CA2240120C - Method and apparatus for generating stereo imagery - Google Patents
Method and apparatus for generating stereo imagery Download PDFInfo
- Publication number
- CA2240120C CA2240120C CA002240120A CA2240120A CA2240120C CA 2240120 C CA2240120 C CA 2240120C CA 002240120 A CA002240120 A CA 002240120A CA 2240120 A CA2240120 A CA 2240120A CA 2240120 C CA2240120 C CA 2240120C
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- bar
- computer
- imaging devices
- real time
- stereo imagery
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/296—Synchronisation thereof; Control thereof
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
- Control Of Position Or Direction (AREA)
Abstract
A method and apparatus for generating stereo imagery. A
first step involves positioning two imaging devices on a bar in a fixed spaced apart relation. The second step involves incremental rotating the bar. In the preferred embodiment, a high precision rotation device controls rotation of the bar.
A driver is provided for electronically controlling the rotation device. A computer is provided along with means for bi-directional communication between the driver and the computer, whereby rotational adjustments are made in real time.
first step involves positioning two imaging devices on a bar in a fixed spaced apart relation. The second step involves incremental rotating the bar. In the preferred embodiment, a high precision rotation device controls rotation of the bar.
A driver is provided for electronically controlling the rotation device. A computer is provided along with means for bi-directional communication between the driver and the computer, whereby rotational adjustments are made in real time.
Description
TITLE OF THE INVENTION:
method and apparatus for generating stereo imagery NAME ( S ) OF INVENTOR ( S ) Anup Basu FIELD OF THE INVENTION
The present invention relates to a method and an apparatus for generating stereo imagery BACKGROUND OF THE INVENTION
Most methods and apparatus for generating stereo imagery use independent cameras rotating around vertical axes. These systems have inherent drawbacks. One drawback lies in the capability of acquiring a hemispherical field-of-view without the two stereo cameras getting in the way of one another.
Another drawback lies in the need for registration of images captured by the CCD at different rotation positions.
SUMMARY OF THE INVENTION
What is required is an alternative method and apparatus for generating stereo imagery.
According to one aspect of the present invention there is provided a method for generating stereo imagery. A first step involves positioning two imaging devices on a bar in a fixed spaced apart relation. The second step involves incrementally rotating the bar.
According to another aspect of the present invention there is provided an apparatus for generating stereo imagery which includes a bar and means for supporting the bar while allowing it to rotate freely. Two imaging devices are attached to the bar in spaced apart relation. A high precision rotation device controls rotation of the bar. A driver is provided for electronically controlling the rotation device. A computer is provided along with means for bi-directional communication
method and apparatus for generating stereo imagery NAME ( S ) OF INVENTOR ( S ) Anup Basu FIELD OF THE INVENTION
The present invention relates to a method and an apparatus for generating stereo imagery BACKGROUND OF THE INVENTION
Most methods and apparatus for generating stereo imagery use independent cameras rotating around vertical axes. These systems have inherent drawbacks. One drawback lies in the capability of acquiring a hemispherical field-of-view without the two stereo cameras getting in the way of one another.
Another drawback lies in the need for registration of images captured by the CCD at different rotation positions.
SUMMARY OF THE INVENTION
What is required is an alternative method and apparatus for generating stereo imagery.
According to one aspect of the present invention there is provided a method for generating stereo imagery. A first step involves positioning two imaging devices on a bar in a fixed spaced apart relation. The second step involves incrementally rotating the bar.
According to another aspect of the present invention there is provided an apparatus for generating stereo imagery which includes a bar and means for supporting the bar while allowing it to rotate freely. Two imaging devices are attached to the bar in spaced apart relation. A high precision rotation device controls rotation of the bar. A driver is provided for electronically controlling the rotation device. A computer is provided along with means for bi-directional communication
2 between the driver and the computer, whereby rotational adjustments are made in real time.
With the method and apparatus, as described above, the two stereo cameras do not get in the way of one another and there is no need for registration of images captured at different rotation positions.
