CN100469137C - Omnibearing monitor and control sighting device of considering sensory function in the mind - Google Patents

Abstract

The invention comprises a vertically hanging reflector, a transparent barrel, a video cameral, and a mounting rack having an upper securing structure. The reflector is located on the upper portion of the transparent barrel; the lower portion of the transparent barrel there is a flat reflector; in the center of convex mirror of the reflector there is a through hole; the video camera is located above the convex mirror of the reflector; a black taper whose diameter gradually goes to small is set between the flat reflector and the reflector, and the taper is secured in the center of the flat mirror; the reflector, flat reflector, taper and lens of video camera all are set on a same central axis; the output of the video camera is connected to a image processing MPU. The invention also comprises an omnidirectional vision sensor.

Description

Have and consider the conduct monitoring at all levels sighting device of sensory function at heart

(1) technical field

The invention belongs to optical technology, computer image processing technology and the application of embedded software and hardware technology aspect video monitoring equipment, mainly be applicable to various monitoring remote video equipment aspect, especially a kind of have consider the conduct monitoring at all levels sighting device of sensory function at heart.

(2) background technology

Modern society, electronic monitoring equipment on the urban transportation thoroughfare, senior office building, sub-district, supermarket, megastore had utilization widely, reasonably uses the electronic monitoring technology can safeguard public safety effectively, for social safety provides sound assurance.

Various video monitoring equipments of Xiao Shouing in the market, be typically various cameras, will be when shooting with the pick-up lens aiming shooting target of equipment, the scope of the image that photographs by this image capture method is limited in the low coverage of picture pick-up device aiming, can not once take the omnidirectional images in the 360 degree scopes; In addition when using these picture pick-up device aiming monitored object, a lot of people can produce psychological various reflection and worry, some people has seen that camera faces toward and oneself will feel " very dislike ", " feeling a bit to constrain ", " always being stared at " ..., this in a word video monitoring equipment allows the people come into plain view and produces mental impression uncomfortable, that be sick of.

Aim at residential building according to building site, Beijing on the 4th in Hainan News Network http://www.hinews.cn2006 May camera and suffer hundred people stifled road protest two hours, the resident claims, the reason on stifled road is because near the monitoring camera of construction site according to residential building, has been invaded resident's privacy.200,000 monitoring cameras are prepared to install on street in Shanghai before 2010, order is to set up " social defense system " comprehensively, but this message has infected some non-negotiations uneasy the Shanghai citizen.

(3) summary of the invention

For overcome existing monitoring camera angular field of view little, need run-home, disguised poor, give the deficiency of the sensation that is monitored easily, the invention provides a kind of angular field of view greatly, does not need having of run-home, good concealment to consider the conduct monitoring at all levels sighting device of sensory function at heart.

The technical solution adopted for the present invention to solve the technical problems is:

A kind of have consider the conduct monitoring at all levels sighting device of sensory function at heart, this device comprises straight to the catadioptric mirror that hangs down, transparent cylinder, camera, mounting bracket, described catadioptric mirror is positioned at the top of transparent cylinder, the bottom of described transparent cylinder is provided with the flat mirror of reflection, the centre of described catadioptric convex lens is provided with through hole, camera is positioned at the top of described catadioptric convex lens, between flat mirror of reflection and catadioptric mirror, be provided with the dark circles cone that diameter diminishes gradually, described coniform body is fixed on the middle part of the flat mirror of reflection, described catadioptric mirror, reflect flat mirror, the center of the camera lens of coniform body and camera is on same central shaft, and the output of described camera connects the microprocessor that is used to handle image.

Further, upward the scheme of fixed hyperboloid type omnibearing vision device is: described catadioptric mirror is a hyperbolic mirror, and described camera comprises collector lens and image unit, and described image unit is positioned at the real focus position of described hyperbolic mirror; The optical system that described hyperbolic mirror constitutes is represented by following 5 equatioies;

((X ²+Y ²)/a ²)-(Z ²/b ²)＝-1 (Z>0) (13)

$c=\sqrt{a^2+b^2}---\left(14\right)$

β＝tan ^-1(Y/X) (15)

α＝tan ^-1[(b ²+c ²)sinγ-2bc]/(b ²+c ²)cosγ (16)

$\mathrm{\&gamma;}={\tan }^{-1}[f/\sqrt{({\mathrm{<figure-callout\; id="2"\; label="X"\; filenames="C200610052028E00301.png"\; state="\{\{state\}\}">X</figure-callout>}}^2+Y^2)}]---\left(17\right)$

In the following formula, X, Y, Z representation space coordinate, c represents the focal length of hyperbolic mirror, 2c represents two distances between the focus, a, b are respectively the real axis of hyperbolic mirror and the length of the imaginary axis, and β represents the angle-azimuth of incident ray on the XY plane, α represents the angle-angle of depression of incident ray on the XZ plane, and f represents the distance of imaging plane to the real focus of hyperbolic mirror.

Or, the scheme that goes up the undeformed omnibearing vision device of fixed horizontal direction is: described catadioptric mirror is the deformation-free refringent/reflection lens of horizontal direction, the projection centre C of camera is the horizontal scene h of distance place above horizontal scene, the summit of refringent/reflection lens is above projection centre, apart from projection centre zo place, with the camera projection centre is that the origin of coordinates is set up coordinate system, the face shape of refringent/reflection lens is used z (X) function representation, the pixel q of distance images central point ρ has accepted from horizontal scene O point in as the plane, apart from Z axle d, at the light of refringent/reflection lens M point reflection, horizontal scene is undistorted to require the coordinate of the horizontal coordinate of scene object point and corresponding picture point linear;

By formula (8), (9), (10) and initial condition, separate the digital solution that the differential equation obtains refringent/reflection lens face shape, system's overall dimension digital reflex mirror is from the distance H o and the aperture of a mirror D of camera, select suitable camera according to application requirements, calibrate Rmin, the focal distance f of lens is determined the distance H o of refringent/reflection lens from camera, is calculated the bore Do of refringent/reflection lens by formula (1):

d(ρ)＝αρ (1)

In the formula (1), ρ is and the distance of the face shape central point of speculum that α is the magnification ratio of imaging system.

If the normal that refringent/reflection lens is ordered at M and the angle of Z axle are γ, the angle of incident ray and Z axle is Φ, and the angle of reflection ray and Z axle is θ;

$\mathrm{tg}\left(x\right)=\frac{d\left(x\right)-x}{z\left(x\right)-h}---\left(2\right)$

$\mathrm{tg\&gamma;}=\frac{\mathrm{dz}\left(x\right)}{\mathrm{dx}}---\left(3\right)$

$\mathrm{tg}\left(2\mathrm{\&gamma;}\right)=\frac{2\frac{\mathrm{dz}\left(x\right)}{\mathrm{dx}}}{1-\frac{d^{2}z\left(x\right)}{{\mathrm{dx}}^2}}---\left(4\right)$

By reflection law:

2γ＝φ-θ (6)

∴ $\mathrm{tg}\left(2\mathrm{\&gamma;}\right)=\mathrm{tg}(\mathrm{\&phi;}-\mathrm{\&theta;})=\frac{\mathrm{tg\&phi;}-\mathrm{tg\&theta;}}{1+\mathrm{tg\&phi;tg\&theta;}}$

Obtain the differential equation (7) by formula (2), (4), (5) and (6)

$\frac{d^{2}z\left(x\right)}{{\mathrm{<figure-callout\; id="2"\; label="dx"\; filenames="C200610052028E00301.png"\; state="\{\{state\}\}">dx</figure-callout>}}^2}+2k\frac{\mathrm{dz}\left(x\right)}{\mathrm{dx}}-1=0---\left(7\right)$

In the formula; $k=\frac{z\left(x\right)[z\left(x\right)-h]+x[d\left(x\right)-x]}{z\left(x\right)[d\left(x\right)-x]+x[z\left(x\right)-h]}---\left(8\right)$

Obtain the differential equation (9) by formula (7)

$\frac{\mathrm{dz}\left(x\right)}{\mathrm{dx}}+k-\sqrt{{\mathrm{<figure-callout\; id="2"\; label="k"\; filenames="C200610052028E00301.png"\; state="\{\{state\}\}">k</figure-callout>}}^2+1}=0---\left(9\right)$

Obtain formula (10) by formula (1), (5)

$d\left(x\right)=\frac{\mathrm{afx}}{z\left(x\right)}---\left(10\right)$

Determine system parameters af according to the visual field of using desired short transverse, obtain formula (11) by formula (1), (2) and (5), z (x) ≈ z ₀

$\mathrm{tg\&phi;}=\frac{(\mathrm{af}-z_0)\frac{\mathrm{\&rho;}}{f}}{z_0-h}---\left(11\right)$

With the inconocenter point largest circumference place in the center of circle as the plane $\mathrm{\&rho;}=R\min \&RightArrow;{\mathrm{\&omega;}}_{\max }=\frac{R_{\min }}{f}$ Corresponding visual field is ф max, obtains formula (12);

$\frac{\mathrm{\&rho;}}{f}=\frac{(z_0-h)\mathrm{tg}{\mathrm{\&phi;}}_{\max }}{{\mathrm{\&omega;}}_{\max }}+z_0---\left(12\right)$

If light source is in the camera projection centre, equally spaced selected pixels point in the picture plane by the light of pixel, intersects with horizontal plane after the refringent/reflection lens reflection, if intersection point is equally spaced, judges that refringent/reflection lens is that horizontal scene is undistorted.

