WO1997031484A1

WO1997031484A1 - Wide visual-field recognizing system

Info

Publication number: WO1997031484A1
Application number: PCT/JP1997/000480
Authority: WO
Inventors: Hiroshi Yokota
Original assignee: Kabushiki Kaisha Yokota Seisakusho
Priority date: 1996-02-23
Filing date: 1997-02-21
Publication date: 1997-08-28
Also published as: GB2325815A; AU1734197A; GB9818050D0

Abstract

A wide visual-field recognizing system that can easily recognize the approximate original image of an object by accepting the image distortion at an object image pickup step and then performing an image distortion correcting process, thus solving the disadvantage due to a blind spot in a conventional recognizing device. The recognizing system includes an image pickup unit (1) having a wide-angle lens, an image processing unit (2) for correcting a picked image to an image analogous to the original image through an arithmetic processing, and a display (3) for displaying the output image from the image processing unit (2). The image processing unit (2) selects an interesting area of a pickup image and then performs and image processing to correct the image distortion of the area, to provide a three-dimensional image based on images picked up by a plurality of image pickup devices at the same time, and to reconfigure an image having a wider image area, thus easily recognizing an approximate original image of an object.

Description

Specification

Wide-field visual recognition device

The present invention is an apparatus that obtains a wide range of images without blind spots without moving the viewpoint of shooting. In addition, the present invention not only displays an image shot by a wide-angle lens, but also selects an image. An image (hereinafter, referred to as an “approximate original image”) that approximates the original shape of the object (hereinafter, referred to as an “original image”) by correcting the image distortion of the selected area is also displayed. It concerns the device. Background art

Conventionally, as a viewing device for use in monitoring ■ observation and tracking, etc., various of even force ³ ¾ proposals have been implemented, for example, as a general monitoring device, illustrated in the first 6 Figure The imaging device can be swung up, down, left and right and driven by remote control to prevent blind spots. Also, as a general endoscope, as shown in FIG. 18, There is also a camera in which the tip of the camera unit can be swung by remote control. In addition, various visual recognition devices that have the same mechanism are often used.

Visual recognition devices used for monitoring, observation, tracking, etc. are widely used, but they are photographed without blind spots. If you are under the blind spot, it makes no sense. For example, this is the situation illustrated in Fig. 17, and when the object is within the shooting range indicated by the solid line in the figure, the object p1 can be captured, but p2 cannot be captured, and it is captured. Therefore, it is necessary to drive the photographing device (angle of view _α ) in that direction. For this reason, the viewpoint of the imaging device is always manually or remotely controlled. They were moved by trolls or equipped with expensive automatic tracking devices so that the object to be photographed did not fall below the blind spot. As another method, there is a method of performing scanning, which is also a method based on substantially the same principle as the swing of the imaging apparatus. On the other hand, a wide-angle lens such as a fisheye lens is also used as a method to eliminate the blind spot itself.However, when this is displayed on a plane, the displayed image, especially the peripheral part, is distorted, and the original image does not They were dissatisfied with obtaining images that were far away, and had the drawback that they could only be used in special ways (artistic, academic, etc.) that actively tolerated distortion.

The present invention solves these disadvantages of the conventional visual recognition device by introducing a photographing device, image processing device, and display device based on a new technical concept, and tolerates image distortion during the process of photographing an object without blind spots. An object of the present invention is to perform an image processing for correcting an image distortion of a region of interest in the image so that an approximate original image of the object can be easily recognized. Disclosure of the invention

The configuration of the present invention is based on a photographing device 1 equipped with a wide-angle lens, and a position comparison between image distortion of a selected area in an image photographed by the photographing device 1 and a known reference coordinate point in the image. The image processing apparatus is characterized by comprising: an image processing device 2 that corrects the image to an image approximating the original image by performing the mining process; and a display device 3 that displays an output image from the image processing device 2.

Another configuration of the present invention is to provide at least two photographing apparatuses 1 each having a wide-angle lens and photographing a common object, and to obtain three-dimensional coordinates of an object simultaneously photographed by the photographing apparatus 1. An image processing device 2 that converts a three-dimensional image of a target object into a three-dimensional image according to a calculation process to be obtained, and a display device 3 that displays an output image from the image processing device 2 are provided.

