maintenance running, vehicle collision warning, vehicle lane deviation warning, or the like. The microcomputer  7610  may also perform cooperative control to conduct automated driving or the like for autonomously running not depending on the operation of the driver, by controlling the driving force generation device, the steering mechanism, the braking device, or the like on the basis of acquired information about the surroundings of the vehicle. 
     The microcomputer  7610  may generate information about the three-dimensional distance between the vehicle and an object such as a nearby architectural structure or a person, and create local map information including surroundings information about the current location of the vehicle, on the basis of information acquired via at least one of the following components: the general-purpose communication interface  7620 , the dedicated communication interface  7630 , the positioning unit  7640 , the beacon reception unit  7650 , the in-vehicle device interface  7660 , and the in-vehicle network interface  7680 . The microcomputer  7610  may also generate a warning signal by predicting danger such as a collision of the vehicle, an approach of a pedestrian or the like, or entry to a closed road, o. the basis of acquired information. The warning signal may be a signal for generating an alarm sound or for turning on a warning lamp, for example. 
     The sound/image output unit  7670  transmits an audio output signal and/or an image output signal to an output device that is capable of visually or audibly notifying the passenger(s) of the vehicle or the outside of the vehicle of information. In the example shown in  FIG. 25 , an audio speaker  7710 , a display unit  7720 , and an instrument panel  7730  are shown as output devices. The display unit  7720  may include an on-board display and/or a head-up display, for example. The display unit  7720  may have an augmented reality (AR) display function. An output device may be some device other than the above devices, such as a wearable device like a headphone or an eyeglass-type display to be worn by a passenger, a projector, or a lamp. In a case where the output device is a display device, the display device visually displays results obtained through various processes performed by the microcomputer  7610 , or information received from other control units, in various forms such as text, an image, a table, or a graph. Further, in a case where the output device is a sound output device, the sound output device converts an audio signal formed with reproduced sound data, acoustic data, or the like into an analog signal, and audibly outputs the analog signal. 
     Note that, in the example shown in  FIG. 25 , at least two control units connected via the communication network  7010  may be integrated into one control unit Alternatively, each control unit may be formed with a plurality of control units. Further, the vehicle control system  7000  may include another control unit that is not shown in the drawing. Also, in the above description, some or all of the functions of one of the control units may be provided by some other control unit. That is, as long as information is transmitted and received via the communication network  7010 , predetermined arithmetic processing may be performed by any control unit. Likewise, a sensor or a device connected to any control unit may be connected to another control unit, and a plurality of control units may transmit and receive detection information to and from one another via the communication network  7010 . 
     In the vehicle control system  7000  described above, the imaging apparatus  101  according to this embodiment described with reference to  FIG. 1  can be applied to the imaging unit  7410  of the example application shown in  FIG. 25 , for example. With this arrangement, a restored image from which flicker has been removed is supplied from the imaging unit  7410  to the external information detection unit  7400 , and the detection accuracy of the external information detection unit  7400  is increased for a traffic light, an electronic guide board, an electronic sign, a street lamp, or the like that causes flicker. 
     &lt;&lt;4. Other Aspects&gt;&gt; 
     The series of processes described above can be performed by hardware, and can also be performed by software. In a case where the series of processes are to be performed by software, the program that forms the software is installed into a computer. Here, the computer may be a computer (such as the control unit  123 , for example) incorporated in dedicated hardware. 
     The program to be executed by the computer may be recorded on a recording medium as a packaged medium or the like (such as the recording medium  130 ), for example, and be then provided. Alternatively, the program can be provided via a wired or wireless transmission medium, such as a local area network, the Internet, or digital satellite broadcasting. 
     Note that the program to be executed by the computer may be a program for performing processes in chronological order in accordance with the sequence described in this specification, or may be a program for performing processes in parallel or performing a process when necessary, such as when there is a call. 
     Further, embodiments of the present technology are not limited to the above described embodiments, and various modifications may be made to them without departing from the scope of the present technology. 
     For example, the present technology may be embodied in a cloud computing configuration in which one function is shared among a plurality of devices via a network, and processing is performed by the devices cooperating with one another. 
     Further, the respective steps described with reference to the flowcharts described above may be carried out by one device or may be shared among a plurality of devices. 
     Furthermore, in a case where a plurality of processes is included in one step, the plurality of processes included in the one step may be performed by one device or may be shared among a plurality of devices. 
     Note that the present technology may also be embodied in the configurations described below. 
     (1) 
     An imaging device including: 
     a pixel region in which a plurality of pixels including a pixel that receives incident light and outputs one detection signal indicating an output pixel value modulated depending on an incident angle of the incident light is arranged in a row direction and a column direction, and is sequentially exposed row by row, the incident light entering from an object via neither an imaging lens nor a pinhole; and 
     a plurality of detection regions that are disposed in different rows in the pixel region, and are used for flicker detection. 
     (2) 
     The imaging device according to (1), in which 
     the respective detection regions have substantially the same incident angle directivity indicating a directivity with respect to the incident angle of the incident light. 
     (3) 
     The imaging device according to (2), in which the arrangement of the pixels is substantially the same in the respective detection regions, and the incident angle directivities of the pixels at the same positions in the respective detection regions are substantially the same. 