Further again, described microprocessor comprises that image launches processing module, and described image launches processing module and comprises:

Read the coordinate information unit, be used to read the centre coordinate of the circular omnidirectional images that aforementioned calculation obtains and the inside and outside circle radius of image;

The approximate expansion computing unit is used for the initial point O with the centre coordinate setting plane coordinate system of circular omnidirectional images ^*(0,0), X ^*Axle, Y ^*Axle, the internal diameter of image is r, external diameter is R, radius of a circle: r1=(r+R)/2 in the middle of setting, the azimuth is: β=tan ^-1(y ^*/ x ^*); The rectangle cylinder panoramic image is with origin of coordinates O ^*(0,0), X ^*Axle, Y ^*Axle is a plane coordinate system, is r and X with the internal diameter in the circular omnidirectional images ^*The intersection point (r, 0) of axle is as origin of coordinates O ^*Counterclockwise launch with azimuthal angle beta (0,0); Set up any some pixel coordinate P in the rectangle cylinder panoramic image ^*(x ^*, y ^*) with circular omnidirectional images in pixel coordinate Q ^*(x ^*, y ^*) corresponding relation, its calculating formula is:

x ^*＝y ^*/(tan(360x ^**/π(R+r))) (18)

y ^*＝(y ^**+r)cos?β

(19)

In the following formula, x ^*, y ^*Be the pixel coordinate value of rectangle cylinder panoramic image, x ^*, y ^*Be the pixel coordinate value of circular omnidirectional images, R is the external diameter of circular omnidirectional images, and r is the internal diameter of circular omnidirectional images, and β is the azimuth of circular omnidirectional images coordinate;

The image output unit is used for the image after launching is outputed to display unit.

Or: described microprocessor comprises that image launches processing module, and described image launches processing module and comprises:

Read the coordinate information unit, be used for reading the centre coordinate of the circular omnidirectional images that above-mentioned initialization module calculates and the inside and outside circle radius of image;

Mapping matrix launches the unit, is used for the centre coordinate of circular omnidirectional images is set the initial point O of plane coordinate system ^*(0,0), X ^*Axle, Y ^*Axle, the internal diameter of image is r, and external diameter is R, and the azimuth is: β=tan ^-1(y ^*/ x ^*); The rectangle cylinder panoramic image is with origin of coordinates O ^*(0,0), X ^*Axle, Y ^*Axle is a plane coordinate system, is r and X with the internal diameter in the circular omnidirectional images ^*The intersection point (r, 0) of axle is as origin of coordinates O ^*Counterclockwise launch with azimuthal angle beta (0,0); According to any some pixel coordinate Q in the circular omnidirectional images ^*(x ^*, y ^*) set up with the rectangle cylinder panoramic image in pixel coordinate P ^*(x ^*, y ^*) corresponding relation, set up from Q ^*(x ^*, y ^*) to P ^*(x ^*, y ^*) the mapping matrix corresponding relation, its calculating formula is:

P ^**(x ^**，y ^**)←M×Q ^*(x ^*，y ^*) (20)

In the following formula, Q ^*(x ^*, y ^*) be the matrix of each pixel coordinate on the circular omnidirectional images, M is the corresponding relation matrix from circular omnidirectional images coordinate to rectangle cylinder panoramic image coordinate, P ^*Matrix for each pixel coordinate on the rectangle cylinder panoramic image;

The image output unit is used for the image after launching is outputed to display unit.

Again or: described microprocessor comprises that image launches processing module, and described image launches processing module and comprises:

Read the coordinate information unit, be used to read the centre coordinate of the circular omnidirectional images that aforementioned calculation obtains and the inside and outside circle radius of image;

Polar coordinates unfolding calculation unit, the position and the internal diameter that are used for according to the central point of omnidirectional images are that r, external diameter are R, r ^*Be the radical length of distance interior circle in arbitrfary point on the image, the azimuth is: β=tan ^-1(y ^*/ x ^*), set up polar coordinates (r ^*, β), be respectively (x with the intersecting point coordinate on comprehensive inside and outside circle border ^* _Inner(β), y ^* _Inner(β)) and (x ^* _Outer(β), y ^* _Outer(β)); Rectangle cylinder omnidirectional images is with origin of coordinates O ^*(0,0), X ^*Axle, Y ^*Axle is a plane coordinate system, is r and X with the internal diameter in the circular omnidirectional images ^*The intersection point (r, 0) of axle is as origin of coordinates O ^*Counterclockwise launch with azimuthal angle beta (0,0); According to any some pixel coordinates (r in the circular omnidirectional images ^*, β) pixel coordinates P in foundation and the rectangle cylinder omnidirectional images ^*(x ^*, y ^*) corresponding relation, its calculating formula is:

$\left\{\begin{array}{c}{x}^{**}(r^{*},\mathrm{\&beta;})=(1-r^{*}){x^{*}}_{\mathrm{inner}}\left(\mathrm{\&beta;}\right)+r^{*}{x^{*}}_{\mathrm{outer}}\left(\mathrm{\&beta;}\right)\\ y^{**}(r^{*},\mathrm{\&beta;})=(1-r^{*}){y^{*}}_{\mathrm{inner}}\left(\mathrm{\&beta;}\right)+r^{*}{y^{*}}_{\mathrm{outer}}\left(\mathrm{\&beta;}\right)\end{array}\right.---\left(21\right);$

The image output unit is used for the image after launching is outputed to display unit.

Further, described image expansion processing module also comprises: the interpolation calculation unit is used to eliminate in described unfolding calculation unit rounding the error that calculating brings, certain pixel coordinates P of the rectangle cylinder omnidirectional images that calculates ^*(x ^*, y ^*) picture element be (k ₀, j ₀), described picture element coordinate drop on by (k, j), (k+1, j), (k, j+1), (k+1, j+1) four adjacent integer pixels are in the square that apex coordinate constituted, with formula (8) interpolation calculation:

P ^**(x ^**，y ^**)＝(P ^*(x ^*+1，y ^*)-P ^*(x ^*，y ^*))*(k0-k)+(P ^*(x ^*，y ^*+1)-P ^*(x ^*，y ^*))*(j0-j)

+(P ^*(x ^*+1，y ^*+1)+P ^*(x ^*，y ^*)-P ^*(x ^*+1，y ^*)-P ^*(x ^*，y ^*+1))*(k0-k)*(j0-j)+P ^*(x ^*，y ^*)

(22)

The input of described interpolation calculation unit connects the output of unfolding calculation unit, and the output of described interpolation calculation unit connects image output module.

Described image launches processing module and also comprises: image enhancing unit, be used for pixel equalization to the output of image output unit, and calculating formula is:

$S\left(r_k\right)=T\left(r_k\right)=\frac{1}{N}\underset{i=0}{\overset{k}{\mathrm{\&Sigma;}}}N\left(r_i\right)---\left(23\right)$

In the following formula, transforming function transformation function is gray scale cumulative distribution function T (r), and the gray scale of establishing original image is r _k, S (r) is gray distribution of image function after the conversion, N is the pixel sum in the image, N (r _i) be that gray scale is r in the image _iThe pixel sum.

Described microprocessor also comprises: the image filtering unit is used to adopt two-dimensional Gabor filter that circular omnidirectional images is carried out filtering; The picture quality judging unit is used to adopt Two-dimensional FFT transformation calculations frequency domain high-frequency energy, and relatively the high-frequency energy value and default lower limit of gained, optionally exports omnidirectional images during greater than lower limit at the high-frequency energy value.

Another kind has considers the conduct monitoring at all levels sighting device of sensory function at heart, this device comprises straight to the catadioptric mirror that hangs down, transparent cylinder, towards last camera, mounting bracket, described catadioptric mirror is positioned at the top of transparent cylinder, described camera is positioned at the bottom of transparent cylinder, fixedly connected with mounting bracket in the lower end of described cylinder, between catadioptric mirror and camera, be provided with the dark circles cone that diameter diminishes gradually, described coniform body is fixed on the middle part of catadioptric mirror, described catadioptric mirror, the center of the camera lens of coniform body and camera is on same central shaft, and the output of described camera connects the microprocessor that is used for image processing.Can be divided into fixed hyperboloid type omnibearing vision device, the following undeformed omnibearing vision device of fixed horizontal direction down.

The scheme of fixed hyperboloid type omnibearing vision device is down: described catadioptric mirror is a hyperbolic mirror, and described camera comprises collector lens and image unit, and described image unit is positioned at the virtual focus position of described hyperbolic mirror; The optical system that described hyperbolic mirror constitutes is represented by following 5 equatioies;

((X ²+Y ²)/a ²)-(Z ²/b ²)＝-1 (Z>0) (13)

$c=\sqrt{a^2+b^2}---\left(14\right)$

β＝tan ^-1(Y/X) (15)

α＝tan ^-1[(b ²+c ²)sinγ-2bc]/(b ²+c ²)cosγ (16)

$\mathrm{\&gamma;}={\tan }^{-1}[f/\sqrt{({\mathrm{<figure-callout\; id="2"\; label="X"\; filenames="C200610052028E00301.png"\; state="\{\{state\}\}">X</figure-callout>}}^2+Y^2)}]---\left(17\right)$

In the following formula, X, Y, Z representation space coordinate, c represents the focal length of hyperbolic mirror, 2c represents two distances between the focus, a, b are respectively the real axis of hyperbolic mirror and the length of the imaginary axis, and β represents the angle-azimuth of incident ray on the XY plane, α represents the angle-angle of depression of incident ray on the XZ plane, and f represents the distance of imaging plane to the virtual focus of hyperbolic mirror.