Still another configuration of the present invention includes a wide-angle lens and a predetermined overlapping imaging area. At least two photographing devices 1 and an image processing device 2 that corrects a continuous image that approximates the original image by an arithmetic process of overlapping overlapping photographed areas in images simultaneously photographed by the photographing device 1 and connecting the images. And a display device 3 for displaying an output image from the image processing device 2. This allows the present invention to overcome the disadvantages associated with blind spots

In the process of capturing an object, image distortion is tolerated, and image processing is performed to correct the image distortion of the region of interest in the image, so that an approximate original image of the object can be easily viewed. It can be observed over a wide range and a specific part can be visually recognized accurately.

In the image processing device 2, it is more preferable that the coordinates of the reference coordinate point can be arbitrarily changed.

It is more preferable that an image forming device 6 for in-house production of an image is provided, and that the image processing device 2 can select and input a production image from the image forming device 6 and a photographed image from the photographing device 1. .

The arithmetic processing in the image processing apparatus 2 may be performed by hardware including a fixed electronic circuit in the image processing apparatus 2 or by software operating in the image processing apparatus 2. Good.

An image storage device 4 for recording and reading an image between and / or between the imaging device 1 and the image processing device 2 and / or between the image processing device 2 and the display device 3; 5 may be interposed.

The wide-angle lens may be a fisheye lens having an angle of view of 180 degrees or more, and may be an optical lens or an electronic lens.

The imaging device 1 may be capable of swinging its field of view.

The display device 3 may be a projection device that projects an image onto a substantially spherical screen via a wide-angle lens.

The installation position of the projection device is shifted from the central axis of the substantially spherical screen. The image processing device 2 performs image correction processing so that the image is approximated to the original image when viewed from a position substantially on the center axis of the image screen projected from the installation position. Good.

Further, the display device 3 may be a projection device that projects a three-dimensional image. BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 is a block diagram showing one embodiment of the present invention.

FIG. 2 is a perspective view showing the principle of the present invention.

FIG. 3 is a plan view showing the principle of the present invention.

FIG. 4 is a plan view showing the principle of the present invention.

FIG. 5 is a plan view showing the principle of the present invention.

FIG. 6 is a perspective view showing another embodiment of the photographing apparatus portion of the present invention. FIG. 7 is a block diagram showing another embodiment of the present invention.

FIG. 8 is a perspective view showing the principle of the present invention.

FIG. 9 is a perspective view showing the principle of the present invention.

FIG. 10 is a plan view showing the principle of the present invention.

FIG. 11 is a plan view showing the principle of the present invention.

FIG. 12 is a perspective view showing another embodiment of the photographing apparatus portion of the present invention. FIG. 13 is a perspective view showing another embodiment of the photographing apparatus portion of the present invention. FIG. 14 is a block diagram showing another embodiment of the present invention.

FIG. 15 is a block diagram showing another embodiment of the present invention.

FIG. 16 is a perspective view showing an example of the prior art.

FIG. 17 is a perspective view showing an example of the prior art.

FIG. 18 is a perspective view showing an example of the prior art. BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, common portions in the drawings are denoted by common reference numerals and described. FIG. 1 shows an embodiment of the present invention. The basic configuration of the embodiment is as follows: a photographing apparatus 1 having a wide-angle lens; and a selected one of images photographed by the photographing apparatus 1. An image processing device 2 that corrects the image distortion of the region to an image approximating the original image by an arithmetic process based on a position comparison with a known reference coordinate point in the image, and an output surface image from the image processing device 2 And a display device 3 for displaying the information. First, the working principle of the embodiment shown in FIG. 1 will be described with reference to the examples shown in FIGS.

Now, as a virtual experiment, as shown in Fig. 2, the peripheral surface of a vertically standing straight cylinder has vertical lines al-b, a2-b2, a3-b3a8-b8. Thus, a three-dimensional figure that is equally divided and each surface is transparent is assumed, and quadrilaterals c1 to c4 are located at the center of the lower surface b1 to b8, and the peripheral surface al to a2 to b It is assumed that quadrilaterals dl to d4 are drawn around the center of 2 to bl. Then, from the viewpoint of the imaging device 1 equipped with an all-around fisheye lens (a lens that has an angle of view of 180 degrees or more in all directions and captures the entire field of view as a circular image) at the center m of the upper surface of the cylinder, it faces downward. Suppose you took a picture.