     (4) 
     The imaging device according to any one of (1) to (3), in which 
     a restored image is restored for each of the detection regions. 
     (5) 
     The imaging device according to any one of (1) to (3), in which 
     the detection regions are different from a region to be used to restore a restored image in the pixel region. 
     (6) 
     A signal processing device including 
     a flicker detection unit that performs flicker detection on the basis of at least one of a plurality of detection images or a plurality of restored images restored from the respective detection images, the plurality of detection images being generated for a plurality of detection regions on the basis of detection signals output from pixels in the plurality of detection regions disposed in different rows in a pixel region that is sequentially exposed row by row, a plurality of pixels being arranged in a row direction and a column direction in the pixel region, the plurality of pixels including a pixel that receives incident light and outputs one detection signal indicating as output pixel value modulated depending on an incident angle of the incident light, the incident light entering from an object via neither an imaging lens nor a pinhole. 
     (7) 
     The signal processing device according to (6), in which 
     the flicker detection unit detects flicker, on the basis of a difference in luminance between the respective detection images. 
     (8) 
     The signal processing device according to (7), further including 
     a restoration unit that restores the restored image from the detection image selected on the basis of the luminances of the respective detection images when flicker is detected by the flicker detection unit. 
     (9) 
     The signal processing device according to (8), in which 
     the restoration unit restores the restored image from one detection image of the plurality of detection images when no flicker is detected by the flicker detection unit. 
     (10) 
     The signal processing device according to (6), further including 
     a restoration unit that restores the restored image from each of the detection images, 
     in which the flicker detection unit detects flicker on the basis of a difference in luminance between the respective restoration images. 
     (11) 
     The signal processing device according to (10), in which 
     the flicker detection unit detects a flicker region presumed to have the flicker, on the basis of a difference in luminance of each pixel between the respective restored images. 
     (12) 
     The signal processing device according to (11), in which 
     the restoration unit adds up images of regions other than the flicker regions or the respective restored images, and combines a result with an image of the flicker region selected from among the flicker regions of the respective restored images on the basis of luminances of the flicker regions. 
     (13) 
     The signal processing device according to (12), further including 
     a moving object detection unit that detects a moving object in the restored image subjected to the adding and the combining by the restoration unit, on the basis of feature points of the respective restored images. 
     (14) 
     The signal processing device according to any one of (6) to (13), in which 
     the respective detection regions have substantially the same incident angle directivity indicating a directivity with respect to the incident angle of the incident light. 
     (15) 
     A signal processing method including performing flicker detection on the basis of at least one of a plurality of detection images or a plurality of restored images restored from the respective detection images, the plurality of detection images being generated for a plurality of detection regions on the basis of detection signals output from pixels in the plurality of detection regions disposed in different rows in a pixel region that is sequentially exposed row by row, a plurality of pixels being arranged in a row direction and a column direction in the pixel region, the plurality of pixels including a pixel that receives incident light and outputs one detection signal indicating an output pixel value modulated depending on an incident angle of the incident light, the incident light entering from an object via neither an imaging lens nor a pinhole. 
     (16) 
     A program for causing a computer to perform a process including 
     performing flicker detection on the basis of at least one of a plurality of detection images or a plurality of restored images restored from the respective detection images, the plurality of detection images being generated for a plurality of detection regions on the basis of detection signals output from pixels in the plurality of detection regions disposed in different rows in a pixel region that is sequentially exposed row by row, a plurality of pixels being arranged in a row direction and a column direction in the pixel region, the plurality of pixels including a pixel that receives incident light and outputs one detection signal indicating an output pixel value modulated depending on an incident angle of the incident light, the incident light entering from an object via neither an imaging lens nor a pinhole. 
     (17) 
     An imaging apparatus including: 
     an imaging device that includes:
         a pixel region that is sequentially exposed row by row, a plurality of pixels being arranged in a row direction and a column direction in the pixel region, the plurality of pixels including a pixel that receives incident light and outputs one detection signal indicating an output pixel value modulated depending on an incident angle of the incident light, the incident light entering from an object via neither an imaging lens nor a pinhole; and   a plurality of detection regions that are disposed in different rows in the pixel region, and are used for flicker detection; and   a flicker detection unit that performs flicker detection on the basis of at least one of a plurality of detection images or a plurality of restored images restored from the respective detection images, the plurality of detection images being generated for the plurality of detection regions on the basis of detection signals output from the pixels in the respective detection regions.       

     (18) 
     The imaging apparatus according to (17), in which 
     the respective detection regions have substantially the same incident angle directivity indicating a directivity with respect to the incident angle of the incident light. 
     Note that the advantageous effects described is this specification are merely examples, and the advantageous effects of the present technology are not limited to them and may include other effects. 
     REFERENCE SIGNS LIST 
     
         
           101  Imaging apparatus 
           111  Signal processing control unit 
           121  Imaging device 
           121   a ,  121   a ′ Pixel 
           121   a A Pixel for restoration 
           121   a B Pixel for exposure 
           121   b  Light shielding film 
           122  Restoration unit 
           123  Control unit 
           201  Pixel region 
           202 A to  202 C Detect ion region 
           221  Flicker detection unit 
           222  Moving object detection unit 
           301 A to  301 C,  303  Restored image