The scheme of the undeformed omnibearing vision device of fixed horizontal direction is down: described catadioptric mirror is the deformation-free refringent/reflection lens of horizontal direction, the projection centre C of camera is the horizontal scene h of distance place above horizontal scene, the summit of refringent/reflection lens is above projection centre, apart from projection centre zo place, with the camera projection centre is that the origin of coordinates is set up coordinate system, the face shape of refringent/reflection lens is used z (X) function representation, the pixel q of distance images central point ρ has accepted from horizontal scene O point in as the plane, apart from Z axle d, light at refringent/reflection lens M point reflection, horizontal scene is undistorted to require the coordinate of the horizontal coordinate of scene object point and corresponding picture point linear, and image-forming principle is identical with the undeformed sighting device of last fixed horizontal direction.

Operation principle of the present invention is: Fig. 2 is the schematic diagram of the optical system of expression omnibearing imaging device of the present invention.

At first select for use CCD (CMOS) device and imaging len to constitute camera in the design, preresearch estimates system overall dimension on the basis that the camera inner parameter is demarcated is determined the mirror surface shape parameter according to the visual field of short transverse then.

As shown in Figure 1, the projection centre C of camera is the horizontal scene h of distance place above horizontal scene, and the summit of speculum is above projection centre, apart from projection centre zo place.Be that the origin of coordinates is set up coordinate system with the camera projection centre among the present invention, the face shape of speculum is with z (X) function representation.The pixel q of distance images central point ρ has accepted from horizontal scene O point (apart from Z axle d), at the light of mirror M point reflection in as the plane.Horizontal scene is undistorted to require the coordinate of the horizontal coordinate of scene object point and corresponding picture point linear;

By formula (8), (9), (10) and initial condition, separate the digital solution that the differential equation can obtain reflecting mirror surface shape.The main digital reflex mirror of system's overall dimension is from the distance H o and the aperture of a mirror D of camera.Select suitable camera according to application requirements during the comprehensive system design of catadioptric, calibrate Rmin, the focal distance f of lens is determined the distance H o of speculum from camera, calculates aperture of a mirror Do by (1) formula.

Determining of system parameters:

d(ρ)＝αρ (1)

ρ is and the distance of the face shape central point of speculum in the formula (1), and α is the magnification ratio of imaging system.

If the normal that speculum is ordered at M and the angle of Z axle are γ, the angle of incident ray and Z axle is Φ, and the angle of reflection ray and Z axle is θ.Then

$\mathrm{tg}\left(x\right)=\frac{d\left(x\right)-x}{z\left(x\right)-h}---\left(2\right)$

$\mathrm{tg\&gamma;}=\frac{\mathrm{dz}\left(x\right)}{\mathrm{dx}}---\left(3\right)$

$\mathrm{tg}\left(2\mathrm{\&gamma;}\right)=\frac{2\frac{\mathrm{dz}\left(x\right)}{\mathrm{dx}}}{1-\frac{d^{2}z\left(x\right)}{{\mathrm{dx}}^2}}---\left(4\right)$

By reflection law

2γ＝φ-θ

∴ $\mathrm{tg}\left(2\mathrm{\&gamma;}\right)=\mathrm{tg}(\mathrm{\&phi;}-\mathrm{\&theta;})=\frac{\mathrm{tg\&phi;}-\mathrm{tg\&theta;}}{1+\mathrm{tg\&phi;tg\&theta;}}---\left(6\right)$

Obtain the differential equation (7) by formula (2), (4), (5) and (6)

$\frac{d^{2}z\left(x\right)}{{\mathrm{<figure-callout\; id="2"\; label="dx"\; filenames="C200610052028E00301.png"\; state="\{\{state\}\}">dx</figure-callout>}}^2}+2k\frac{\mathrm{dz}\left(x\right)}{\mathrm{dx}}-1=0---\left(7\right)$

In the formula; $k=\frac{z\left(x\right)[z\left(x\right)-h]+x[d\left(x\right)-x]}{z\left(x\right)[d\left(x\right)-x]+x[z\left(x\right)-h]}---\left(8\right)$

Obtain the differential equation (9) by formula (7)

$\frac{\mathrm{dz}\left(x\right)}{\mathrm{dx}}+k-\sqrt{{\mathrm{<figure-callout\; id="2"\; label="k"\; filenames="C200610052028E00301.png"\; state="\{\{state\}\}">k</figure-callout>}}^2+1}=0---\left(9\right)$

Obtain formula (10) by formula (1), (5)

$d\left(x\right)=\frac{\mathrm{afx}}{z\left(x\right)}---\left(10\right)$

Determine system parameters af according to the visual field of using desired short transverse.Obtain formula (11) by formula (1), (2) and (5), done some simplification here, with z (x) ≈ z ₀, main consideration is smaller with respect to the change in location of minute surface and camera for the height change of minute surface;

$\mathrm{tg\&phi;}=\frac{(\mathrm{af}-z_0)\frac{\mathrm{\&rho;}}{f}}{z_0-h}---\left(11\right)$

With the inconocenter point largest circumference place in the center of circle as the plane $\mathrm{\&rho;}=R\min \&RightArrow;{\mathrm{\&omega;}}_{\max }=\frac{R_{\min }}{f}$ Corresponding visual field is ф max.Then can obtain formula (12);

$\frac{\mathrm{\&rho;}}{f}=\frac{(z_0-h)\mathrm{tg}{\mathrm{\&phi;}}_{\max }}{{\mathrm{\&omega;}}_{\max }}+z_0---\left(12\right)$

The imaging simulation adopts the direction opposite with actual light to carry out.If light source is in the camera projection centre, equally spaced selected pixels point in the picture plane by the light of these pixels, intersects with horizontal plane after mirror reflects, if intersection point is equally spaced, illustrates that then speculum has the distortionless character of horizontal scene.The imaging simulation can be estimated the imaging character of speculum on the one hand, can calculate aperture of a mirror and thickness exactly on the other hand.

The design of above-mentioned catadioptric minute surface can access the indeformable image on the horizontal direction, as shown in Figure 8.Sometimes in order to obtain bigger visual range in vertical direction, the design of catadioptric minute surface also can adopt hyperboloid to carry out, the hyperbola minute surface have 2 focuses (0,0, c), (0,0 ,-c), as shown in Figure 9.Fig. 8 and Fig. 9 are compared the shape that can find its mirror surface obvious difference, for the imager of the situation omni-directional visual camera head of hyperbola minute surface be configured in a focus of hyperbola minute surface spigot shaft coaxle (0,0 ,-c) on.According to such configuration, can make a video recording to 360 ° of orientation around the camera of omni-directional visual camera head.As shown in figure 10, enter the light at the center of hyperbola minute surface, reflect towards its virtual focus according to bi-curved minute surface characteristic.Material picture reflexes to imaging in the camera of omni-directional visual camera head, a some P on this imaging plane through hyperbolic mirror ₁(x ^* ₁, y ^* ₁) corresponding the coordinate A (x of a point spatially in kind ₁, y ₁, z ₁), big five-pointed star is a some A (x on the space ₁, y ₁, z ₁); Middle five-pointed star is the space coordinates P that incides the image on the hyperbola face mirror ₁(x ₁, y ₁, z ₁).

The optical system that hyperbolic mirror shown in Figure 10 constitutes can be represented by following 5 equatioies;

((X ²+Y ²)/a ²)-(Z ²/b ²)＝-1 (Z>0) (13)

$c=\sqrt{a^2+b^2}---\left(14\right)$

β＝tan ^-1(Y/X) (15)

α＝tan ^-1[(b ²+c ²)sinγ-2bc]/(b ²+c ²)cosγ (16)

$\mathrm{\&gamma;}={\tan }^{-1}[f/\sqrt{({\mathrm{<figure-callout\; id="2"\; label="X"\; filenames="C200610052028E00301.png"\; state="\{\{state\}\}">X</figure-callout>}}^2+Y^2)}]$ (17)

X in the formula, Y, Z representation space coordinate, c represents the focus of hyperbolic mirror, and 2c represents two distances between the focus, a, b is respectively the real axis of hyperbolic mirror and the length of the imaginary axis, β represents the angle-azimuth of incident ray on the XY plane, and α represents the angle-angle of depression of incident ray on the XZ plane, and f represents the distance of imaging plane to the virtual focus of hyperbolic mirror.

Can on three dimensions, make a hyperboloid of two sheets by formula (13), as shown in Figure 9, this hyperboloid have 2 focuses (0,0, c), (0,0,-c), and and symmetry and XY plane, this patent is configured in another focus (0 with the hyperboloid spigot shaft coaxle with the imager of omni-directional visual camera head, 0,-c) on, replace a hyperboloid under the XY plane, as shown in figure 10, enter the center (0 of hyperbola minute surface, 0, light c), according to bi-curved minute surface characteristic towards its virtual focus (0,0 ,-c) refraction.

