CN101644571A - Active three-dimensional stereoscopic panoramic vision sensor with equiangular distinguishing ratio - Google Patents

Abstract

The invention discloses an active three-dimensional stereoscopic panoramic vision sensor with equiangular distinguishing ratio, comprising a panoramic vision sensor with equiangular distinguishing ratio, a color panoramic vision projection light source and a microprocessor for the three dimensional stereoscopic camera measurement of omni-directional image. The panoramic vision sensor with the equiangular distinguishing ratio and the color panoramic vision projection light source are arranged on the same axial lead; the panoramic vision projection light source is formed by assembling a plurality of sets of LEDs with different luminous central wavelength and ultra-high brightness according to a single transmitting centre point, so as to provide an active panoramic structure light source forthe panoramic vision sensor with equiangular distinguishing ratio; and the color panoramic vision projection light source is combined with the panoramic vision sensor with equiangular distinguishing ratio so as to be capable of obtaining a scenery depth and color corresponding diagram which is corresponding to a practical object one by one on an imaging plane. The active three-dimensional stereoscopic panoramic vision sensor can reduce computation, fast completes measurement, and has good instantaneity, strong practicability, high robustness, and the equiangular distinguishing ratio.

Description

The active three-dimensional panoramic vision sensor that angular resolution such as has

Technical field

The present invention relates to the application aspect the three-dimensional stereoscopic visual measurement of led light source, optical technology and computer vision technique, especially a kind of active three-dimensional panoramic vision sensor.

Background technology

Aspect video image information obtains, the vision signal source quality is the bottleneck problem of computer vision always, and the deriving means of desirable computer vision signal source is to want to obtain and the actual object vision sensor of the scenery degree of depth and color corresponding diagram one to one.Obviously only depend on the vision sensor on a two-dimensional imaging plane obtain with actual object one to one the scenery degree of depth and color corresponding diagram be impossible, need the other technologies support just might realize this desirable stereoscopic vision sensing.

Present vision sensor technology uses the imaging plane image of a two dimension to express the image of an actual three-dimensional space when the photographed scene process, has therefore lost scene depth information in imaging process; In order to obtain scene depth information, people have just proposed the stereoscopic vision method, promptly utilize the binocular parallax principle of human eye, the method of imitation human use binocular clue perceived distance, realization is to the perception of three-dimensional information, binocular receives the left and right sides image from Same Scene, specific camera point independently of one another, calculates distance from parallax, thereby obtains to have the stereo-picture of depth perception.The stereoscopic vision key be to solve about how to establish the same object point on the space in two width of cloth two-dimensional video image two radioactive ray intersect problem.At present, this three-dimensional video-frequency technology does not also have fine solution in the basic problem aspect demarcation, coupling and the reconstruct, do not break away from camera calibration, feature extraction and stereo-picture coupling aspect existing some insoluble problems, particularly also being difficult to video image to different visual angles does not have ambiguity, high-accuracy, real-time solid coupling, is called as " morbid state " computational problem in computer vision.The method that this class is dealt with problems not is to solve the stereoscopic vision problem from the of vision sensor own, but recovers three-dimensional image by two two-dimensional imaging planes.

In the three-dimensional scenic restructuring procedure, a well-known difficult problem is exactly the uncertain problem of match point on the scene image.Usually a kind of effective method that addresses this problem is to adopt structured light active vision technology, as dot structure light, line-structured light scanning method and coded structured light method etc.Yet scanning method must use the precision calibration device to demarcate in advance related parameter is arranged, and they can only be applicable to specific occasions, accomplish that online in real time demarcates or do not demarcate the reconstruct three-dimensional scenic, difficulty is very big, even may sometimes.More prior is that they can not use piece image reconstruct three-dimensional scenic.The method that this class is dealt with problems relatively approaches the thinking of real-time stereoscopic vision sensing, but can't on the pixel on the two-dimensional imaging plane, set up and actual object the scenery degree of depth and color corresponding relation one to one, thereby influenced the processing capability in real time of visual sensing.

The panoramic vision sensor ODVS that developed recently gets up (OmniDirectional Vision Sensors) provide a kind of new solution for the panoramic picture that obtains scene in real time.The characteristics of ODVS are looking away (360 degree), can become piece image to the Information Compression in the hemisphere visual field, and the quantity of information of piece image is bigger; When obtaining a scene image, the riding position of ODVS in scene is free more; ODVS is without run-home during monitoring environment; Algorithm is simpler during moving object in the detection and tracking monitoring range; Can obtain the realtime graphic of scene.Also provide a fundamental simultaneously for the stereoscopic vision measuring system that makes up the binocular panoramic vision sensor.