If this image is displayed on the display device as it is, as shown in Fig. 3, the spine-shaped figure whose lower surface is a small circle of bl to b8 and whose upper surface is a large circle of al to a8 as shown in Fig. 3 Becomes Around the center 11 of the small circles b1 to b8 (which is also the center of the whole image), there are figures cl to c4, which are almost similar to the original image, and figures aI to distorted into a fan shape. In a2-b2-bl, figures d1-d4 distorted like a fan appear. That is, a figure located near the center axis of the lens is displayed with less distortion, and a figure located farther away is displayed with more distortion. And although the whole image is distorted, it is enough to show the location of the object first.

Then, the object, for example, the original image of figures d1 to d4 (the figures d1 to d4 are The image processing process for reconstructing the image as viewed from the position of the point s on the vertical bran is started. For that purpose, first, peripheral figures including figures d1 to d4 as shown in FIG. 4, for example, aI to a2 to b2 to b1 are selected and cut out. At this time, the position coordinates of the points al, a2, b2, and b1 in the original image are known, and these are set as reference coordinate points (reference coordinate points) for image processing. Then, the positions of the respective points of the figures d1 to d4 are corrected by an operation based on the comparison with the reference coordinate point, thereby obtaining figures d1 to (! 4) similar to the original image as shown in FIG. The calculation process calculates the position coordinates of each point of the figures d1 to d4 in FIG. 2 by using the reference coordinate points a1, a2, b2, and b1 as the vertical and horizontal angles (point In the case of d1, it is considered as a function including, for example, 1, 0 2), etc. with reference to the reference coordinate point a1, and is modified and reconstructed so as to be closer to the distance ratio of each point of the original image by calculation. The operation itself is based on well-known geometrical and algebraic calculations.

Similarly, for the process of reconstructing another original image of the squares cl to c4 (an image when the figures c1 to c4 are viewed from above the vertical line), the figures including the figures cl to c4 are included. Select and cut out the surrounding figures, for example, bl to b8, and correct the positions of the points of figures c1 to c4 by calculation using any of the points b1 to b8 as the reference coordinate points. What is necessary is just to obtain an approximate original image. In FIGS. 4 and 5, as an example of the process, fragments cl to c2 to! ! Is corrected to an approximate original image, but as is clear from this figure, the figure is close to the lens center axis, such as cl to c4, which is close to the lens center axis. Compared to a distant figure, image distortion due to the lens is originally small, so image correction is small.

Applying the above principle, the present invention accepts distortion of an image in the process of specifying an object, allows the existence of the object itself to be easily confirmed, and furthermore, one of interests in the image. Select any area as needed, and correct image distortion of that area Image processing that produces an effect that the approximate original image can be easily viewed.

The installation position of the imaging device 1 may be appropriately selected depending on the application. For example, an embodiment in which the imaging device 1 is installed on the ceiling of a room for monitoring and both the objects P 1 and P 2 can be visually recognized is shown in FIG. Is shown in In this example, four corners of the room, for example, points f1 to f4 in the figure may be used as the reference coordinate points.

As for the image processing device 2, at least a process for displaying the captured image as it is on the display device 3, a process for specifying and selecting a partial area of the image, and correcting the image distortion of the specified and selected area · It has a function of arithmetic processing for obtaining an approximate original image by reconstruction. The two types of screens, the captured image and the approximate original image, may be switched, displayed simultaneously on the window in the window, or displayed on separate display devices 3. The correction of the image distortion may be performed by disassembling the image into pixels and correcting and reconstructing the image by digital processing, or may be performed geometrically using an analog figure.