According to Figure 10 360 ° of comprehensive principles of making a video recording are described, a some A (x on the space ₁, y ₁, z ₁) (representing with big five-pointed star among the figure) enter the recess minute surface through hyperbola minute surface 1, incide the space coordinates point P1 (x1 of the image on the hyperbola face mirror 1, y1, z1) (among the figure with in five-pointed star represent) reflexes on the lens of omni-directional visual picture pick-up device a subpoint P should be arranged ₁(x ^* ₁, y ^* ₁) (representing with little five-pointed star among Figure 10), the light of the lens by the omni-directional visual picture pick-up device becomes on the imager (being CCD or CMOS imaging apparatus) that directional light projects the omni-directional visual picture pick-up device, at this moment the image of imaging is the ring-type image of a speciogenesis deformation on camera lens, because the imager of omni-directional visual camera head is another focus (0 that is in the hyperboloid spigot shaft coaxle, 0 ,-c) on.

Can be divided into fixed and fixed two types down for omnibearing vision device according to installing and fixing the condition difference.Owing to power supply and with the line reason of sensor devices, go up fixed omnibearing vision device preferably from the top lead-in wire, and fixed omnibearing vision device is wished and can be gone between from the bottom down, can avoid like this because lead-in wire impacts the light path of omni-directional visual.Accompanying drawing 2 and accompanying drawing 11 are the structural representation of following fixed omnibearing vision device, and its lead-in wire is to draw from the bottom of omnibearing vision device; Accompanying drawing 5 and accompanying drawing 6 are the structural representation of last fixed omnibearing vision device, and its lead-in wire is to draw from the top of omnibearing vision device, in order to reach this purpose, need to increase a plane reflection minute surface, as shown in Figure 6; Owing to increased a plane reflection minute surface, requiring to reflect the light that arrives the plane mirror face from the curvilinear plane mirror can become a kind of approximate directional light basically.

The position of described plane reflection minute surface is placed in down on the imaging plane position of fixed omnibearing vision device, locational camera lens of former imaging plane and sensor devices move to the back (non-refractive, concave surface face) of curvilinear plane mirror, the concave part of curvilinear plane mirror is designed to lay camera lens and sensor devices, a circular hole is left in the centre of curvilinear plane mirror, the feasible object view that reflects back from the plane reflection minute surface can successfully enter the camera lens and the sensor devices of the concave part that is placed in the curvilinear plane mirror, described curvilinear plane mirror, the plane reflection minute surface, cone, the center of camera lens and sensor devices is on same central axis; The relation of its centralized positioning can guarantee by last lower fixed seat, and the optimal imaging distance is to guarantee by light transmission outer cover and cooperating of last lower fixed seat;

The design of described light transmission outer cover is that it is designed to up big and down small truncated conical shape, makes that by this design being difficult for the long-pending dust of going up on the light transmission outer cover influences light transmittance; Consider that omnibearing vision device uses in outdoor situation, in order to reach waterproof, anti-moisture, dust protection purpose, the junction of light transmission outer cover and last lower fixed seat must add sealing, is that employing is fixed the junction that rubber seal is placed in light transmission outer cover and last lower fixed seat then with screw in the present invention.

The omnibearing vision sensor ODVS that developed recently gets up (OmniDirectional Vision Sensors) provide a kind of new solution for the omnidirectional images that obtains scene.The characteristics of ODVS are looking away (360 degree), can become piece image to the Information Compression in the hemisphere visual field, and the amount of information of piece image is bigger; This ODVS picture pick-up device can be at the comprehensive all situations that photographs in the hemisphere visual field.Can become piece image to the Information Compression in the hemisphere visual field, the amount of information of piece image is bigger.

Utilize comprehensive optical image technology, computer image processing, embedded system technology, computer software technology is gathered approach for the picture pick-up device field provides the psychosensorial omnibearing visual information of a kind of consideration, when obtaining a scene image, as long as picture pick-up device is raised high, without run-home, just can obtain the image of comprehensive scene without other tumblers, its outward appearance can be designed to very hidden simultaneously, make it can incorporate monitoring environment naturally, by carrying out integrated design with illuminace component, and be installed on the ceiling, at all inconspicuous, enlarging the monitoring angular field of view, the overall process of immediately monitoring incident can be realized when reducing the quantity of camera again, the sensation that is monitored can be do not given.

Beneficial effect of the present invention mainly shows: 1, angular field of view greatly, does not need run-home, good concealment; 2, can not give the sensation that is monitored; 3, reduce the quantity of monitoring camera, reduced cost.

(4) description of drawings

Fig. 1 is for having the indeformable omnibearing vision sensor schematic diagram of horizontal direction;

Fig. 2 is a kind of hardware configuration schematic diagram of considering psychosensorial WEB omnibearing vision device;

Fig. 3 is the perspective projection imaging model schematic diagram of omnibearing vision device and general perspective imaging model equivalence;

Fig. 4 is the indeformable perspective projection imaging of a horizontal direction schematic diagram;

Fig. 5 is the structure explanation schematic diagram with omnibearing vision sensor of two secondary reflections;

Fig. 6 is the light path explanation schematic diagram with omnibearing vision sensor of two secondary reflections;

Fig. 7 is the omnibearing vision device undeformed design reflectivity mirror shape of epigraph in the horizontal direction;

Fig. 8 is the mirror surface shape of a hyperboloid of two sheets;

Fig. 9 is a plane of reflection imaging schematic diagram;

Figure 10 is following installing type omnibearing vision sensor scheme of installation;

Figure 11 is for considering the Organization Chart of the video server in the psychosensorial WEB omnibearing vision device.

(5) embodiment

Below in conjunction with accompanying drawing the present invention is further described.

Embodiment 1

With reference to Fig. 5, Fig. 6, Fig. 7, Figure 11, a kind of have consider the conduct monitoring at all levels sighting device of sensory function at heart, this device is last fixed hyperboloid type omnibearing vision device, comprise straight to the catadioptric mirror that hangs down, transparent cylinder, camera, mounting bracket, described catadioptric mirror is positioned at the top of transparent cylinder, the bottom of described transparent cylinder is provided with the flat mirror of reflection, the centre of described catadioptric convex lens is provided with through hole, camera is positioned at the top of described catadioptric convex lens, between flat mirror of reflection and catadioptric mirror, be provided with the dark circles cone that diameter diminishes gradually, described coniform body is fixed on the middle part of the flat mirror of reflection, described catadioptric mirror, reflect flat mirror, the center of the camera lens of coniform body and camera is on same central shaft, and the output of described camera connects the microprocessor that is used to handle image.

Described catadioptric mirror is a hyperbolic mirror, and described camera comprises collector lens and image unit, and described image unit is positioned at the real focus position of described hyperbolic mirror; The optical system that described hyperbolic mirror constitutes is represented by following 5 equatioies;

((X ²+Y ²)/a ²)-(Z ²/b ²)＝-1 (Z>0) (13)

$c=\sqrt{a^2+b^2}---\left(14\right)$

β＝tan ^-1(Y/X) (15)

α＝tan ^-1[(b ²+c ²)sinγ-2bc]/(b ²+c ²)cosγ (16)

$\mathrm{\&gamma;}={\tan }^{-1}[f/\sqrt{({\mathrm{<figure-callout\; id="2"\; label="X"\; filenames="C200610052028E00301.png"\; state="\{\{state\}\}">X</figure-callout>}}^2+Y^2)}]---\left(17\right)$

In the following formula, X, Y, Z representation space coordinate, c represents the focal length of hyperbolic mirror, 2c represents two distances between the focus, a, b are respectively the real axis of hyperbolic mirror and the length of the imaginary axis, and β represents the angle-azimuth of incident ray on the XY plane, α represents the angle-angle of depression of incident ray on the XZ plane, and f represents the distance of imaging plane to the real focus of hyperbolic mirror.

Can on three dimensions, make a hyperboloid of two sheets by formula (13), as shown in Figure 9, this hyperboloid have 2 focuses (0,0, c), (0,0,-c), and and symmetry and XY plane, this patent is configured in another focus (0 with the hyperboloid spigot shaft coaxle with the imager of omni-directional visual camera head, 0,-c) on, replace a hyperboloid under the XY plane, as shown in figure 10, enter the center (0 of hyperbola minute surface, 0, light c), according to bi-curved minute surface characteristic towards its virtual focus (0,0 ,-c) refraction.

According to Figure 10 360 ° of comprehensive principles of making a video recording are described, a some A (x on the space ₁, y ₁, z ₁) (representing with big five-pointed star among the figure) enter the recess minute surface through hyperbola minute surface 1, incide the space coordinates point P1 (x1 of the image on the hyperbola face mirror 1, y1, z1) (among the figure with in five-pointed star represent) reflexes on the lens of omni-directional visual picture pick-up device a subpoint P should be arranged ₁(x ^* ₁, y ^* ₁) (representing with little five-pointed star among Figure 10), the light of the lens by the omni-directional visual picture pick-up device becomes on the imager (being CCD or CMOS imaging apparatus) that directional light projects the omni-directional visual picture pick-up device, at this moment the image of imaging is the ring-type image of a speciogenesis deformation on camera lens, because the imager of omni-directional visual camera head is another focus (0 that is in the hyperboloid spigot shaft coaxle, 0 ,-c) on.