The Chinese invention patent application number is 200510045648.1 to disclose a kind of omnidirectional stereo vision imaging method and device, in this patent the optical axis of a perspective camera lens and the common axis of symmetry of two mirror surfaces are overlapped placement, in the space a bit respectively after the reflection of two mirror surfaces respectively at the picture planar imaging of described perspective camera in 2 different points, be equivalent to two camera imagings; Device comprises two mirror surfaces, camera, and the common axis of symmetry of the optical axis of described camera lens and two mirror surfaces overlaps.The problem of the existence of this scheme is: 1) because unique point " two width of cloth " omni-directional image that piece image has comprised, the image parallactic of permission has reduced half, so the measurement range of vision system has at least also reduced half; 2) blocking can appear in two mirror surfaces up and down, influences the stereoscopic vision scope; 3) since the unique point of same object on two mirror surfaces up and down through the position difference of the decentering point on piece image of the imaging point after the catadioptric, more than the high twice of imaging resolution of the imaging resolution of upper reflector face than following mirror surface; 4) owing to have an X-rayed the focusing problem that camera lens exists, some mirror surfaces that can only satisfy in two mirror surfaces are pinpointed focus, thereby will inevitably influence image quality; 5) focal length of two mirror surfaces is exactly the baseline distance of this system, thereby causes baseline apart from too short, influences measuring accuracy.

The Chinese invention patent application number is 200810062128.5 to disclose a kind of stereo vision measuring apparatus based on binocular omnidirectional visual sense sensor, two ODVS that form stereo vision measuring apparatus in this patent have adopted the design of average angle resolution, the parameter of two video cameras of images acquired is in full accord, has fabulous symmetry, the coupling that can realize fast and put, thus reach the purpose that stereoscopic vision is measured.But still need bigger computational resource from finishing the point-to-point measurement in space that matches, realize that the measurement in space of real-time online and 3 D stereo reconstruct still exist " morbid state " computational problem.

The biggest problem is that ubiquitous computer resource usage was big during the stereo camera shooting of passive type was measured, real-time performance is poor, practicality is strong, robustness is not high in the above-mentioned three-dimensional stereoscopic visual measuring technique of introducing.Usually a kind of effective method that addresses this problem is to adopt structured light active vision technology, as dot structure light, line-structured light scanning method and coded structured light method etc.Yet these methods must use the precision calibration device to demarcate in advance related parameter is arranged, and they can only be applicable to specific occasions, accomplish that online in real time demarcates or do not demarcate the reconstruct three-dimensional scenic, difficulty is very big, even may sometimes.While is supported at the colorama coding techniques that omni-directional visual needs a kind of panorama.

The colorama coding techniques of realizing panorama that appears as of led light source provides technical foundation, use super brightness power-type red, green, blue three-primary color LED, can be made into the compact conformation luminescence efficiency digital toning dimmed light sources that many higher than the conventional incandescent lamp source, the coupled computer control technology can obtain extremely colourful illumination effect.

LED, light emitting diode are light emitting diode again, and English Light Emitting Diode by name is a kind of a kind of semiconductor devices that electric energy can be become luminous energy, belongs to solid state light emitter.Led light source has following advantage: (1) is photochromic pure: LED is discrete spectrum, and spectral line is narrow, and rich color is bright-coloured, can have diversified tone to select and luminous intensity distribution; (2) light beam is concentrated: the luminous major part of LED is concentrated and is converged at the center, and the angle of divergence is little, and the emission optic angle is at 10 °～100 °, and uniformity of luminance is good, can reduce dazzle, simplifies the structure of the colorama scrambler of panorama; (3) miniaturization: LED uses the epoxy encapsulation solid state light emitter, its structure had both had fragile parts such as glass envelope, filament unlike incandescent lamp, also bulky fluorescent tube and annex are arranged unlike fluorescent light, therefore it is a kind of total solids structure, can stand vibrations, impact and unlikely damage, and volume reduces relatively also, weight is also light, applying flexible can be at the small space light projector, is beneficial to be integrated in the panoramic vision sensor; Each unit LEDs small pieces is squares of 3-5mm, so can be prepared into the device that meets panorama color structured light device shape; (4) response speed is fast: the LED lamp response time is short, but moment start, switch can be controlled flexibly repeatedly, adds that sequential control circuit can realize multiple moving, the light change of dodging, jumping.The luminous response time of LED is a nanosecond, and fluorescent light is generally Millisecond: (5) usefulness height: consumed energy reduces 80%, the design that can save radiator portion than the incandescent lamp with light efficiency; (6) color is abundant: changing electric current can variable color, and light emitting diode is adjusted the band structure and the band gap of material easily by chemical modification method, realizes that the green blue orange of reddish yellow is multicolor luminous; Can cover whole visible light and infrared light by design; (7) extra long life: the life-span of LED element is very long, can reach 50000 hours in theory, is ten times of projection bulb, if use calculating in 5 hours every day, led light source can use more than 10 years, and frequent switch, also can not have influence on serviceable life; (8) brightness decay is little: the luminous directive property of LED is very strong, and brightness decay is more much lower than conventional light source, and after using 2000 hours, its fading rate is no more than 5%.Therefore, utilize these advantages of LED device to realize a kind of colorama scrambler of panorama, for active three-dimensional panoramic vision sensor provides a kind of color panoramic projective light source.

