Abstract
In this paper, we describe the improvement of horizontal focal planes method with the tilt optical system which is our conventional depth estimation method with a monocular camera. The conventional method estimates depth by taking advantage of the change of depth of field according to the depth using two or more horizontal and parallel focal planes. However, when estimating the depth of a far distant object, the interval of these focal planes becomes narrow on the image sensor plane under the influence of angle of field, and depth estimation accuracy substantially becomes worse. Therefore, in order to improve this problem, we propose making focal planes non-horizontal and non-parallel. It is possible to ease the restrictions on the interval narrowing of focal planes under the influence of angle of field, and it can be expected to improve the accuracy of depth estimation in the far distance.