Described fixed omnibearing vision sensor, its lead-in wire is to draw from the top of omnibearing vision device, in order to reach this purpose, needs to increase a plane reflection minute surface, as shown in Figure 6; Owing to increased a plane reflection minute surface, requiring to reflect the light that arrives the plane mirror face from the curvilinear plane mirror can become a kind of approximate directional light basically.

The position of described plane reflection minute surface is placed in down on the imaging plane position of fixed omnibearing vision device, locational camera lens of former imaging plane and sensor devices move to the back (non-refractive, concave surface face) of curvilinear plane mirror, the concave part of curvilinear plane mirror is designed to lay camera lens and sensor devices, a circular hole is left in the centre of curvilinear plane mirror, the feasible object view that reflects back from the plane reflection minute surface can successfully enter the camera lens and the sensor devices of the concave part that is placed in the curvilinear plane mirror, described curvilinear plane mirror, the plane reflection minute surface, cone, the center of camera lens and sensor devices is on same central axis; The relation of its centralized positioning can guarantee by last lower fixed seat, and the optimal imaging distance is to guarantee by light transmission outer cover and cooperating of last lower fixed seat;

The design of described light transmission outer cover is that it is designed to up big and down small truncated conical shape, makes that by this design being difficult for the long-pending dust of going up on the light transmission outer cover influences light transmittance; Consider that omnibearing vision device uses in outdoor situation, in order to reach waterproof, anti-moisture, dust protection purpose, the junction of light transmission outer cover and last lower fixed seat must add sealing, is that employing is fixed the junction that rubber seal is placed in light transmission outer cover and last lower fixed seat then with screw in the present invention.

The dark circles cone that described coniform body has a diameter to diminish gradually, this coniform body is fixed on the middle part of catadioptric mirror, and the pyramidal purpose of dark circles is to cause light in cylinder inside light reflex saturated and that produce by the cylinder body wall in order to prevent superfluous light from injecting.

Comprise in the described graphics processing unit that image launches processing module, is used for circular omnidirectional images is launched into rectangle cylinder omnidirectional images by geometric transformation;

Further, described image launches processing module and comprises: read the coordinate information unit, be used for reading the centre coordinate of the circular omnidirectional images that above-mentioned initialization module calculates and the inside and outside circle radius of image; The approximate expansion computing unit is used for the centre coordinate of the circular omnidirectional images that calculates according to above-mentioned initialization module and the inside and outside circle radius of image, the centre coordinate of circular omnidirectional images is set the initial point O of plane coordinate system ^*(0,0), X ^*Axle, Y ^*Axle, the internal diameter of image is r, external diameter is R, radius of a circle: r in the middle of setting ₁=(r+R)/2, the azimuth is: β=tan ^-1(y ^*/ x ^*); Rectangle cylinder omnidirectional images is with origin of coordinates O ^*(0,0), X ^*Axle, Y ^*Axle is a plane coordinate system, is r and X with the internal diameter in the circular omnidirectional images ^*The intersection point (r, 0) of axle is as origin of coordinates O ^*Counterclockwise launch with azimuthal angle beta (0,0); Set up any some pixel coordinates P in the rectangle cylinder omnidirectional images ^*(x ^*, y ^*) with circular omnidirectional images in pixel coordinates Q ^*(x ^*, y ^*) corresponding relation, its calculating formula is:

x ^*＝y ^*/(tan(360x ^**/π(R+r))) (18)

y ^*＝(y ^**+r)cos?β (19)

In the following formula, x ^*, y ^*Be the pixel coordinates value of rectangle cylinder omnidirectional images, x ^*, y ^*Be the pixel coordinates value of circular omnidirectional images, R is the external diameter of circular omnidirectional images, and r is the internal diameter of circular omnidirectional images, and β is the azimuth of circular omnidirectional images coordinate.

Or described image launches processing module and comprises: read the coordinate information unit, be used for reading the centre coordinate of the circular omnidirectional images that above-mentioned initialization module calculates and the inside and outside circle radius of image; Mapping matrix launches the unit, is used for the centre coordinate of the circular omnidirectional images that calculates according to above-mentioned initialization module and the inside and outside circle radius of image, the centre coordinate of circular omnidirectional images is set the initial point O of plane coordinate system ^*(0,0), X ^*Axle, Y ^*Axle, the internal diameter of image is r, and external diameter is R, and the azimuth is: β=tan ^-1(y ^*/ x ^*); Rectangle cylinder omnidirectional images is with origin of coordinates O ^*(0,0), X ^*Axle, Y ^*Axle is a plane coordinate system, is r and X with the internal diameter in the circular omnidirectional images ^*The intersection point (r, 0) of axle is as origin of coordinates O ^*Counterclockwise launch with azimuthal angle beta (0,0); According to any some pixel coordinates Q in the circular omnidirectional images ^*(x ^*, y ^*) set up with rectangle cylinder omnidirectional images in pixel coordinates P ^*(x ^*, y ^*) corresponding relation, set up from Q ^*(x ^*, y ^*) to P ^*(x ^*, y ^*) the mapping matrix corresponding relation, its calculating formula is:

P ^**(x ^**，y ^**)←M×Q ^*(x ^*，y ^*) (20)

In the following formula, Q ^*(x ^*, y ^*) be the matrix of each pixel coordinates on the circular omnidirectional images, M is the corresponding relation matrix from circular omnidirectional images coordinate to rectangle cylinder omnidirectional images coordinate, P ^*Matrix for each pixel coordinates on the rectangle cylinder omnidirectional images.

Described M corresponding relation matrix can merge into the software interpolation algorithm, and described software interpolation algorithm comprises the interpolation of amplifying the raising resolution behind the former omnidirectional images and eliminates the interpolation that rounds the error that calculating brings in described expansion unit.

Or be that described image launches processing module and comprises: read the coordinate information unit, be used for reading the centre coordinate of the circular omnidirectional images that above-mentioned initialization module calculates and the inside and outside circle radius of image; Polar coordinates unfolding calculation unit, the position and the internal diameter that are used for according to the central point of omnidirectional images are that r, external diameter are R, r ^*Be the radical length of distance interior circle in arbitrfary point on the image, the azimuth is: β=tan ^-1(y ^*/ x ^*), set up polar coordinates (r ^*, β), be respectively (x with the intersecting point coordinate on comprehensive inside and outside circle border ^* _Inner(β), y ^* _Inner(β)) and (x ^* _Outer(β), y ^* _Outer(β)); Rectangle cylinder omnidirectional images is with origin of coordinates O ^*(0,0), X ^*Axle, Y ^*Axle is a plane coordinate system, is r and X with the internal diameter in the circular omnidirectional images ^*The intersection point (r, 0) of axle is as origin of coordinates O ^*Counterclockwise launch with azimuthal angle beta (0,0); According to any some pixel coordinates (r in the circular omnidirectional images ^*, β) pixel coordinates P in foundation and the rectangle cylinder omnidirectional images ^*(x ^*, y ^*) corresponding relation, its calculating formula is:

$\left\{\begin{array}{c}{x}^{**}(r^{*},\mathrm{\&beta;})=(1-r^{*}){x^{*}}_{\mathrm{inner}}\left(\mathrm{\&beta;}\right)+r^{*}{x^{*}}_{\mathrm{outer}}\left(\mathrm{\&beta;}\right)\\ y^{**}(r^{*},\mathrm{\&beta;})=(1-r^{*}){y^{*}}_{\mathrm{inner}}\left(\mathrm{\&beta;}\right)+r^{*}{y^{*}}_{\mathrm{outer}}\left(\mathrm{\&beta;}\right)\end{array}\right.---\left(21\right)$

Further again, image launches processing module and also comprises: the interpolation calculation unit is used to eliminate in described expansion unit rounding the error that calculating brings, certain pixel coordinates P of the rectangle cylinder omnidirectional images that calculates ^*(x ^*, y ^*) picture element be (k ₀, j ₀), described picture element coordinate drop on by (k, j), (k+1, j), (k, j+1), (k+1, j+1) four adjacent integer pixels are in the square that apex coordinate constituted, with formula (8) interpolation calculation:

P ^**(x ^**，y ^**)＝(P ^*(x ^*+1，y ^*)-P ^*(x ^*，y ^*))*(k0-k)+(P ^*(x ^*，y ^*+1)-P ^*(x ^*，y ^*))*(j0-j)

+(P ^*(x ^*+1，y ^*+1)+P ^*(x ^*，y ^*)-P ^*(x ^*+1，y ^*)-P ^*(x ^*，y ^*+1))*(k0-k)*(j0-j)+P ^*(x ^*，y ^*)

(22)

The input of described interpolation calculation unit connects the output of unfolding calculation unit, and the output of described interpolation calculation unit connects image output module.