In addition, need full colorization, ultra-high brightness LED technical support as color panoramic projective light source, super brightness (UHB) is meant that luminous intensity meets or exceeds the LED of 100mcd, claims candela (cd) level LED again.Recent years, the development progress of high brightness AlGaInP and InGaN LED was very rapid, and present technical merit has reached the performance level that conventional material GaAlAs, GaAsP, GaP can not reach.Toshiba Corp in 1991 and U.S. Hewlett-Packard Corporation are developed into the orange ultra-high brightness LED of InGaAlP 620nm, the yellow ultra-high brightness LED practicability of InGaAlp590nm in 1992.The same year, the development InGaAlP 573nm of Toshiba yellow green ultra-high brightness LED, normal luminous intensity reaches 2cd.Japanese Ri Ya company was developed into InGaN 450nm indigo plant (green) look ultra-high brightness LED in 1994.So far for this reason, the LED of three primary colours red, green, blue that colour projection's demonstration is required and orange, yellow multiple color has reached the luminous intensity of candela level, realized super brightnessization, full colorization, make the LED luminotron out of doors in the environment full color projection become a reality gradually.

Summary of the invention

For the computer resource usage that overcomes existing stereo vision measuring apparatus is big, real-time performance is poor, practicality is strong, the not high deficiency of robustness, the invention provides and a kind ofly can reduce computer resource usage, finish measurement, active three-dimensional panoramic vision sensor that real-time is good, practical, robustness is high, that have average angle resolution fast.

The technical scheme that the present invention adopts in order to solve the problems of the technologies described above is:

A kind of active three-dimensional panoramic vision sensor with average angle resolution, comprise panoramic vision sensor, color panoramic projective light source with average angle resolution and the microprocessor that is used for omnidirectional images is carried out the 3 D stereo videographic measurment, described panoramic vision sensor and described color panoramic projective light source with average angle resolution is configured on the same axis heart line; Described panoramic vision sensor with average angle resolution comprises image unit, transparent semicircle outer cover, loam cake, secondary catadioptric minute surface, a catadioptric minute surface; A described catadioptric minute surface is fixed on and covers on described, described secondary catadioptric minute surface is fixed on the bottom of described transparent semicircle outer cover, described transparent semicircle outer cover is fixedlyed connected with described loam cake, described image unit is fixed on and covers on described, the aperture of the camera lens of described image unit on a described catadioptric minute surface, the camera lens of described image unit is on the viewpoint of a described catadioptric minute surface, and the output of the described image unit in the described panoramic vision sensor with average angle resolution is connected with described microprocessor; Described color panoramic projective light source comprises that ball face structure base board and many groups have the ultra-high brightness LED of different luminescent center wavelength; Described color panoramic projective light source is connected by web member with described panoramic vision sensor with average angle resolution;

Comprise in the described microprocessor:

The color panoramic projective light source control module, be used to control color panoramic projective light source and send full color panoramic structure light, when the color panoramic projective light source control module makes the power supply of color panoramic projective light source be in the ON state, in the image-generating unit of panoramic vision sensor, directly obtain the degree of depth and the orientation angles information of space object point; When the color panoramic projective light source control module makes the power supply of color panoramic projective light source be in the OFF state, in the image-generating unit of panoramic vision sensor, directly obtain the actual color information of space object point; The power supply switch control of actual color panoramic projective light source adopts electronic switch to realize;

The video image read module is used to read the video image of panoramic vision sensor, and is kept in the described memory device, and its output is connected with described spatial information computing module; Each pixel color in the full-view video image that is read when the power supply of color panoramic projective light source is in the ON state has the degree of depth and the orientation angles information of certain object point; Each pixel color in the full-view video image that is read when the power supply of color panoramic projective light source is in the OFF state has the actual color information of certain object point; According to the P (x on the catadioptric image-forming principle calculating of the secondary with the average angle resolution imaging plane, y) incident angle α o, the central point by projectional angle α p, incident angle α o and color panoramic projective light source and have the depth information that distance between the viewpoint Om of panoramic vision sensor of average angle resolution obtains the space object point;