Although beneficial results may be obtained through the use of the invention, as described above, in some applications it is necessary to create a very high resolution image of a static scene. Artistic examples of such applications include images at historic sites such as holy sites, monuments, art galleries, and museums. A scene from the interior of a museum usually contains regions where brighter colors are more prominent, regions where darker colors are more prominent, regions with high illumination (for example, sun shining through a window), regions with low illumination etc..
Industrial examples of such applications include images of interiors of tunnels and pipelines as part of a program for maintenance and repair of such structures. It is preferred that the image provide 3-dimensional information in a scene in order to have depth information. Depth information is useful for observing artifacts (such as statues) and structures (such as pillars and columns) that are not 2-dimensional. Depth information is also useful for detecting structural defects and cracks in tunnels, pipelines, and other industrial structures.
Even more beneficial results may, therefore, be obtained
With the method and apparatus, as described above, the two stereo cameras do not get in the way of one another and there is no need for registration of images captured at different rotation positions.
Although beneficial results may be obtained through the use of the invention, as described above, in some applications it is necessary to create a very high resolution image of a static scene. Artistic examples of such applications include images at historic sites such as holy sites, monuments, art galleries, and museums. A scene from the interior of a museum usually contains regions where brighter colors are more prominent, regions where darker colors are more prominent, regions with high illumination (for example, sun shining through a window), regions with low illumination etc..
Industrial examples of such applications include images of interiors of tunnels and pipelines as part of a program for maintenance and repair of such structures. It is preferred that the image provide 3-dimensional information in a scene in order to have depth information. Depth information is useful for observing artifacts (such as statues) and structures (such as pillars and columns) that are not 2-dimensional. Depth information is also useful for detecting structural defects and cracks in tunnels, pipelines, and other industrial structures.
Even more beneficial results may, therefore, be obtained
3 0 when the imaging devices include an analog to digital converter and means are provided for bi-directional communication between the imaging devices and the computer, whereby adjustments are made by the computer to the parameters of the analog to digital converter in real time.
Even more beneficial results may, therefore, be obtained when the imaging devices include a linear charge coupled device sensor and means are provided for bi-directional communication between the imaging devices and the computer, whereby adjustments are made by the computer to the sampling speed of the linear charge coupled device sensor in real time.
The apparatus, described above, is able to sense when variations in lighting conditions exist and adaptively adjust imaging parameters such as gain to reduce or eliminate degradation in the quality of a digital image resulting from color saturation variations and adjust the sampling rate of the CCD to scan faster in brighter regions or slower in darker regions in order to capture dark and bright regions in a scene with equal clarity.
BRIEF DESCRIPTION OF THE DRAWINGS
These and other features of the invention will become more apparent from the following description in which reference is made to the appended drawings, wherein:
FIGURE 1 is a block diagram of a high resolution stereo camera constructed in accordance with the teachings of the present invention.
FIGURE 2 is a block diagram of mechanical components of the high resolution stereo camera illustrated in FIGURE 1, FIGURE 3 is a block diagram of charge coupled device (CCD) and analog to digital (A/D) components of the high resolution stereo camera illustrated in FIGURE 1.
FIGURE 4 is a block diagram of a high speed communication board of the high resolution stereo camera illustrated in FIGURE 1.
FIGURE 5 is a block diagram illustrating bi-directional communication between the components illustrated in FIGURE 3 and a computer via the communications board illustrated in FIGURE 4.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT
The preferred embodiment, a high resolution stereo camera generally identified by reference numeral 10, will now be
Even more beneficial results may, therefore, be obtained when the imaging devices include a linear charge coupled device sensor and means are provided for bi-directional communication between the imaging devices and the computer, whereby adjustments are made by the computer to the sampling speed of the linear charge coupled device sensor in real time.