Further, image launches processing module and also comprises: image enhancing unit, be used for pixel equalization to the output of image output unit, and calculating formula is:

$S\left(r_k\right)=T\left(r_k\right)=\frac{1}{N}\underset{i=0}{\overset{k}{\mathrm{\&Sigma;}}}N\left(r_i\right)---\left(23\right)$

In the following formula, transforming function transformation function is gray scale cumulative distribution function T (r), and the gray scale of establishing original image is r _k, S (r) is gray distribution of image function after the conversion, N is the pixel sum in the image, N (r _i) be that gray scale is r in the image _iThe pixel sum.

Described image pretreatment module comprises: the image filtering unit is used to adopt two-dimensional Gabor filter that circular omnidirectional images is carried out filtering; The picture quality judging unit is used to adopt Two-dimensional FFT transformation calculations frequency domain high-frequency energy, and relatively the high-frequency energy value and default lower limit of gained, optionally exports omnidirectional images during greater than lower limit at the high-frequency energy value.

Described equipment also comprises embedded system, what adopt among the present invention is that embedded arm9 hardware platform is as video server, this processor is inner integrated 32 8-digit microcontrollers of the ARM920T of ARM company processor core, aboundresources, with independently instruction Cache and the 16KB Data Cache of 16KB, lcd controller, the RAM controller, nand flash memory controller, 3 road UART, 4 road DMA, the Timer of 4 road band PWM, parallel I/O mouth, 8 tunnel 10 ADC, Touch Screen interface, the I2C interface, the I2S interface, 2 usb interface controllers, 2 road SPI, dominant frequency reaches as high as 203MHz.On the basis of processor affluent resources, also carried out relevant configuration and expansion, platform configuration the SDRAM of 32 of the Flash of 16 of 16MB and 64MB.Expand a network interface by ethernet controller chip DM9000E, drawn a HOST USB interface in addition.By the camera of an external band USB mouth on USB interface, the vedio data that collects is put into the input block.Then, perhaps preserve into the form of file, perhaps the image processing program on the platform is transplanted in operation, and the view data of buffering is directly carried out relevant treatment, and this system has advantages such as high-performance, low cost, low-power consumption.

The framework of video server as shown in figure 11, the scene image information that video server photographs by constantly reading camera, then will finish following four kinds of functions: (1) directly shows at display terminal; (2) picture information makes things convenient for the user to carry out carrying of field data in the SD card; (3) carry out the Socket communication by cable network and distance host, on distance host, can carry out video analysis and processing; (4) pass through the wireless network transmissions scene information to mobile phone, make things convenient for the user to check field data whenever and wherever possible.

Described dark circles cone is used for preventing that light is saturated, a black circle is arranged on imaging plane, the center of circle of this black circle is exactly the centre of expansion point of omnidirectional images, the omnidirectional images centralized positioning is the image fault that causes in order to reduce decentraction in expansion process, utilize the algorithm of omnidirectional images centralized positioning, can detect the centre of expansion point that finds omnidirectional images in the piece image that photographed rapidly, and not needing manual intervention, this practicability for omnibearing shooting device has crucial meaning.

The round template matching method of employing Daugman carries out the location of the centre of expansion point of omnidirectional images in this patent.In the omnidirectional images that shooting is obtained, intensity profile exists certain difference, and generally speaking comprehensive deploying portion is brighter than cone reflecting part.Be the situation of annular then according to omnibearing shape, it is comprehensive to utilize the circular method that detects adaptation to cut apart, and its math equation is:

Wherein: $G_{\mathrm{\&sigma;}}\left(r\right)=(1/\sqrt{2\mathrm{\&pi;\&sigma;}})e^{-({(r-r_0)}^2/2{\mathrm{\&sigma;}}^2)},$ I (x ^*, y ^*) be the pixel of image; R is the radius of circumference; G is for to carry out level and smooth Gauss's template to original image.The physical significance of formula (24) is to search the value pairing (r, the x that change pixel mean variation maximum on the corresponding circumference along with radius r ^* ₀, y ^* ₀), determine the centre of expansion point of omnidirectional images and the edge of cone reflecting part with this.Convolution is used for image is carried out smoothly, eliminates The noise in the edges of regions, and the size of smooth template is relevant with locating accuracy.The discretization of formula (24) realizes for convenience, utilizes convolution character, and formula (24) is converted into:

Wherein: $\frac{\&PartialD;G_{\mathrm{\&sigma;}}\left(r\right)}{\&PartialD;r}\&ap;G_{\mathrm{\&sigma;}}\left(n\right)=\frac{1}{\mathrm{\&Delta;r}}{G}_{\mathrm{\&sigma;}}\left(\mathrm{n\&Delta;r}\right)-\frac{1}{\mathrm{\&Delta;r}}{G}_{\mathrm{\&sigma;}}\left((n-1)\mathrm{\&Delta;r}\right)---\left(26\right)$

Formula (25) is carried out discretization, with add up and ∑ replace convolution and curvilinear integral, be converted to:

${\max }_{(r,{x^{*}}_0,{y^{*}}_0)}\left|\frac{1}{\mathrm{\&Delta;r}}\underset{k}{\mathrm{\&Sigma;}}\left\{G_{\mathrm{\&sigma;}}\left(r\right)\underset{m}{\mathrm{\&Sigma;}}I(x^{*},y^{*})\right\}\right|---\left(27\right)$

Wherein: G _σ(r)=G _σ((n-k) Δ r)-G _σ((n-k-1) Δ r) (28)

$\underset{m}{\mathrm{\&Sigma;}}I(x^{*},y^{*})=I[(\mathrm{k\&Delta;}r\cos \left(\mathrm{m\&Delta;\&beta;}\right)+{x^{*}}_0),(\mathrm{k\&Delta;}r\sin \left(\mathrm{m\&Delta;\&beta;}\right)+{y^{*}}_0)]---\left(29\right)$

Δ r represents the step-length of radius search, and Δ β represents along the step-length of the angle of circular arc separation.Also can improve, make and can better locate comprehensive inward flange formula (14):

Wherein r ' is slightly less than r, and the distance between them is certain, and r ' is along with r changes; λ prevents that for default value denominator from being 0.Formula (30) has been utilized such fact, and promptly the intensity profile of cone reflecting part is always uniform.Therefore, when the edge fine coupling of the circular arc of search and cone reflecting part, the denominator of formula (30) is very little, thereby formula (30) has a sudden change value, and the position of this sudden change value is exactly the position of the centre of expansion point of omnidirectional images.

Embodiment 2

With reference to Fig. 5, Fig. 6, Fig. 7, Figure 11, present embodiment is the undeformed omnibearing vision device of last fixed horizontal direction: described catadioptric mirror is the deformation-free refringent/reflection lens of horizontal direction, the projection centre C of camera is the horizontal scene h of distance place above horizontal scene, the summit of refringent/reflection lens is above projection centre, apart from projection centre zo place, with the camera projection centre is that the origin of coordinates is set up coordinate system, the face shape of refringent/reflection lens is used z (X) function representation, the pixel q of distance images central point ρ has accepted from horizontal scene O point in as the plane, apart from Z axle d, at the light of refringent/reflection lens M point reflection, horizontal scene is undistorted to require the coordinate of the horizontal coordinate of scene object point and corresponding picture point linear;

By formula (8), (9), (10) and initial condition, separate the digital solution that the differential equation obtains refringent/reflection lens face shape, system's overall dimension digital reflex mirror is from the distance H o and the aperture of a mirror D of camera, select suitable camera according to application requirements, calibrate Rmin, the focal distance f of lens is determined the distance H o of refringent/reflection lens from camera, is calculated the bore Do of refringent/reflection lens by formula (1):

d(ρ)＝αρ (1)

In the formula (1), ρ is and the distance of the face shape central point of speculum that α is the magnification ratio of imaging system.

If the normal that refringent/reflection lens is ordered at M and the angle of Z axle are γ, the angle of incident ray and Z axle is Φ, and the angle of reflection ray and Z axle is θ;

$\mathrm{tg}\left(x\right)=\frac{d\left(x\right)-x}{z\left(x\right)-h}---\left(2\right)$

$\mathrm{tg\&gamma;}=\frac{\mathrm{dz}\left(x\right)}{\mathrm{dx}}---\left(3\right)$

$\mathrm{tg}\left(2\mathrm{\&gamma;}\right)=\frac{2\frac{\mathrm{dz}\left(x\right)}{\mathrm{dx}}}{1-\frac{d^{2}z\left(x\right)}{{\mathrm{dx}}^2}}---\left(4\right)$

By reflection law:

2γ＝φ-θ (6)

∴ $\mathrm{tg}\left(2\mathrm{\&gamma;}\right)=\mathrm{tg}(\mathrm{\&phi;}-\mathrm{\&theta;})=\frac{\mathrm{tg\&phi;}-\mathrm{tg\&theta;}}{1+\mathrm{tg\&phi;tg\&theta;}}$

Obtain the differential equation (7) by formula (2), (4), (5) and (6)

$\frac{d^{2}z\left(x\right)}{{\mathrm{<figure-callout\; id="2"\; label="dx"\; filenames="C200610052028E00301.png"\; state="\{\{state\}\}">dx</figure-callout>}}^2}+2k\frac{\mathrm{dz}\left(x\right)}{\mathrm{dx}}-1=0---\left(7\right)$