The spatial information computing module, be used for object point on the computer memory to the distance and the incident angle of stereo vision measuring apparatus central point, respectively computer memory object point and the distance R of distance R 2, space object point and the median eye of the central point Op of distance R 1, space object point and the color panoramic projective light source of the viewpoint Om of panoramic vision sensor and the incident angle φ of space object point with average angle resolution; Its output is connected with the 3-D view reconstructed module;

The 3-D view reconstructed module is used for launching computing with carry out column at the panoramic picture that panoramic vision sensor obtained, and horizontal ordinate is represented the position angle in the stretch-out view, and ordinate is represented incident angle; Need the image of this core is separated separately when launching omnidirectional images, then omnidirectional images is launched, the calculating step-length of horizontal direction is in the deployment algorithm, Δ β=2 π/l, and l is the horizontal development amplitude in the formula; The calculating step-length of vertical direction is Δ m=(α _O-max-α _O-min)/m; In the formula, α _O-maxBe the scene angle of incidence of light of the maximum effective radius Rmax of the former figure of panorama correspondence, α _O-minScene angle of incidence of light for the minimum effective radius Rmin of the former figure of panorama correspondence;

With the former picture point A (α that uses among the former figure of panorama of polar coordinate representation ₀, β) the A point coordinate in the Dui Ying sphere expansion mode is respectively:

x＝β/Δβ，y＝(α _o-α _o-min)/Δm????????????????????(11)

In the formula: Δ β is the calculating step-length of horizontal direction, and β is the position angle, and Δ m is the calculating step-length of vertical direction, α _oThe scene angle of incidence of light of the former figure effective radius of panorama R correspondence, α _O-minScene angle of incidence of light for the minimum effective radius Rmin of the former figure of panorama correspondence;

Panoramic picture is being carried out column when launching, be in the ON/OFF two states at the power supply of color panoramic projective light source and can produce two kinds of different column stretch-out views; When the power supply of color panoramic projective light source is in the state of ON, on the column stretch-out view, have panorama full-view video image that color structured light shines; When the power supply of color panoramic projective light source is in the state of OFF, the full-view video image that natural light throwed on the column stretch-out view.

As preferred a kind of scheme: described color panoramic projective light source comprises that ball face structure base board and many groups have the ultra-high brightness LED of different luminescent center wavelength; Described ball face structure base board is used for fixing the ultra-high brightness LED that described many groups have different luminescent center wavelength; Described ball face structure base board is inner circular ball-type hollow, the round spherical surface body of cylindrical hollow up and down, is arranging the aperture that equates with the overall diameter of ultra-high brightness LED according to longitude and latitude with the even five equilibrium of the certain angle of being separated by on the spherical outside surface of described ball face structure base board; The ultra-high brightness LED that described many groups have different luminescent center wavelength divides into groups in proper order according to the length of its luminescent center wavelength, every group ultra-high brightness LED number is identical with little number of perforations on the latitude direction, southern latitude value is inserted in the corresponding aperture ultra-high brightness LED group from the ultra-high brightness LED group of bob center wavelength of light to long hair center wavelength of light in order to maximum from the maximum northern latitude value on described ball face structure base board successively, same luminescent center wavelength ultra-high brightness LED group is inserted in the aperture on the same latitude direction, and the emission light direction of each ultra-high brightness LED overlaps with the normal direction of the corresponding aperture of insert.

Further, the catadioptric minute surface of described panoramic vision sensor with average angle resolution and the design of secondary catadioptric minute surface are as follows, and the angle of incident ray V1 and catadioptric main shaft Z is α ₀, the angle of primary event light V2 and catadioptric main shaft Z is θ ₂, cross P1 (t ₁, F ₁) tangent line and the angle of t axle be σ, normal N 1 is ε with the angle of Z axle; The angle of secondary reflection light V3 and catadioptric main shaft Z is θ ₁, cross P2 (t ₂, F ₂) tangent line and the angle of t axle of point be δ, the angle of normal N 2 and Z axle is ε ₁, obtain formula (1) based on above-mentioned relation:

$\left\{\begin{array}{c}\mathrm{\σ}={180}^0-\mathrm{\ϵ}\\ 2\mathrm{\ϵ}=\mathrm{\φ}-{\mathrm{\θ}}_2\\ {\mathrm{\σ}}_1={180}^0-{\mathrm{\ϵ}}_1\\ 2{\mathrm{\ϵ}}_1={\mathrm{\θ}}_1-{\mathrm{\θ}}_2\end{array}\right.---\left(1\right)$