The apparatus, described above, is able to sense when variations in lighting conditions exist and adaptively adjust imaging parameters such as gain to reduce or eliminate degradation in the quality of a digital image resulting from color saturation variations and adjust the sampling rate of the CCD to scan faster in brighter regions or slower in darker regions in order to capture dark and bright regions in a scene with equal clarity.
BRIEF DESCRIPTION OF THE DRAWINGS
These and other features of the invention will become more apparent from the following description in which reference is made to the appended drawings, wherein:
FIGURE 1 is a block diagram of a high resolution stereo camera constructed in accordance with the teachings of the present invention.
FIGURE 2 is a block diagram of mechanical components of the high resolution stereo camera illustrated in FIGURE 1, FIGURE 3 is a block diagram of charge coupled device (CCD) and analog to digital (A/D) components of the high resolution stereo camera illustrated in FIGURE 1.
FIGURE 4 is a block diagram of a high speed communication board of the high resolution stereo camera illustrated in FIGURE 1.
FIGURE 5 is a block diagram illustrating bi-directional communication between the components illustrated in FIGURE 3 and a computer via the communications board illustrated in FIGURE 4.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT
The preferred embodiment, a high resolution stereo camera generally identified by reference numeral 10, will now be
4 described with reference to FIGURES 1 through 5.
Referring now to FIGURE 1, a stepper motor 1 coupled with a planetary gear head 2 is used to accurately rotate a horizontal bar 3. The stepper motor 1 is driven by a stepper motor driver 4. The horizontal bar 3 rests on two sets of bearings 5 which allow the bar 3 to rotate smoothly while being held firmly in place. Two imaging systems 6 which use a combination of high resolution linear CCD and A/D converters with high precision for each of the red, green, and blue pixels are mounted on the horizontal bar 3. The two imaging systems 6 are connected to the two high speed bi-directional communication boards 7. The bi-directional communication boards are also connected to two IEEE 1284 compatible parallel ports on a computer 8. One of the bi-directional communication boards 7 is also connected to the stepper motor driver 4 to allow the computer 8 to control the stepper motor 1 via the communication board 7.
Referring now to FIGURE 2, the mechanical devices in the system is shown in greater detail. The shaft 10 of the gear head 2 is connected to the horizontal bar 3 using a connector 9. The length of the horizontal bar 3 can be selected depending on the depth at which clarity based on stereo imaging is required; the bar 3 has to be longer in order to allow greater distance between the imaging systems 6 in Figure 1.
Greater distance between the imaging systems 6 in Figure 1 allow depth information to be accurately recovered at greater distances using stereo imaging.
Referring now to FIGURE 3, the electronic components of the imaging systems 6 in Figure 1 is described. The imaging systems 6 consist of a printed circuit board (PCB) containing a very high resolution linear CCD 12; a PCB containing an A/D
converter 13 and a PLD 14; and a PCB for supplying DC power at various voltages using DC-to-DC converters 15. The PLD 14 controls sampling signals from the CCD 12, as well as several functions of the A/D converter 13.
Referring now to FIGURE 4, the communication board 7 is described in greater detail. The main components of the
Referring now to FIGURE 1, a stepper motor 1 coupled with a planetary gear head 2 is used to accurately rotate a horizontal bar 3. The stepper motor 1 is driven by a stepper motor driver 4. The horizontal bar 3 rests on two sets of bearings 5 which allow the bar 3 to rotate smoothly while being held firmly in place. Two imaging systems 6 which use a combination of high resolution linear CCD and A/D converters with high precision for each of the red, green, and blue pixels are mounted on the horizontal bar 3. The two imaging systems 6 are connected to the two high speed bi-directional communication boards 7. The bi-directional communication boards are also connected to two IEEE 1284 compatible parallel ports on a computer 8. One of the bi-directional communication boards 7 is also connected to the stepper motor driver 4 to allow the computer 8 to control the stepper motor 1 via the communication board 7.