Although the basic principle of the arithmetic processing is as described above, in this arithmetic processing, the coordinates of the reference coordinate point may be stored in advance and fully automatic or the coordinates of the reference coordinate point may be arbitrarily changed. It may be made semi-automatic so that it can be operated and the observer gives instructions such as dimensions and distortion rate as appropriate. Of course, during this image processing process, an image modification for facilitating visual recognition, such as enlargement / reduction of the image, inversion of up / down / left / right, and rotation, may be further added.

An image storage device 4, 5 for recording and reading images is provided between one or both of the imaging device 1 and the image processing device 2 and / or the image processing device 2 and the display device 3. Good _c

If an image storage device 4 is interposed between the photographing device 1 and the image processing device 2, the recorded image will remain distorted. Method power is better. For example, as a specific example, Considering the case where an intruder is determined at a later date, an image that has been captured for a required period of time over a wide area is recorded in the image storage device 4 and played back at a later date, and when the presence of an intruder is detected on the screen, the It becomes possible to use the image processing device 2 to correct the image of the intruder portion, display an approximate original image, and determine the intruder. Also, as another specific example, considering use as an endoscope, an image that has been shot over a wide area is recorded in the image storage device 4 and later reproduced, and the different observer ^s Observing from the viewpoint of the user, each of them can select different parts of the object and obtain an approximate original image, so that oversight is reduced and it is extremely useful.

On the other hand, when the image storage device 5 is interposed between the image processing device S2 and the display device 3, recording including the corrected approximate original image can be performed.

Next, FIG. 7 shows another embodiment of the present invention, in which the photographing devices 1 are respectively installed at a plurality of locations where the position coordinates are specified in advance, and simultaneous photographing is performed from a plurality of viewpoints. Thus, stereoscopic image data of an object can be obtained over a wide angle without scanning or the like. Its basic configuration consists of at least two photographing devices 1 equipped with a wide-angle lens for photographing a common object, and an image simultaneously photographed by the photographing device 1 being subjected to arithmetic processing for obtaining three-dimensional coordinates of the object. The image processing apparatus 2 includes an image processing device 2 that converts a three-dimensional image of an object, and a display device 3 that displays an output image from the image processing device 2.

The principle of operation of the embodiment shown in FIG. 7 will be described with reference to the examples shown in FIGS. 8 to 11.

In FIG. 8, the quadrilaterals d 1 to d 4 are placed on the peripheral surface a I to a 2 to b 2 to bl of the cylinder composed of the upper surface a 1 to 38 and the lower surface l to b 8 as in FIG. Here, furthermore, here, a point d 1 ′; a point d 2 ′ on a straight line connecting the center m of the upper surface of the cylinder and the end points d 1, d 2 of the quadrilaterals d 1 to d 4 respectively; The trapezoidal shape d Γ ~ d 2 '~ d 3 ~ d 4 consisting of four end points d 3 and d 4 is the sky in the cylinder Suppose it exists in between. Then, it is assumed that the image is taken downward with the viewpoint of the image taking apparatus 1 provided with a fisheye lens at the center m of the upper surface of the cylinder.

If this image is displayed on a display device as it is, the image is the same as in FIG. 3 described above, and the spine-like shape is such that the lower surface is a small circle b1 to b8 and the upper surface is a large circle a1 to a8. In the figure a I ~ a 2 ~ b 2 ~ b 1 which becomes a figure, a fan skewed figure dl ~ d 4 The figures d1, to d2, to d3 to d4 are displayed as the same figures as the figures d1 to d4, and the two figures cannot be distinguished. This means that since the imaging device 1 is a monocular lens and the three-dimensional position information necessary for grasping the perspective distance from the object cannot be obtained, the approximate original image of the object on a known surface is reconstructed. It is shown that reconstruction of an approximate original image of an object in a space distant from the plane is impossible, though it is possible.

Therefore, in order to obtain the three-dimensional position information of the object in the space and to enable reconstruction of the approximate original image, as shown in FIG. From the specified viewpoints m and m '.