Wherein ${\tan \mathrm{\&alpha;}}_0=\frac{t_1}{F_1(t_1-s)},$ ${\tan \mathrm{\&theta;}}_2=\frac{t_1-t_2}{F_2-{\mathrm{<figure-callout\; id="1"\; label="F"\; filenames="A2009101013240031H1.png"\; state="\{\{state\}\}">F</figure-callout>}}_1},$ ${\tan \mathrm{\&theta;}}_1=\frac{t_2}{{\mathrm{<figure-callout\; id="2"\; label="F"\; filenames="A2009101013240031H1.png"\; state="\{\{state\}\}">F</figure-callout>}}_2}$

In the formula, F ₁Be a catadioptric minute surface curve, F ₂It is secondary catadioptric minute surface curve;

Utilize triangle relation and simplify arrangement, obtain formula (2), (3):

${\mathrm{<figure-callout\; id="1"\; label="F"\; filenames="A2009101013240031H1.png"\; state="\{\{state\}\}">F</figure-callout>}}_1^{\&prime;2}-2\mathrm{\&alpha;}{\mathrm{<figure-callout\; id="1"\; label="F"\; filenames="A2009101013240031H1.png"\; state="\{\{state\}\}">F</figure-callout>}}_1^{\&prime;}-1=0---\left(2\right)$

${\mathrm{<figure-callout\; id="2"\; label="F"\; filenames="A2009101013240031H1.png"\; state="\{\{state\}\}">F</figure-callout>}}_2^{\&prime;2}-2\mathrm{\&beta;}{\mathrm{<figure-callout\; id="2"\; label="F"\; filenames="A2009101013240031H1.png"\; state="\{\{state\}\}">F</figure-callout>}}_2^{\&prime;}-1=0---\left(3\right)$

In the following formula,

$\mathrm{\&sigma;}=\frac{(F_1-s)(F_2-F_1)-t_1(t_1-t_2)}{t_1(F_2-F_1)-(t_1-t_2)(F_1-s)}$

$\mathrm{\&beta;}=\frac{t_2(t_1-t_2)+F_2(F_2-F_1)}{t_2(F_2-F_1)-F_2(t_1-t_2)}$

Solution formula (2), (3) obtain formula (4), (5);

${\mathrm{<figure-callout\; id="1"\; label="F"\; filenames="A2009101013240031H1.png"\; state="\{\{state\}\}">F</figure-callout>}}_1^{\&prime;}=\mathrm{\&alpha;}\&PlusMinus;\sqrt{{\mathrm{\&alpha;}}^2+1}---\left(4\right)$

${\mathrm{<figure-callout\; id="2"\; label="F"\; filenames="A2009101013240031H1.png"\; state="\{\{state\}\}">F</figure-callout>}}_2^{\&prime;}=\mathrm{\&beta;}\&PlusMinus;\sqrt{{\mathrm{\&beta;}}^2+1}---\left(5\right)$

In the formula: F ' ₁Be F ₁The differential of curve, F ' ₂Be F ₂The differential of curve;

Have certain linear relationship in order to make between point on the imaging plane and the incident angle, to set up exactly a kind of pixel P to the Z wheelbase from incident angle α ₀Between linear relationship, as shown in Equation (6),

α ₀＝a×P+b?????????????(6)

In the formula: a, b are and the relevant parameter of selected imager chip pixel value;

As f, P is the distance of pixel to the Z axle, the reflection spot (t on secondary catadioptric minute surface with the focal length of image unit ₂, F ₂), then according to image-forming principle, P is represented by formula (7):

$P=f\&times;\frac{t_2}{F_2}---\left(7\right)$

With formula (7) substitution formula (6), can get formula (8),

${\mathrm{\&alpha;}}_0=a\&times;(f\&times;\frac{t_2}{F_2})+b---\left(8\right)$

The minute surface curve design that satisfies formula (8) meets the average angle resolution requirement;

According to the catadioptric principle, formula (8) can be used formula (9) expression,

${\tan }^{-1}\left(\frac{t_1}{F_1-s}\right)=a\&times;(f\&times;\frac{t_2}{F_2})+b---\left(9\right)$

To formula (2), (3), (9), ask F then by 4 rank Runge-Kutta algorithms ₁And F ₂Digital solution, the catadioptric minute surface and the secondary catadioptric minute surface curve that calculate like this can be realized average angle resolution.

Further again, described color panoramic projective light source is adopted the timesharing control technology, control the luminous of described color panoramic projective light source or not luminous by electronic switch, when described color panoramic projective light source control module makes the power supply of described color panoramic projective light source be in the ON state, in the image-generating unit of described panoramic vision sensor, directly obtain the degree of depth and the orientation angles information of space object point; When described color panoramic projective light source control module makes the power supply of described color panoramic projective light source be in the OFF state, in the image-generating unit of described panoramic vision sensor, directly obtain the actual color information of space object point.

