CN101414054B - Device and method for implementing stereo imaging by overall view ring belt imaging lens - Google Patents
Device and method for implementing stereo imaging by overall view ring belt imaging lens Download PDFInfo
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- CN101414054B CN101414054B CN2008101623004A CN200810162300A CN101414054B CN 101414054 B CN101414054 B CN 101414054B CN 2008101623004 A CN2008101623004 A CN 2008101623004A CN 200810162300 A CN200810162300 A CN 200810162300A CN 101414054 B CN101414054 B CN 101414054B
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Abstract
The invention discloses a device using panoramic view zone imaging lenses to realize stereoscopic imaging and a method thereof. The optical line emitted by an object point is formed on the image surface through the first panoramic view zone imaging lens, and the formed image is a first zone; the other optical line emitted by the object point is also formed on the same image surface through the second panoramic view zone imaging lens, and the formed image is a second zone; by changing the curvatures of all the surfaces in the first panoramic view zone imaging lens and all the surfaces in the second panoramic view zone imaging lens, the outside diameter of a first zone is smaller than the inside diameter of a second zone. By utilizing two panoramic view ring-shaped lenses positioned on the same optical axis, the invention forms the image of the same object point in the zone object space on the two noverlapping image points positioned on the same image surface; as the two images points obtain the information of the same object point from different visual angles, the steric information of the object point can be obtained, thus only one optical system can be used for realizing the stereoscopic imaging of panoramic view zone space.
Description
Technical field
The present invention relates to the lens imaging devices and methods therefor, relate in particular to a kind of overall view ring belt imaging len that utilizes and realize stereoscopic imaging apparatus and method thereof.
Background technology
Traditional full-view stereo imaging generally needs two small field of view imaging lens to aim at identical scenery, obtains the steric information of small field of view scenery, simultaneously these two imaging lens rotations is realized the full-view stereo imaging for 360 ° then.This method needs moving component, need carry out the software splicing of stereo-picture, poor reliability; Simultaneously can't realize instantaneous full-view stereo imaging.
Overall view ring belt imaging technique based on plane cylinder projection theory is the distinct new imaging technique of a kind of and traditional central projection principle, can need not to rotate under the condition of imaging system, 360 ° endless belt scenery on every side is imaged on the same endless belt image planes once, has realized 360 ° of panorama staring imagings from optical principle.As patent US Patent 4,566,763,1986 and US Patent 5,473,474,1995 is described, extrawide angle lens adopts plane cylinder sciagraphy FCP (Flat Cylinder Perspective), will project to around the cylindrical field of view of 360 ° of scopes of system optical axis in the annular region on the two dimensional surface.This full shot is made of translucent materials such as glass, the geometry of extrawide angle lens and follow-up lens combination thereof is by shown in Figure 3, lens simultaneously are outwards outstanding annular first plane of refraction 2, the lens another side is outwards outstanding annular first reflecting surface 3, be provided with concave surface second reflecting surface 4 at the lens annular first plane of refraction center, intracardiac ring edge and second reflecting surface, 4 side edge in annular first plane of refraction 2, be provided with second plane of refraction 5 at annular first reflecting surface 3 centers, intracardiac ring edge and second plane of refraction, 5 side edge in annular first reflecting surface 3.
Light enters from 2 faces and is refracted into 3, reflexes to 4 through 3 faces, reflexes to 5 through 4 faces, reflects lens at 5 faces at last.Light is by the portion or the rear formation virtual image within it behind the extrawide angle lens, and this virtual image is transformed into real image by follow-up lens combination 12, and the CCD/CMOS detector that is positioned at image planes 13 receives, and becomes the endless belt picture.