If this image is displayed on a display device as it is, the image taken from the viewpoint m becomes a large circle centered on the point π directly below the viewpoint m, as shown in Fig. The figure below appears at the position where the cylindrical lower surfaces b1 to b8 are connected in one direction. Also, the distorted figures dl to d4 appear in the distorted fan-shaped figures aI to a2 to b2 to b1. Then, as shown in FIG. 11, in the image taken from the viewpoint m ′, the upper surface of the cylinder a1 to a8 becomes a great circle centered on the point η, immediately below the viewpoint ιτ, and the lower surface of the cylinder b1 to b8 is a figure that appears at a position biased in the opposite direction to the case of FIG. Also, in the distorted fan-shaped figures a 1 to a 2 to b 2 to b 1 different from those in FIG. 10, there are also distorted figures d 1 to d 4 different from those in FIG. 10. Appear. That is, the displacement of the position of the viewpoint m; m 'is the displacement of the shape of the image. Appears.

The 3D position information is calculated from the displacement of the shape, and the image processing process of converting the 3D position information into a 3D image of the object is started. Here, assuming that the objects are figures d 1 to d 4, this mining process calculates the position coordinates of each point of the figures dl to d 4 in FIG. 9 as points a 1, a 2, b 2, b 1 , M, or m 'as the reference coordinate point, the up, down, left, and right angles from the viewpoint m (in the case of point d1, for example, θ1, 02' point 111 'with point a1 as the reference coordinate point The reference coordinate point S 3, とした 2), and the up, down, left, and right angles from the viewpoint m ' As a function including 3 ', Θ2') as reference coordinate points, etc., the 3D position coordinates of each point of the original image are obtained by calculation, and then a 3D image is reconstructed. It is based on well-known geometric and algebraic calculations. If the number of reference coordinate points used at this time is small, the calculation time increases, but the error can be reduced by increasing the redundancy.

In the figure, the case where the number of the imaging devices 1 is two is taken as an example, but it goes without saying that three or more imaging devices may be used.

By applying the above principle, the present invention performs image processing for obtaining a three-dimensional image of a target object, and has an effect that an approximate original image can be easily visually recognized. The installation position of the photographing device S1 may be appropriately selected depending on the application. For example, in FIG. 12, two photographing devices 1 are arranged in the same direction and installed on the ceiling of a room, and an object p1; p2 Although the embodiment in which both of them can be visually recognized has been described, other arrangements may also be made such that they are oblique to each other. In particular, FIG. 13 shows an embodiment in which three or more photographing devices 1 are installed inward with respect to a common object p to photograph, but in this case, the object is There is an advantage that 3D position information over the entire surface of the object can be obtained, and a 3D image can be obtained more precisely.

—However, by installing multiple camera units 1 outward and shooting simultaneously, It is also possible to further use the image area, and it is also possible to arrange the photographing device 1 in a compound eye of an insect. In this case, the image processing device 2 also performs the mining process of combining the images and combining them into a large image area while overlapping the overlapping shooting regions (the overlapping regions of the images) of the images of the respective imaging devices 1. Will be done.

Next, an example of a display method of the display device 3 will be described.

As for the display device 3, various well-known display technologies such as a CRT screen and a liquid crystal screen can be applied as an image display means. In addition to the method of displaying on a simple screen, an image can be projected and projected on a curved screen via a wide-angle lens.

FIG. 14 shows an embodiment of the projection system, and shows a manner in which an image taken in a wide field of view is projected on a substantially spherical screen having a wide field of view by the reverse process. In particular, in this embodiment, the projection device (display device) 3 is positioned at the center of the screen so that the observer can observe the projected image from a position on the substantially central axis of the screen, which is a visually optimal position. The one installed at the position shifted from the axis is shown. In this case, the images gl ′ to g2, to g3 ′ projected from the position shifted from the center axis of the screen are the most original images g1 to g3 when observed from a position substantially on the center axis of the screen. The image processing device 2 is configured to perform image processing for correcting a shift between a projection point and an observation viewpoint so that the image looks similar to 2 to g3.

Further, FIG. 15 shows an embodiment in which an image obtained by a plurality of photographing apparatuses 1 is projected by a plurality of projection apparatuses 3 so that an observer can see a more realistic image. . In this method, an image taken by an imaging device 1 arranged in a compound eye of an insect is projected on a substantially spherical screen by a plurality of projection devices 3 having a different positional relationship from each shooting viewpoint. It is positioned at the approximate center of the screen to obtain a realistic vision. For example, simulation of flight The present invention is applicable to a Yong device, a game device for experiencing a so-called “virtual reality”, and the like.