Further, described spatial information computing module comprises refraction angle α _pComputing unit, incident angle α _oComputing unit and metrics calculation unit;

Projectional angle α p computing unit, be used for utilizing and have between the projectional angle α p of color panoramic projection and the optical wavelength that certain high-brightness LED of color panoramic projection is launched that certain functional relation calculates, when the power supply of color panoramic projective light source is in the ON state, there are one-to-one relationship in the color component of the pixel on the imaging plane and projectional angle α p, utilize this to concern and obtain projectional angle α p;

Incident angle α o computing unit calculates the incident angle α o of the point with a certain specific wavelength by formula (10),

${\mathrm{\&alpha;}}_0=a\&times;P+b=a\&times;\sqrt{x^2+{\mathrm{<figure-callout\; id="2"\; label="y"\; filenames="A2009101013240031H1.png"\; state="\{\{state\}\}">y</figure-callout>}}^2}+b---\left(10\right)$

In the formula, x, y put P (x, coordinate figure y), a, b are and the relevant parameter of selected imager chip pixel value, α on the imaging plane ₀The incident angle of expression;

Metrics calculation unit is used to utilize formula (12)～(15) to distinguish the real focus O of computer memory object point and panoramic vision sensor _mThe real focus O of distance R 1, space object point and color panoramic projective light source _pThe distance R of distance R 2, space object point and median eye and the incident angle φ of space object point,

$\mathrm{<figure-callout\; id="1"\; label="R"\; filenames="A2009101013240031H1.png"\; state="\{\{state\}\}">R</figure-callout>}1=\stackrel{\&OverBar;}{O_{m}A}=\frac{\cos \left({\mathrm{\&alpha;}}_o\right)}{\sin ({\mathrm{\&alpha;}}_o+{\mathrm{\&alpha;}}_p)}B---\left(12\right)$

$\mathrm{<figure-callout\; id="2"\; label="R"\; filenames="A2009101013240031H1.png"\; state="\{\{state\}\}">R</figure-callout>}2=\stackrel{\&OverBar;}{O_{p}A}=\frac{\cos \left({\mathrm{\&alpha;}}_p\right)}{\sin ({\mathrm{\&alpha;}}_o+{\mathrm{\&alpha;}}_p)}B---\left(13\right)$

$R=\stackrel{\&OverBar;}{\mathrm{OA}}=\sqrt{{R2}^2+{(B/2)}^2-2R2(B/2)\cos ({\mathrm{\&alpha;}}_p+90)}---\left(14\right)$

$=B\sqrt{{\left[\frac{\cos \left({\mathrm{\&alpha;}}_p\right)}{\sin ({\mathrm{\&alpha;}}_o+{\mathrm{\&alpha;}}_p)}\right]}^2+0.25+\frac{\cos \left({\mathrm{\&alpha;}}_p\right)}{\sin ({\mathrm{\&alpha;}}_o+{\mathrm{\&alpha;}}_p)}\sin \left({\mathrm{\&alpha;}}_p\right)}---\left(14\right)$

$\mathrm{\&phi;}=\arcsin \left[\frac{B}{2R}\cos \left({\mathrm{\&alpha;}}_o\right)\right]---\left(15\right)$

In the formula: B is the baseline distance, α _oBe incident angle, α _pBe projectional angle, R1 is object point A and the viewpoint O with panoramic vision sensor of average angle resolution _mDistance, R2 is the real focus O of object point A and color panoramic projective light source _pDistance, R is the distance of object point A and median eye, φ is the incident angle of space object point with respect to median eye.

In described spatial information computing module, a light coding schedule is set realizes the mapping relations that exist between a certain light wavelength lambda and a certain projectional angle α p, incident angle reckoner realizes that the coordinate data of some points and this put the mapping relations that exist between the pairing incident angle α o, and projectional angle α p, incident angle α o calculate and adopt lookup table mode to realize; At first when being in the ON state, reads the power supply of color panoramic projective light source the wavelength X value of some pixels in proper order by the point coordinate of the imaging plane of panoramic vision sensor, obtain this with point coordinate value retrieval incident angle reckoner and put pairing incident angle α o, then the light wavelength lambda value retrieval light coding schedule with this point obtains the pairing projectional angle α p of this light wavelength lambda; Utilize formula (11) or formula (12) or formula (13) to calculate on the space certain any range information at last;

Projectional angle α p	50 ° of north latitude	40 ° of north latitude	30 ° of north latitude	20 ° of north latitude	10 ° of north latitude	0 ° of zero latitude	10 ° in south latitude	20 ° in south latitude	30 ° in south latitude	40 ° in south latitude
											Color	Blue	Blue-green	Green	Green-yellow	Light green yellow	Yellow	Pale yellow	Orange	Pale red	Dark red
Central wavelength lambda (nm)	??465	??500	??520	??560	??570	??585	??590	??605	??625	??640

Table 2

Table 2 is the corresponding tables that concern of a projectional angle α p and color wavelength λ value, and the wavelength X value of passing through some pixels of being obtained 2 obtains two adjacent centre wavelengths with tabling look-up, and adopts the method for interpolation to calculate projectional angle α p then.