Referring now to FIGURE 2, the mechanical devices in the system is shown in greater detail. The shaft 10 of the gear head 2 is connected to the horizontal bar 3 using a connector 9. The length of the horizontal bar 3 can be selected depending on the depth at which clarity based on stereo imaging is required; the bar 3 has to be longer in order to allow greater distance between the imaging systems 6 in Figure 1.
Greater distance between the imaging systems 6 in Figure 1 allow depth information to be accurately recovered at greater distances using stereo imaging.
Referring now to FIGURE 3, the electronic components of the imaging systems 6 in Figure 1 is described. The imaging systems 6 consist of a printed circuit board (PCB) containing a very high resolution linear CCD 12; a PCB containing an A/D
converter 13 and a PLD 14; and a PCB for supplying DC power at various voltages using DC-to-DC converters 15. The PLD 14 controls sampling signals from the CCD 12, as well as several functions of the A/D converter 13.
Referring now to FIGURE 4, the communication board 7 is described in greater detail. The main components of the
5 communication board 7 are a PLD 16 and two dual-port RAMs (random access memories) 17. The dual-port RAMS 17 are used for bi-directional communication of data and image information between the computer 8 and the imaging systems 6 as well as between the computer 8 and the stepper motor driver 4. The PLD
16 controls handshakes with the computer 8 following the IEEE
1284 standard. The PLD 16 is also responsible for reading and writing into the dual-port RAMs 17 as well as directing data from the dual-port RAMs to either the imaging systems 6 or the stepper motor driver 4.
Referring now to FIGURE 5, the communication channels between the computer 8 and the A/D converters 13 (in the imaging systems) 6 via the dual-port RAMS 17 is described in greater detail.
In operation, the computer 8 controls the rotating device to move one step at a time to turn up to 40,000 steps per 360 degree revolution. The number of steps can be higher than 40,000 per 360 degree using a different set of stepper motor and gear head. At each step the imaging systems 6 acquire two high resolution linear strips of images. These images are transmitted to the computer 8 via the communication boards 7.
The computer 8 also initializes the registers of the A/D
converters 13 via the communication boards 7. The computer 8 also adjusts various parameters of the imaging systems, such as gain, offset, sampling speed etc., via the communication boards 7 in real time. The invention, therefore, does not use any on-board memory, such as, Erase Programmable Read Only Memory (EPROM) or FLASH memory, to initialize the registers of the imaging systems. The computer 8 can also increase the dynamic range of the camera by sampling different regions of the linear CCD array 12 at different clock speeds. For
16 controls handshakes with the computer 8 following the IEEE
1284 standard. The PLD 16 is also responsible for reading and writing into the dual-port RAMs 17 as well as directing data from the dual-port RAMs to either the imaging systems 6 or the stepper motor driver 4.
Referring now to FIGURE 5, the communication channels between the computer 8 and the A/D converters 13 (in the imaging systems) 6 via the dual-port RAMS 17 is described in greater detail.
In operation, the computer 8 controls the rotating device to move one step at a time to turn up to 40,000 steps per 360 degree revolution. The number of steps can be higher than 40,000 per 360 degree using a different set of stepper motor and gear head. At each step the imaging systems 6 acquire two high resolution linear strips of images. These images are transmitted to the computer 8 via the communication boards 7.
The computer 8 also initializes the registers of the A/D
converters 13 via the communication boards 7. The computer 8 also adjusts various parameters of the imaging systems, such as gain, offset, sampling speed etc., via the communication boards 7 in real time. The invention, therefore, does not use any on-board memory, such as, Erase Programmable Read Only Memory (EPROM) or FLASH memory, to initialize the registers of the imaging systems. The computer 8 can also increase the dynamic range of the camera by sampling different regions of the linear CCD array 12 at different clock speeds. For
6 example, a bright region can be sampled with a faster clock speed allowing a pixel of the CCD 12 to not be saturated, while a dark region can be sampled with a slower clock speed. This allows both bright and dark regions of a scene to be viewed clearly in a digital picture. The advantage of this system over existing high resolution imaging systems using independent cameras rotating around vertical axes lies in the capability of acquiring a hemispherical field-of-view without the two stereo cameras getting in the way of one another. Another advantage of this system over existing high resolution imaging systems using rotating area CCD around vertical axes lies in the capability of obtaining high resolution images without the need for registration of images captured by the CCD at different rotation positions.