In the formula; $k=\frac{z\left(x\right)[z\left(x\right)-h]+x[d\left(x\right)-x]}{z\left(x\right)[d\left(x\right)-x]+x[z\left(x\right)-h]}---\left(8\right)$

Obtain the differential equation (9) by formula (7)

$\frac{\mathrm{dz}\left(x\right)}{\mathrm{dx}}+k-\sqrt{{\mathrm{<figure-callout\; id="2"\; label="k"\; filenames="C200610052028E00301.png"\; state="\{\{state\}\}">k</figure-callout>}}^2+1}=0---\left(9\right)$

Obtain formula (10) by formula (1), (5)

$d\left(x\right)=\frac{\mathrm{afx}}{z\left(x\right)}$ (10)

Determine system parameters af according to the visual field of using desired short transverse, obtain formula (11) by formula (1), (2) and (5), z (x) ≈ z ₀

$\mathrm{tg\&phi;}=\frac{(\mathrm{af}-z_0)\frac{\mathrm{\&rho;}}{f}}{z_0-h}---\left(11\right)$

With the inconocenter point largest circumference place in the center of circle as the plane $\mathrm{\&rho;}=R\min \&RightArrow;{\mathrm{\&omega;}}_{\max }=\frac{R_{\min }}{f}$ Corresponding visual field is ф max, obtains formula (12);

$\frac{\mathrm{\&rho;}}{f}=\frac{(z_0-h)\mathrm{tg}{\mathrm{\&phi;}}_{\max }}{{\mathrm{\&omega;}}_{\max }}+z_0---\left(12\right)$

If light source is in the camera projection centre, equally spaced selected pixels point in the picture plane by the light of pixel, intersects with horizontal plane after the refringent/reflection lens reflection, if intersection point is equally spaced, judges that refringent/reflection lens is that horizontal scene is undistorted.

All the other structures are identical with embodiment 1 with operation principle.

Embodiment 3

With reference to Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 8, Fig. 9, Figure 10, Figure 11, a kind of have consider the conduct monitoring at all levels sighting device of sensory function at heart, fixed omnibearing vision device under this installs and is, comprise straight to the catadioptric mirror 1 that hangs down, transparent cylinder 3, towards last camera, mounting bracket 9, described catadioptric mirror 1 is positioned at the top of transparent cylinder 3, described camera is positioned at the bottom of transparent cylinder 3, fixedly connected with mounting bracket 9 in the lower end of described cylinder 3, between catadioptric mirror 1 and camera, be provided with the dark circles cone 2 that diameter diminishes gradually, described coniform body 2 is fixed on the middle part of catadioptric mirror 1, described catadioptric mirror 1, the center of the camera lens of coniform body 2 and camera 3 is on same central shaft, and the output of described camera 3 connects the microprocessor 6 that is used for image processing.Described camera comprises the image unit 5 that collector lens 4 and CCD constitute.Described microprocessor 6 connects memory cell 8 and display 7.

The scheme of following fixed hyperboloid type omnibearing vision device; Described catadioptric mirror is a hyperbolic mirror, and described camera comprises collector lens and image unit, and described image unit is positioned at the virtual focus position of described hyperbolic mirror; The optical system that described hyperbolic mirror constitutes is represented by following 5 equatioies;

((X ²+Y ²)/a ²)-(Z ²/b ²)＝-1 (Z>0) (13)

$c=\sqrt{a^2+b^2}---\left(14\right)$

β＝tan ^-1(Y/X) (15)

α＝tan ^-1[(b ²+c ²)sinγ-2bc]/(b ²+c ²)cosγ (16)

$\mathrm{\&gamma;}={\tan }^{-1}[f/\sqrt{({\mathrm{<figure-callout\; id="2"\; label="X"\; filenames="C200610052028E00301.png"\; state="\{\{state\}\}">X</figure-callout>}}^2+Y^2)}]---\left(17\right)$

In the following formula, X, Y, Z representation space coordinate, c represents the focal length of hyperbolic mirror, 2c represents two distances between the focus, a, b are respectively the real axis of hyperbolic mirror and the length of the imaginary axis, and β represents the angle-azimuth of incident ray on the XY plane, α represents the angle-angle of depression of incident ray on the XZ plane, and f represents the distance of imaging plane to the virtual focus of hyperbolic mirror.

Image-forming principle, the image expansion process of the hyperboloid type omnibearing vision device of present embodiment are identical with embodiment 1.

Image-forming principle, the image expansion process of the undeformed omnibearing vision device of following fixed horizontal direction of present embodiment are identical with embodiment 2.

Can be divided into fixed and fixed two types down for omnibearing vision device according to installing and fixing the condition difference.Owing to power supply and with the line reason of sensor devices, go up fixed omnibearing vision device preferably from the top lead-in wire, and fixed omnibearing vision device is wished and can be gone between from the bottom down, can avoid like this because lead-in wire impacts the light path of omni-directional visual.Accompanying drawing 2 and accompanying drawing 11 are the structural representation of following fixed omnibearing vision device, and its lead-in wire is to draw from the bottom of omnibearing vision device; Accompanying drawing 5 and accompanying drawing 6 are the structural representation of last fixed omnibearing vision device, and its lead-in wire is to draw from the top of omnibearing vision device, in order to reach this purpose, need to increase a plane reflection minute surface, as shown in Figure 6; Owing to increased a plane reflection minute surface, requiring to reflect the light that arrives the plane mirror face from the curvilinear plane mirror can become a kind of approximate directional light basically.

Embodiment 4

The opticator of present embodiment, basic principle is substantially the same manner as Example 1, difference is to be designed to light fixture and omnibearing vision device integrated, as long as guarantee that in design process light fixture can be not interference-free to the monitoring visual field of omnibearing vision sensor, and the light that light fixture sent can not shine directly into omnibearing vision sensor, omnibearing vision sensor is connected and can connects with screw thread from the last lower fixed seat of omnibearing vision sensor with the light fixture part, and the bracing frame that is exactly light fixture is screwed on lower fixed seat on the omnibearing vision sensor.

Embodiment 5

The video server of present embodiment part, basic principle are substantially the same manner as Example 1, and difference is various application software will be installed in the video server.

Claims (6)

1, a kind of have consider the conduct monitoring at all levels sighting device of sensory function at heart, it is characterized in that: this device comprises straight to the catadioptric mirror that hangs down, transparent cylinder, camera, mounting bracket, described catadioptric mirror is positioned at the top of transparent cylinder, the bottom of described transparent cylinder is provided with the flat mirror of reflection, the centre of described catadioptric convex lens is provided with through hole, camera is positioned at the top of described catadioptric convex lens, between flat mirror of reflection and catadioptric mirror, be provided with the dark circles cone that diameter diminishes gradually, described coniform body is fixed on the middle part of the flat mirror of reflection, described catadioptric mirror, reflect flat mirror, the center of the camera lens of coniform body and camera is on same central shaft, and the output of described camera connects the microprocessor that is used to handle image; Described catadioptric mirror is a hyperbolic mirror, and described camera comprises collector lens and image unit, and described image unit is positioned at the real focus position of described hyperbolic mirror; The optical system that described hyperbolic mirror constitutes is represented by following 5 equatioies;

((X ²+Y ²)/a ²)-(Z ²/b ²)＝-1 (Z>0) (13)

$c=\sqrt{a^2+b^2}---\left(14\right)$

β＝tan ^-1(Y/X) (15)

α＝tan ^-1[(b ²+c ²)sin?γ-2bc]/(b ²+c ²)cosγ?(16)

$\mathrm{\&gamma;}={\tan }^{-1}[f/\sqrt{(X^2+Y^2)}]---\left(17\right)$

In the following formula, X, Y, Z representation space coordinate, c represents the focal length of hyperbolic mirror, 2c represents two distances between the focus, a, b are respectively the real axis of hyperbolic mirror and the length of the imaginary axis, and β represents the angle-azimuth of incident ray on the XY plane, α represents the angle-angle of depression of incident ray on the XZ plane, and f represents the distance of imaging plane to the real focus of hyperbolic mirror.

2, as claimed in claim 1 have consider the conduct monitoring at all levels sighting device of sensory function at heart, it is characterized in that: described microprocessor comprises that image launches processing module, and described image launches processing module and comprises:

Read the coordinate information unit, be used to read the centre coordinate of the circular omnidirectional images that aforementioned calculation obtains and the inside and outside circle radius of image;

The approximate expansion computing unit is used for the initial point O with the centre coordinate setting plane coordinate system of circular omnidirectional images ^*(0,0), X ^*Axle, Y ^*Axle, the internal diameter of image is r, external diameter is R, radius of a circle: r1=(r+R)/2 in the middle of setting, the azimuth is: β=tan ^-1(y ^*/ x ^*); The rectangle cylinder panoramic image is with origin of coordinates O ^*(0,0), X ^*Axle, Y ^*Axle is a plane coordinate system, is r and X with the internal diameter in the circular omnidirectional images ^*The intersection point (r, 0) of axle is as origin of coordinates O ^*Counterclockwise launch with azimuthal angle beta (0,0); Set up any some pixel coordinate P in the rectangle cylinder panoramic image ^*(x ^*, y ^*) with circular omnidirectional images in pixel coordinate Q ^*(x ^*, y ^*) corresponding relation, its calculating formula is:

x ^*＝y ^*/(tan(360x ^**/π(R+r)))(18)

y ^*＝(y ^**+r)cosβ

(19)

In the following formula, x ^*, y ^*Be the pixel coordinate value of rectangle cylinder panoramic image, x ^*, y ^*Be the pixel coordinate value of circular omnidirectional images, R is the external diameter of circular omnidirectional images, and r is the internal diameter of circular omnidirectional images, and β is the azimuth of circular omnidirectional images coordinate;

The image output unit is used for the image after launching is outputed to display unit.