The assemble method of described color panoramic projective light source is: after processing ball face structure base board, same luminescent center wavelength ultra-high brightness LED group is inserted in the hole on the same latitude direction, and by being arranged in order insertion from little luminescent center wavelength ultra-high brightness LED group to big luminescent center wavelength ultra-high brightness LED group according to the maximum northern latitude value on the ball face structure base board to the hole of the southern latitude value of maximum; After all ultra-high brightness LEDs insert and finish, carry out line according to the forward voltage connection index of ultra-high brightness LED, connecting line all in open circles ball-type body, draw by the hollow cylinder of circle spherical surface body by power lead; When powering to color panoramic projective light source, the ultra-high brightness LED group on the same latitude of ball face is sent the light of same luminescent center wavelength, and the direction of throw light is exactly the normal direction of sphere; And the ultra-high brightness LED on ball face different latitude sends the wavelength light that gradually changes.

The concrete job operation of the ball face structure base board of described color panoramic projective light source is: at first ball face structure base board is processed into the ball-shaped body, the center of its ball-shaped body is an open circles ball-type body, and the centre of spheroid is a hollow cylinder; Carry out five equilibrium by the certain angle of being separated by from the maximum gauge at the ball face on longitudinal then, be divided into 36 equi-angularly spaces, promptly each equi-angularly space is 10 °; Then be 10 ° by equi-angularly space on from the maximum gauge of ball face from the latitude direction and carry out five equilibrium, the quantity behind the five equilibrium is identical with the glow color number of the ultra-high brightness LED of employing; In mean line on the longitudinal and the mean line on the latitude direction intersection point is arranged all, each intersection point all has corresponding longitude and latitude value, be the center of boring then with these intersection points, external diameter with ultra-high brightness LED is the diameter of boring bit, and the direction of boring is aimed at the centre of sphere of ball-shaped body.

Realize the foregoing invention content, must solve three key problems: (1) realizes a kind of panoramic vision sensor with average angle resolution; (2) realize a kind of color panoramic projective light source, can provide a kind of active panoramic structure light source for active three-dimensional panoramic vision sensor with single launching centre point, super brightness; (3), realizes a kind of can the acquisition and the actual object panoramic vision sensor with average angle resolution of the scenery degree of depth and color corresponding diagram one to one with color panoramic projective light source and panoramic vision sensor combination with average angle resolution.

Realize a kind of panoramic vision sensor, the panoramic vision sensor of wanting all above object points of energy real-time perception hemisphere face and whole hemisphere face all to have identical resolution exactly with average angle resolution.

Realize a kind of color panoramic projective light source, can provide a kind of active panoramic structure light source for active three-dimensional panoramic vision sensor with single launching centre point, super brightness; At first being the selection of luminescent device, secondly is the design of color panoramic projective light source;

Aspect the selection of luminescent device, present ultra-high brightness LED manufacturing technology can satisfy the luminosity requirement of projection light source basically, the red AlGaAsLED of super brightness compares with conventional material GaAsP-GaP LED, has higher luminescence efficiency, the luminous efficiency of transparent substrates (TS) AlGaAs LED (640nm) is near 101m/W, and is bigger 10 times than red GaAsP-GaP LED.The color that super brightness InGaAlP LED provides is identical with GaAsP-GaP LED to be comprised: green-yellow (560nm), light green yellow (570nm), yellow (585nm), pale yellow (590nm), orange (605nm), pale red (625nm), dark red (640nm).The comparison of transparent substrates AlGaInP LED luminescence efficiency and other LED structures and incandescent source, the luminous efficiency that InGaAlP LED absorbs substrate (AS) is 101m/W, transparent substrates (TS) is 201m/W, wants high 10～20 times in the luminous efficiency of the wavelength coverage internal ratio GaAsP-GaP of 590～626nm LED; In 560～570 wavelength coverage, then exceed 2～4 times than GaAsP-GaP LED.Super brightness InGaN LED provides blue light and green light, and its wavelength coverage blueness is 450～480nm, and blue-green is 500nm, and green is 520nm; Its luminous efficiency is 3～151m/W.Scientists obtains shades of colour with the ultra-high brightness LED of AlGaInP material and InGaN made with a plurality of (red, blue, green) ultra-high brightness LED chip portfolio together, and its luminescence efficiency has all surpassed incandescent lamp at present, and the forward fluorescent light is approaching.Luminosity has been higher than 1000mcd, and single LED power can reach several watts (being no more than 5W), and these indexs have satisfied the needs of outdoor round-the-clock, panchromatic Projection Display basically.The ultra-high brightness LED chip of selling on market is at present summed up with table 1, and along with the application of LED, the ultra-high brightness LED that more has different luminescent center wavelength will emerge, and these all provide good basis for the design of color panoramic projective light source;