Utilize this overall view ring belt imaging technique can conveniently realize the full-view stereo imaging, promptly utilize the binocular vision principle, two overall view ring belt imaging systems are placed side by side.The advantage of this method is a movement-less part, can obtain panoramic picture in real time, but owing to exist 360 ° of endless belt scenery parts by phenomenon that another omnidirectional imaging system blocked, can't obtain complete full-view stereo image-forming information, use two omnidirectional imaging systems simultaneously, increased the weight and the system complexity of system.External and domestic also have the scholar to propose to utilize the catadioptric camera of two hyperboloids to realize the full-view stereo imaging method, change method placed side by side, with the coaxial placement up and down of two panorama cameras, but owing to need two optical systems and two detectors, not only complex structure, Heavy Weight, and have the images match error.
Scholar such as Korea S and Canada utilizes two high order non-spherical reflectors to finish the development of full-view stereo imaging optical system, for only just realizing that with an optical system full-view stereo imaging has proposed effective solution route, but because optical system is based on the total reflection structure, the mirror size of system is too huge with respect to the focal length of optical system, and system architecture only limits to the light pencil imaging, be difficult to improve the resolution of optical system, especially at infrared band, be difficult to realize the full-view stereo imaging optical system that infrared eye requires that satisfies of little F number (being big relative aperture) as D/F=1.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, provide a kind of overall view ring belt imaging len that utilizes to realize stereoscopic imaging apparatus and method thereof.
Utilize the overall view ring belt imaging len to realize that stereoscopic imaging apparatus is: on same optical axis, to be provided with the first overall view ring belt imaging len successively, the second overall view ring belt imaging len, follow-up image rotation lenses and image planes, the first overall view ring belt imaging len simultaneously is outwards outstanding annular first plane of refraction, another side is outwards outstanding annular first reflecting surface, be provided with concave surface second reflecting surface at the annular first plane of refraction center, the intracardiac ring edge and the second reflecting surface side edge in annular first plane of refraction, be provided with second plane of refraction at the annular first reflecting surface center, the intracardiac ring edge and the second plane of refraction side edge in annular first reflecting surface, the second overall view ring belt imaging len simultaneously is outwards outstanding annular third reflect face, another side is outwards outstanding annular the 3rd reflecting surface, be provided with ring-like the 4th reflecting surface of concave surface at annular third reflect face center, intracardiac ring edge and ring-like the 4th reflecting surface outward flange join in the annular third reflect face, be provided with the fourth reflect face at ring-like the 4th reflecting surface center of concave surface, intracardiac ring edge and fourth reflect face side edge in ring-like the 4th reflecting surface of concave surface.Be provided with the 5th plane of refraction at annular the 3rd reflecting surface center, intracardiac ring edge and the 5th plane of refraction side edge in annular the 3rd reflecting surface.
Described follow-up image rotation lenses is one or more pieces convex lens or concavees lens.
Utilize the overall view ring belt imaging len to realize that the method for three-dimensional imaging is: the light that object point sends, be imaged on the image planes through the first overall view ring belt imaging len, it looks like is first endless belt; The other light that object point sends through the second overall view ring belt imaging len, also is imaged on the same image planes, and it looks like is second endless belt; The curvature of third reflect face, the 4th reflecting surface and the 3rd reflecting surface in the curvature by changing annular first plane of refraction, first reflecting surface and second reflecting surface in the first overall view ring belt imaging len and the second overall view ring belt imaging len, make the external diameter of the endless belt of winning, less than the internal diameter of second endless belt.
Utilization of the present invention is positioned at two panoramic ring lens on the same optical axis, same object point in the endless belt object space is imaged on two picture points that are positioned on the same image planes, and these two picture points lay respectively at two panoramic ring lens to become adjacent one another are of same endless belt object space but in the concentric endless belt picture zone that varies in size.Since these two picture points be from different visual angles to the information that same object point obtained, therefore just can obtain the steric information of this object point, thereby only just realize the three-dimensional imaging in overall view ring belt space with an optical system.This system compares with reflective overall view ring belt imaging arrangement owing to utilize the panoramic ring lens to realize the endless belt imaging, can improve the relative aperture of optical system, has high-resolution full-view stereo imaging capability.This full-view stereo imaging system will have following characteristics: 1) only use a panoramic optical systems and a detector, and simple in structure, in light weight; 2) movement-less part need not to rotate optical system, the reliability height.