In this case, the image processing device 2 performs at least an arithmetic process of overlapping overlapping regions of the captured images and connecting the images, and correcting a deviation between a projection point and an observation viewpoint at the time of projection to project the projected images gl 'to g2'. Gg 3, gg 4 ′ are both processed to approximate the original images g 1 gg 2 gg 3 gg 4.

In this device, the observer's seat can be moved alone or with a projection device or a screen so as to give the observer a sense of acceleration.

In FIG. 15, not only the image captured by the image capturing device 1 but also an image forming device 6 for in-house production of the image by the software is attached, so that the two-sided image can be selectively switched or the image is synthesized. This shows that the output image can be output and displayed. It is of course possible to output and display the image exclusively from the image forming device 6.On the other hand, when displaying the above-mentioned three-dimensional image of the object, various projections are performed on a flat or curved display screen. In addition to the three-dimensional representation using the method, although not shown, a method using a projection device (for example, a three-dimensional hologram projection device) that projects a three-dimensional image into space is omitted as the display device 3. is there.

Next, items common to the above embodiments will be described.

In any of the above embodiments, the wide-angle lens of the photographing device 1 has a surface angle of 18

The force ^s exemplified for a 0-degree fisheye lens, of course, may be less than 180 degrees or more than 180 degrees depending on the application.

The principle of this lens type is shown in Figs. 2 to 5 and Figs. 8 to 11 in which an all-around fisheye lens (having an angle of view of 180 degrees or more in all directions, Although the case of using a lens that captures the field of view as a circular image has been illustrated, depending on the conditions of use, a diagonal fisheye lens (one lens only in the diagonal direction) may be used instead. A lens that has an angle of view of 80 degrees or more and captures its field of view as a quadrilateral image) may be used. In this case, the calculation content of the image processing changes, but the effect is the same as that of the full-circle fisheye lens. It is.

Also, for convenience of explanation, the lens is illustrated as an optical lens, but it is needless to say that this lens may be an electronic lens provided with an electromagnetic deflecting device. That is, although not shown, an image of an object formed by irradiation of electromagnetic waves other than visible light (for example, ultraviolet rays, infrared rays, X-rays, gamma rays, etc.) is photographed by the photographing apparatus 1 having a wide-angle electronic lens. For example, application to an electron microscope is possible.

The imaging device 1 may be provided with an imaging member such as a solid-state imaging device that converts an image into an electric signal immediately after the lens at the tip of the imaging device 1. Alternatively, the imaging member 1 may be provided via an image transmission unit such as a physical fiber. It may be connected to. In addition, it goes without saying that a device for illuminating the object may be provided.

Further, in the present invention, even if the photographing device 1 is fixed, there is one feature in a place where there is no blind spot. Needless to say, this may be done.

The arithmetic processing in the surface image processing device 2 may be performed by hardware including fixed electronic circuits in the device 2 or by software incorporated in the device 2.

The image output from the image processing device 2 to the display device 3 is a photographing device.

It is preferable to have a mechanism capable of switching output, simultaneous output, or composite output of any of the photographed image by 1, the image processed by the image processing device 2, and the image produced in-house by the image forming device 6. That is, it is preferable that the image processing apparatus 2 is provided with a function as a so-called system controller. When the image storage devices 4 and 5 are interposed, the image storage devices 4 and 5 may be of a digital type or an analog type, and the storage medium is a semiconductor, a magnetic tape, Various known techniques such as a magnetic disk and an optical disk may be used. Of course, it may have a function of image data compression / decompression.

The communication device may be interposed between any of the photographing device 1, the image processing device 2, the display device 3, the image storage device 4; 5, and the image forming device 6 constituting the present invention. The image can be a color image or a monochrome image. Furthermore, it can be used in combination with audio processing. In this case, sound can be collected with an omnidirectional microphone according to the wide field of view, or a stereo collection can be used to associate the image with the position of the sound source. A method such as sounding is also conceivable. In each of the above embodiments, the use of an image by an observer is exemplified.In addition to visual observation, the image is automatically compared with a predetermined image by an automatic device, Naturally, an application of taking a predetermined action based on the comparison result is also possible.