In the foregoing specifications, the invention has been described with respect to specific exemplary embodiments.
However, various modifications may be made thereto without deviating from the broader spirit and scope of the invention as set forth in the appended claims.
In the foregoing specifications, the invention has been described with respect to specific exemplary embodiments.
However, various modifications may be made thereto without deviating from the broader spirit and scope of the invention as set forth in the appended claims.
Claims (14)
OR PRIVILEGE IS CLAIMED ARE DEFINED AS FOLLOWS:
1. An apparatus for generating stereo imagery, comprising:
a bar;
means for supporting the bar while allowing the bar to rotate freely about its axis;
two imaging devices attached to the bar in spaced apart relation;
a high precision rotation device controlling rotation of the bar;
a driver for electronically controlling the rotation device;
a computer;
means for bi-directional communication between the driver and the computer, whereby rotational adjustments are made in real time.
a bar;
means for supporting the bar while allowing the bar to rotate freely about its axis;
two imaging devices attached to the bar in spaced apart relation;
a high precision rotation device controlling rotation of the bar;
a driver for electronically controlling the rotation device;
a computer;
means for bi-directional communication between the driver and the computer, whereby rotational adjustments are made in real time.
2. The apparatus for generating stereo imagery as defined in Claim 1, wherein the imaging devices include an analog to digital converter and means are provided for bi-directional communication between the imaging devices and the computer, whereby adjustments are made by the computer to the parameters of the analog to digital converter in real time.
3. The apparatus for generating stereo imagery as defined in Claim 1, wherein the imaging devices include a linear charge coupled device sensor and means are provided for bi-directional communication between the imaging devices and the computer, whereby adjustments are made by the computer to the sampling speed of the linear charge coupled device sensor in real time.
4. The apparatus for generating stereo imagery as defined in Claim 1, wherein the bar is oriented on a substantially horizontal plane, thereby providing human stereo perception.
5. The apparatus for generating stereo imagery as defined in claim 1, the means for bi-directional communication includes high speed digital communications of image data to a computer over a parallel port following IEEE 1284 standards.
6. An apparatus for generating stereo imagery, comprising:
a bar;
means for supporting the bar while allowing the bar to rotate freely about its longitudinal axis;
two imaging devices attached to the bar in spaced apart relation, the imaging devices include an analog to digital converter and a linear charge coupled device sensor;
a high precision rotation device controlling rotation of the bar;
a driver for electronically controlling the rotation device;
a computer;
means for bi-directional communication between the driver and the computer, whereby rotational adjustments are made in real time; and means for bi-directional communication between the imaging devices and the computer, whereby adjustments are made by the computer to the parameters of the analog to digital converter and to the sampling speed of the linear charge coupled device sensor in real time, thereby increasing the dynamic range of the imaging devices and allowing both dark and bright regions of a scene to be viewed clearly.
a bar;
means for supporting the bar while allowing the bar to rotate freely about its longitudinal axis;
two imaging devices attached to the bar in spaced apart relation, the imaging devices include an analog to digital converter and a linear charge coupled device sensor;
a high precision rotation device controlling rotation of the bar;
a driver for electronically controlling the rotation device;
a computer;
means for bi-directional communication between the driver and the computer, whereby rotational adjustments are made in real time; and means for bi-directional communication between the imaging devices and the computer, whereby adjustments are made by the computer to the parameters of the analog to digital converter and to the sampling speed of the linear charge coupled device sensor in real time, thereby increasing the dynamic range of the imaging devices and allowing both dark and bright regions of a scene to be viewed clearly.