Description of drawings
Fig. 1 utilizes the overall view ring belt imaging len to realize the stereoscopic imaging apparatus synoptic diagram;
Fig. 2 is image planes figure of the present invention;
Fig. 3 is an extrawide angle lens image-forming principle synoptic diagram;
Among the figure: the first overall view ring belt imaging len 1, first plane of refraction 2, first reflecting surface 3, second reflecting surface 4, second plane of refraction 5, the second overall view ring belt imaging len 6, third reflect face 7, the 4th reflecting surface 8, fourth reflect face 9, the 3rd reflecting surface 10, the 5th plane of refraction 11, follow-up image rotation lenses 12, imaging plane 13, article one light 14, second light 15, the first endless belt image planes 16, the second endless belt image planes 17, object point P, the first picture point P ', the second picture point P ".
Embodiment
As Fig. 1, shown in 2, utilize the overall view ring belt imaging len to realize that stereoscopic imaging apparatus is to be provided with the first overall view ring belt imaging len 1 on same optical axis successively, the second overall view ring belt imaging len 6, follow-up image rotation lenses 12, image planes 13, the first overall view ring belt imaging len, 1 one side is outwards outstanding annular first plane of refraction 2, another side is outwards outstanding annular first reflecting surface 3, be provided with concave surface second reflecting surface 4 at the annular first plane of refraction center, intracardiac ring edge and second reflecting surface, 4 side edge in annular first plane of refraction 2, be provided with second plane of refraction 5 at annular first reflecting surface 3 centers, intracardiac ring edge and second plane of refraction, 5 side edge in annular first reflecting surface 3, the second overall view ring belt imaging len, 6 one sides are outwards outstanding annular third reflect face 7, another side is outwards outstanding annular the 3rd reflecting surface 10, be provided with ring-like the 4th reflecting surface 8 of concave surface at annular third reflect face 7 centers, intracardiac ring edge and ring-like the 4th reflecting surface 8 side edge in the annular third reflect face 7, be provided with fourth reflect face 9 at ring-like the 4th reflecting surface of concave surface 8 centers, intracardiac ring edge and fourth reflect face 9 side edge in ring-like the 4th reflecting surface 8 of concave surface.Be provided with the 5th plane of refraction 11 at annular the 3rd reflecting surface 10 centers, intracardiac ring edge and the 5th plane of refraction 11 side edge in concave surface annular the 3rd reflecting surface 10.Described follow-up image rotation lenses 12 is one or more pieces convex lens or concavees lens.First endless belt 16 is the imaging region of the first overall view ring belt imaging len 1; Second endless belt 17 is the imaging region of the second overall view ring belt imaging len 6.
As shown in Figure 3, the structure of extrawide angle lens is: one side is outwards outstanding annular first plane of refraction 2, the lens another side is concave surface annular first reflecting surface 3, be provided with concave surface second reflecting surface 4 at the lens annular first plane of refraction center, intracardiac ring edge and second reflecting surface, 4 side edge in annular first plane of refraction 2, be provided with second plane of refraction 5 at concave surface annular first reflecting surface 3 centers, intracardiac ring edge and second plane of refraction, 5 side edge in concave surface annular first reflecting surface 3.The image-forming principle of extrawide angle lens is: light enters from 2 faces and is refracted into 3, reflexes to 4 through 3 faces, reflexes to 5 through 4 faces, reflects lens at 5 faces at last.Light is by the portion or the rear formation virtual image within it behind the extrawide angle lens, and this virtual image is transformed into real image by follow-up lens combination 12, and the CCD/CMOS detector that is positioned at image planes 13 receives.