In addition, the shape and material of each device and member constituting the present invention can be variously selected based on well-known technology, and various design changes can be made within the scope of the present invention. Is not limited to the above embodiments. Industrial applicability

The present invention is based on a new technical concept. By introducing an imaging device equipped with a wide-angle lens, an image processing device, and a display device, the disadvantages associated with the blind spots of the conventional visual recognition device are eliminated, Image distortion, select an area of interest in the image, and perform image processing to correct the image distortion in that area, or obtain a stereoscopic image from simultaneous images using multiple imaging devices By performing image processing or performing image processing to reconstruct an image with a wider image area, an approximate original image of the target object can be easily visually recognized.For example, a monitoring device, a tracking device, a search device, Graphic recognition device, guidance device, endoscope device, simulation Such a visual recognition device that can be used in various fields such as a visualization device that can observe a wide area and accurately recognize a specific portion can be very successful.

Claims

The scope of the claims

1. An imaging device (1) having a wide-angle lens, and image distortion of a selected region in an image captured by the imaging device (1) is compared with a position of a known reference coordinate point in the image. An image processing device (2) that corrects the image to an image approximating the original image by arithmetic processing; and a display device that displays an output image from the image processing device (2).

(3) A wide-field visual recognition device comprising:

2. At least two photographing devices (1) equipped with a wide-angle lens and photographing a common object, and the images simultaneously photographed by the photographing devices (1) are used to calculate the three-dimensional coordinates of the object. And a display device (3) for displaying an output image from the image processing device (2). .

3. At least two photographing devices (1) having a wide-angle lens and having a predetermined overlapping photographing region, and an operation of superimposing the overlapping photographing regions in the images photographed simultaneously by the photographing device (1) to connect the images. An image processing device (2) for correcting a continuous image approximating an original image by processing, and a display device (3) for displaying an output image from the image processing device (2). Viewing device.

4. The wide field of view according to claim 1, wherein in the image processing device (2), the coordinates of the reference coordinate point can be arbitrarily changed.

5. An image forming device (6) for in-house production of an image is provided, and in the image processing device (2), an in-house image from the image forming device (6) and a captured image from the photographing device (1) are provided. The wide-field visual recognition device according to any one of claims 1 to 4, wherein the user can select and input the following.

6. The arithmetic processing in the image processing device (2) is performed by hardware including a fixed electronic circuit in the image processing device (2). 6. The wide-field visual recognition device according to any one of claims 1 to 5.

7. The method according to any one of claims 1 to 5, wherein the arithmetic processing in the image processing device (2) is performed by software operating in the image processing device (2). A wide-field visual recognition device as described in the above.

8. An image is provided on one or both of the imaging device (1) and the image processing device (2) and / or the image processing device (2) and the display device (3). The wide-field visual recognition device according to any one of claims 1 to 7, characterized in that an image storage device (4; 5) for recording and reading images is interposed.

9. The wide-field visual recognition device according to any one of claims 1 to 8, wherein the wide-angle lens is a fish-eye lens having an angle of view of 180 degrees or more.

10. The wide-field visual recognition device according to any one of claims 1 to 9, wherein the wide-angle lens is an optical lens.

1 1. The wide-field visual recognition device according to any one of claims 1 to 9, wherein the wide-angle lens is an electronic lens.

12. The wide-field visual recognition device according to any one of claims 1 to 11, wherein the imaging device (1) is capable of swinging its field of view with a force ^s .

13. The display device according to claim 1, wherein the display device is a projection device that projects an image onto a substantially spherical screen via a wide-angle lens. Wide-field visual recognition device.

14. Is the installation position of the projection device shifted from the center axis of the substantially spherical screen, and is the image projected from the installation position! 観察 Observe from the position substantially on the center axis of the screen. The image processing device (2) performs an image correction process so that the image approximates the original image. 13. The wide-field visual recognition device according to item 13.

1 5. The wide-field visual recognition device according to claim 2, wherein the display device (3) is a projection device that projects a stereoscopic image.