7. The apparatus for generating stereo imagery as defined in Claim 6, wherein the bar is oriented on a substantially horizontal plane, thereby providing human stereo perception.
8. The apparatus for generating stereo imagery as defined in claim 6, the means for bi-directional communication includes high speed digital communications of image data to a computer over a parallel port following IEEE 1284 standards.
9. An apparatus for generating stereo imagery, comprising:
a bar;
means for supporting the bar in a substantially horizontal orientation while allowing the bar to rotate freely about its longitudinal axis;
two imaging devices attached to the bar in spaced apart relation, the imaging devices include an analog to digital converter and a linear charge coupled device sensor;
a high precision rotation device controlling rotation of the bar;
a driver for electronically controlling the rotation device;
a computer;
means for high speed bi-directional digital communication between the driver and the computer over a parallel port following IEEE 1284 standards, whereby rotational adjustments are made in real time; and high speed bi-directional digital communication between the imaging devices and the computer over a parallel port following IEEE 1284 standards, whereby adjustments are made by the computer to the parameters of the analog to digital converter and to the sampling speed of the linear charge coupled device sensor in real time, thereby increasing the dynamic range of the imaging devices and allowing both dark and bright regions of a scene to be viewed clearly.
a bar;
means for supporting the bar in a substantially horizontal orientation while allowing the bar to rotate freely about its longitudinal axis;
two imaging devices attached to the bar in spaced apart relation, the imaging devices include an analog to digital converter and a linear charge coupled device sensor;
a high precision rotation device controlling rotation of the bar;
a driver for electronically controlling the rotation device;
a computer;
means for high speed bi-directional digital communication between the driver and the computer over a parallel port following IEEE 1284 standards, whereby rotational adjustments are made in real time; and high speed bi-directional digital communication between the imaging devices and the computer over a parallel port following IEEE 1284 standards, whereby adjustments are made by the computer to the parameters of the analog to digital converter and to the sampling speed of the linear charge coupled device sensor in real time, thereby increasing the dynamic range of the imaging devices and allowing both dark and bright regions of a scene to be viewed clearly.
10. A method for generating stereo imagery, comprising:
positioning two imaging devices on a bar in a fixed spaced apart relation; and rotating the bar about its longitudinal axis.
positioning two imaging devices on a bar in a fixed spaced apart relation; and rotating the bar about its longitudinal axis.
11. The method for generating stereo imagery as defined in Claim 10, the bar being rotated in real time by a computer controlled high precision rotation device.
12. The method for generating stereo imagery as defined in Claim 11, the imaging devices including an analog to digital converter and means being provided for bi-directional communication between the imaging devices and the computer, whereby adjustments are made by the computer to the parameters of the analog to digital converter in real time.
13. The method for generating stereo imagery as defined in Claim 11, the imaging devices including a linear charge coupled device sensor and means being provided for bi-directional communication between the imaging devices and the computer, whereby adjustments are made by the computer to the sampling speed of the linear charge coupled device sensor in real time.
14. The method for generating stereo imagery as defined in Claim 10, the bar being oriented on a substantially horizontal plane, thereby providing human stereo perception.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA002240120A CA2240120C (en) | 1998-06-08 | 1998-06-08 | Method and apparatus for generating stereo imagery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA002240120A CA2240120C (en) | 1998-06-08 | 1998-06-08 | Method and apparatus for generating stereo imagery |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA2240120A1 CA2240120A1 (en) | 1999-12-08 |
| CA2240120C true CA2240120C (en) | 2002-10-22 |
Family
ID=4162539
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA002240120A Expired - Fee Related CA2240120C (en) | 1998-06-08 | 1998-06-08 | Method and apparatus for generating stereo imagery |
Country Status (1)
| Country | Link |
|---|---|
| CA (1) | CA2240120C (en) |
-
1998
- 1998-06-08 CA CA002240120A patent/CA2240120C/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CA2240120A1 (en) | 1999-12-08 |
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