Utilize the overall view ring belt imaging len to realize that the method for three-dimensional imaging is: the light 14 that object point P sends, be imaged on the surface 13 through the first overall view ring belt imaging len 1, its as P ' in first endless belt 16; The other light 15 that object point P sends through the second overall view ring belt imaging len 6, also is imaged on the surface 13, and it is as P " in second endless belt 17; The curvature of third reflect face 7, the 4th reflecting surface 8 and the 3rd reflecting surface 10 in the curvature by changing annular first plane of refraction 2, first reflecting surface 3 and second reflecting surface 4 in the first overall view ring belt imaging len 1 and the second overall view ring belt imaging len 6, make the external diameter of the endless belt 16 of winning, less than the internal diameter of second endless belt 17.
Because there is circular blind area inevitably in overall view ring belt imaging image planes center, the present invention utilizes this blind area, the imaging region 16 that makes the first overall view ring belt imaging len 1 is in the blind area scope of the imaging region 17 of the second overall view ring belt imaging len 6, and two endless belt imaging regions 16 and 17 do not overlap mutually.The endless belt that system became similarly is a concentric endless belt picture adjacent one another are, that vary in size, utilizes the information of these two endless belt pictures, just can by Digital Image Processing, obtain the depth information of overall view ring belt visual field based on the principle of binocular vision.
When the first overall view ring belt imaging len 1 and the second overall view ring belt imaging len 6 are made: after designing optical system, determined the kind of optical glass, then the first overall view ring belt imaging len 1 is ground into designated shape respectively with the second overall view ring belt imaging len 6, to first plane of refraction 2, first reflecting surface 3, second reflecting surface 4, second plane of refraction 5, third reflect face 7, the 4th reflecting surface 8, fourth reflect face 9, the 3rd reflecting surface 10, the 5th plane of refraction 11 polishes respectively, then at first reflecting surface 3, second reflecting surface 4, the 4th reflecting surface 8, on the 3rd reflecting surface 10, by modes such as vacuum evaporations, plate metal and increase anti-film and increase surface reflectivity.On first plane of refraction 2, second plane of refraction 5, third reflect face 7, fourth reflect face 9, the 5th plane of refraction 11, plate anti-reflection film, increase surperficial transmitance.The wavelength of plated film is determined according to the centre wavelength of design.
When follow-up image rotation lenses 12 is made: according to the optical system that designs, determine follow-up image rotation lenses 12 needed lens numbers, the kind of optical glass grinds into designated shape to follow-up image rotation lenses then, logical optical surface plating anti-reflection film to each sheet increases surperficial transmitance.The wavelength of plated film is determined according to the centre wavelength of design.
The present invention can utilize the optical design software optimal design to finish the design of final system by setting up initial configuration.When utilizing ZEMAX software to be optimized design, can finish the optimal design of same visual field, different entrance pupil, identical image planes, different image heights by Multi-configuration.Can adopt transparent cylindrical organic glass as support between the first overall view ring belt imaging len 1 and the second overall view ring belt imaging len 6.
Claims (3)
1. one kind is utilized the overall view ring belt imaging len to realize stereoscopic imaging apparatus, it is characterized in that, on same optical axis, be provided with the first overall view ring belt imaging len (1) successively, the second overall view ring belt imaging len (6), follow-up image rotation lenses (12) and image planes (13), the first overall view ring belt imaging len (1) one side is outwards outstanding annular first plane of refraction (2), another side is outwards outstanding annular first reflecting surface (3), be provided with concave surface second reflecting surface (4) at annular first plane of refraction (2) center, intracardiac ring edge and second reflecting surface (4) side edge in annular first plane of refraction (2), be provided with second plane of refraction (5) at annular first reflecting surface (3) center, intracardiac ring edge and second plane of refraction (5) side edge in annular first reflecting surface (3), the second overall view ring belt imaging len (6) one side is outwards outstanding annular third reflect face (7), another side is outwards outstanding annular the 3rd reflecting surface (10), be provided with ring-like the 4th reflecting surface of concave surface (8) at annular third reflect face (7) center, intracardiac ring edge and ring-like the 4th reflecting surface (8) outward flange join in the annular third reflect face (7), be provided with fourth reflect face (9) at ring-like the 4th reflecting surface of concave surface (8) center, intracardiac ring edge and fourth reflect face (9) side edge in ring-like the 4th reflecting surface of concave surface (8), be provided with the 5th plane of refraction (11), intracardiac ring edge and the 5th plane of refraction (11) side edge in annular the 3rd reflecting surface (10) at annular the 3rd reflecting surface (10) center.