3, as claimed in claim 1 have consider the conduct monitoring at all levels sighting device of sensory function at heart, it is characterized in that: described microprocessor comprises that image launches processing module, and described image launches processing module and comprises:

Read the coordinate information unit, be used for reading the centre coordinate of the circular omnidirectional images that above-mentioned initialization module calculates and the inside and outside circle radius of image;

Mapping matrix launches the unit, is used for the centre coordinate of circular omnidirectional images is set the initial point O of plane coordinate system ^*(0,0), X ^*Axle, Y ^*Axle, the internal diameter of image is r, and external diameter is R, and the azimuth is: β=tan ^-1(y ^*/ x ^*); The rectangle cylinder panoramic image is with origin of coordinates O ^*(0,0), X ^*Axle, Y ^*Axle is a plane coordinate system, is r and X with the internal diameter in the circular omnidirectional images ^*The intersection point (r, 0) of axle is as origin of coordinates O ^*Counterclockwise launch with azimuthal angle beta (0,0); According to any some pixel coordinate Q in the circular omnidirectional images ^*(x ^*, y ^*) set up with the rectangle cylinder panoramic image in pixel coordinate P ^*(x ^*, y ^*) corresponding relation, set up from Q ^*(x ^*, y ^*) to P ^*(x ^*, y ^*) the mapping matrix corresponding relation, its calculating formula is:

P ^**(x ^**，y ^**)←M×Q ^*(x ^*，y ^*) (20)

In the following formula, Q ^*(x ^*, y ^*) be the matrix of each pixel coordinate on the circular omnidirectional images, M is the corresponding relation matrix from circular omnidirectional images coordinate to rectangle cylinder panoramic image coordinate, P ^*Matrix for each pixel coordinate on the rectangle cylinder panoramic image;

Described M corresponding relation matrix can merge into the software interpolation algorithm, and described software interpolation algorithm comprises the interpolation of amplifying the raising resolution behind the former omnidirectional images and eliminates the interpolation that rounds the error that calculating brings in described expansion unit;

The image output unit is used for the image after launching is outputed to display unit.

4, a kind of have consider the conduct monitoring at all levels sighting device of sensory function at heart, it is characterized in that: this device comprises straight to the catadioptric mirror that hangs down, transparent cylinder, camera, mounting bracket, described catadioptric mirror is positioned at the top of transparent cylinder, the bottom of described transparent cylinder is provided with the flat mirror of reflection, the centre of described catadioptric convex lens is provided with through hole, camera is positioned at the top of described catadioptric convex lens, between flat mirror of reflection and catadioptric mirror, be provided with the dark circles cone that diameter diminishes gradually, described coniform body is fixed on the middle part of the flat mirror of reflection, described catadioptric mirror, reflect flat mirror, the center of the camera lens of coniform body and camera is on same central shaft, and the output of described camera connects the microprocessor that is used to handle image; Described catadioptric mirror is the deformation-free refringent/reflection lens of horizontal direction, the projection centre C of camera is the horizontal scene h of distance place above horizontal scene, the summit of refringent/reflection lens is above projection centre, apart from projection centre zo place, with the camera projection centre is that the origin of coordinates is set up coordinate system, the face shape of refringent/reflection lens is used z (X) function representation, the pixel q of distance images central point ρ has accepted from horizontal scene O point in as the plane, apart from Z axle d, at the light of refringent/reflection lens M point reflection, horizontal scene is undistorted to require the coordinate of the horizontal coordinate of scene object point and corresponding picture point linear.5, as claimed in claim 4 have consider the conduct monitoring at all levels sighting device of sensory function at heart, it is characterized in that: described microprocessor comprises that image launches processing module, and described image launches processing module and comprises:

Read the coordinate information unit, be used to read the centre coordinate of the circular omnidirectional images that aforementioned calculation obtains and the inside and outside circle radius of image;

Polar coordinates unfolding calculation unit, the position and the internal diameter that are used for according to the central point of omnidirectional images are that r, external diameter are R, r ^*Be the radical length of distance interior circle in arbitrfary point on the image, the azimuth is: β=tan ^-1(y ^*/ x ^*), set up polar coordinates (r ^*, β), be respectively (x with the intersecting point coordinate on comprehensive inside and outside circle border ^* _Inner(β), y ^* _Inner(β)) and (x ^* _Outer(β), y ^* _Outer(β)); Rectangle cylinder omnidirectional images is with origin of coordinates O ^*(0,0), X ^*Axle, Y ^*Axle is a plane coordinate system, is r and X with the internal diameter in the circular omnidirectional images ^*The intersection point (r, 0) of axle is as origin of coordinates O ^*Counterclockwise launch with azimuthal angle beta (0,0); According to any some pixel coordinates (r in the circular omnidirectional images ^*, β) pixel coordinates P in foundation and the rectangle cylinder omnidirectional images ^*(x ^*, y ^*) corresponding relation, its calculating formula is:

$\left\{\begin{array}{c}{x}^{**}(r^{*},\mathrm{\&beta;})=(1-r^{*}){x^{*}}_{\mathrm{inner}}\left(\mathrm{\&beta;}\right)+r^{*}{x^{*}}_{\mathrm{outer}}\left(\mathrm{\&beta;}\right)\\ y^{**}(r^{*},\mathrm{\&beta;})=(1-r^{*}){y^{*}}_{\mathrm{inner}}\left(\mathrm{\&beta;}\right)+{r^{*}{y}^{*}}_{\mathrm{outer}}\left(\mathrm{\&beta;}\right)\end{array}\right.---\left(21\right);$

The image output unit is used for the image after launching is outputed to display unit.

6, a kind of have consider the conduct monitoring at all levels sighting device of sensory function at heart, it is characterized in that: this device comprises straight to the catadioptric mirror that hangs down, transparent cylinder, towards last camera, mounting bracket, described catadioptric mirror is positioned at the top of transparent cylinder, described camera is positioned at the bottom of transparent cylinder, fixedly connected with mounting bracket in the lower end of described cylinder, between catadioptric mirror and camera, be provided with the dark circles cone that diameter diminishes gradually, described coniform body is fixed on the middle part of catadioptric mirror, described catadioptric mirror, the center of the camera lens of coniform body and camera is on same central shaft, and the output of described camera connects the microprocessor that is used for image processing; Described catadioptric mirror is a hyperbolic mirror, and described camera comprises collector lens and image unit, and described image unit is positioned at the virtual focus position of described hyperbolic mirror; The optical system that described hyperbolic mirror constitutes is represented by following 5 equatioies;

((X ²+Y ²)/a ²)-(Z ²/b ²)＝-1 (Z>0) (13)

$c=\sqrt{a^2+b^2}---\left(14\right)$

β＝tan ^-1(Y/X) (15)

α＝tan ^-1[(b ²+c ²)sinγ-2bc]/(b ²+c ²)cosγ (16)

$\mathrm{\&gamma;}={\tan }^{-1}[f/\sqrt{(X^2+Y^2)}]---\left(17\right)$

In the following formula, X, Y, Z representation space coordinate, c represents the focal length of hyperbolic mirror, 2c represents two distances between the focus, a, b are respectively the real axis of hyperbolic mirror and the length of the imaginary axis, and β represents the angle-azimuth of incident ray on the XY plane, α represents the angle-angle of depression of incident ray on the XZ plane, and f represents the distance of imaging plane to the virtual focus of hyperbolic mirror.

7, a kind of have consider the conduct monitoring at all levels sighting device of sensory function at heart, it is characterized in that: this device comprises straight to the catadioptric mirror that hangs down, transparent cylinder, towards last camera, mounting bracket, described catadioptric mirror is positioned at the top of transparent cylinder, described camera is positioned at the bottom of transparent cylinder, fixedly connected with mounting bracket in the lower end of described cylinder, between catadioptric mirror and camera, be provided with the dark circles cone that diameter diminishes gradually, described coniform body is fixed on the middle part of catadioptric mirror, described catadioptric mirror, the center of the camera lens of coniform body and camera is on same central shaft, and the output of described camera connects the microprocessor that is used for image processing; Described catadioptric mirror is the deformation-free refringent/reflection lens of horizontal direction, the projection centre C of camera is the horizontal scene h of distance place above horizontal scene, the summit of refringent/reflection lens is above projection centre, apart from projection centre zo place, with the camera projection centre is that the origin of coordinates is set up coordinate system, the face shape of refringent/reflection lens is used z (X) function representation, the pixel q of distance images central point ρ has accepted from horizontal scene O point in as the plane, apart from Z axle d, at the light of refringent/reflection lens M point reflection, horizontal scene is undistorted to require the coordinate of the horizontal coordinate of scene object point and corresponding picture point linear.

Images