2. a kind of overall view ring belt imaging len that utilizes according to claim 1 is realized stereoscopic imaging apparatus, it is characterized in that described follow-up image rotation lenses (12) is one or more pieces convex lens or concavees lens.
3. the overall view ring belt imaging len that utilizes that a use is installed is according to claim 1 realized the method for three-dimensional imaging, it is characterized in that the light (14) that object point sends, be imaged on the imaging plane (13) through the first overall view ring belt imaging len (1), it looks like is first endless belt (16); The other light (15) that object point sends also is imaged on the imaging plane (13) through the second overall view ring belt imaging len (6), and it looks like is second endless belt (17); The curvature of third reflect face (7), the 4th reflecting surface (8) and the 3rd reflecting surface (10) in the curvature by changing annular first plane of refraction (2), first reflecting surface (3) and second reflecting surface (4) in the first overall view ring belt imaging len (1) and the second overall view ring belt imaging len (6), make the external diameter of the endless belt of winning (16), less than the internal diameter of second endless belt (17).
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| Publication number | Priority date | Publication date | Assignee | Title |
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| FI20105977A0 (en) * | 2010-09-22 | 2010-09-22 | Valtion Teknillinen | Optical system |
| CN102103251B (en) * | 2011-01-25 | 2013-04-03 | 苏州大学 | Panoramic lens and zooming method thereof |
| CN102508354B (en) * | 2011-10-27 | 2013-07-10 | 浙江大学 | Device and method of using panorama zone lens for achieving panorama telescopic combination imaging |
| CN102494769B (en) * | 2011-11-30 | 2013-09-18 | 北京理工大学 | Single-channel multiple reflection annular multispectral imaging optical system |
| CN103293845B (en) * | 2013-06-26 | 2015-08-19 | 浙江大学 | A kind of panoramic imaging device and method |
| GB2525170A (en) | 2014-04-07 | 2015-10-21 | Nokia Technologies Oy | Stereo viewing |
| CN104181675B (en) * | 2014-07-18 | 2017-01-11 | 浙江大学 | Dead-zone-free panoramic annular-band imaging system using optical thin film to realize refraction and reflection |
| CN105824184B (en) * | 2016-04-18 | 2018-10-30 | 浙江大学 | A kind of hemisphere face and side omnidirectional imaging system |
| CN105759435B (en) * | 2016-05-07 | 2018-07-24 | 杭州映墨科技有限公司 | Overall view ring belt stereo imaging system and its scaling method and imaging method |
| CN106773034A (en) * | 2017-01-16 | 2017-05-31 | 浙江大学 | The common light path overall view ring belt optical imaging device of active polarization targets improvement |
| CN111897117A (en) * | 2020-08-12 | 2020-11-06 | 长春理工大学 | Ultra-thin medium-long wave infrared dual-waveband imaging system |
| CN112822359B (en) * | 2020-12-30 | 2022-03-25 | 山东大学 | Panoramic imaging system and method based on vehicle-mounted drilling and blasting tunnel |
| CN114185243A (en) * | 2021-12-08 | 2022-03-15 | 浙江大学 | Non-blind-area multi-view panoramic stereo imaging device |
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Application publication date: 20090422 Assignee: Hangzhou Zhida Electro-Optical Co.,Ltd. Assignor: Zhejiang University Contract record no.: 2017330000051 Denomination of invention: Device and method for implementing stereo imaging by overall view ring belt imaging lens Granted publication date: 20101215 License type: Exclusive License Record date: 20170428 |