The glow color and the respective wavelength corresponding tables of the ultra-high brightness LED that table 1 is at present commercially available

Color	Blue	Blue-green	Green	Green-yellow	Light green yellow	Yellow	Pale yellow	Orange	Pale red	Dark red
											Centre wavelength nm	??465	??500	??520	??560	??570	??585	??590	??605	??625	??640

When designing color panoramic projective light source with the ultra-high brightness LED array mode, design objective is: the ultra-high brightness LED of (1) all participation array combination all must have single launching centre point, and promptly the ultra-high brightness LED projecting direction extended line of all participation array combination all meets at a point; (2) consider from the circle spherical surface body, wish to participate in the ultra-high brightness LED of array combination, on same latitude direction, need to arrange equally spacedly and have same luminescent center wavelength ultra-high brightness LED, on same longitudinal, need to arrange equally spacedly and have continually varying luminescent center wavelength ultra-high brightness LED.

Beneficial effect of the present invention mainly shows:

1), initiatively obtains real-time full-view stereo video image, the monitoring object of following the tracks of can not go out active, the design of the panoramic vision sensor of angular resolutions such as employing, solved the real-time follow-up of the Fast Moving Object object in the large space, for the mobile robot provides visible detection method real-time;

2), provide a kind of brand-new stereoscopic vision acquisition methods, panorama color structured light by initiatively takes place, based on the technology of the colored light emission of circle spherical surface body and the panoramic vision imaging technique that angular resolution such as has, realized that full-view stereo photography is measured fast;

3), no longer need steps such as loaded down with trivial details camera calibration work, feature extraction, stereo-picture coupling, for the fast full-view stereo photography measurement provides a kind of new means;

4), have stereoscopic sensation and distance perspective by the panoramic stereo image itself that color panoramic projective light source generated;

5), made full use of the advantage that the photochromic pure and mild light beam of LED is concentrated, each LED that constitutes color panoramic projective light source has discrete spectrum, spectral line is narrow, rich color, bright-coloured, the luminous major part of LED is concentrated and to be converged at the center, and the angle of divergence is little, is as the criterion to establish the color projection device that the body videographic measurment provides a kind of high-resolution, high-resolution;

6) characteristics that response speed is fast and usefulness is high of LED, have been made full use of, by control to the LED power supply, not only can obtain the depth distance information of space object point in the panorama scope at an imager chip, and can obtain the color information of space object point, the luminescence efficiency height is without any need for heat abstractor simultaneously;

7), as light source initiatively, LED has advantages such as miniaturization, lightweight, extra long life and brightness decay is little, has remarkable advantages on performance index such as portable, reliable, serviceable life, maintenance cost;

8), adopt same utmost point spherical co-ordinate to handle means, can utilize the computing method of digital geometry can realize easily that 3-D view reconstruct and three-dimensional body measure.Can be widely used in many applications such as various industrial detection, geographical exploration, medical science lift face, Osteological, the reproduction of the cultural relics, Well grab, security personnel's identification, robot vision, mould rapid shaping, gift, virtual reality, anthropological measuring, animated film, recreation.

Description of drawings

Fig. 1 is a kind of structural drawing that the panoramic vision sensor of angular resolution such as has;

The imaging schematic diagram of the panoramic vision sensor of angular resolutions such as Fig. 2 is;

The structural drawing of a kind of color panoramic projective light source of Fig. 3;

Fig. 4 is a kind of active three-dimensional panoramic vision Fundamentals of Sensors figure that angular resolution such as has;

Fig. 5 is a kind of measurement in space scope synoptic diagram that the active three-dimensional panoramic vision sensor of angular resolution such as has;

Fig. 6 is a kind of design drawing of catadioptric minute surface of the panoramic vision sensor that angular resolution such as has;

Fig. 7 is the synoptic diagram that concerns between Gaussian sphere coordinate and the three-dimensional rectangular coordinate;

Fig. 8 is the concept map of the median eye in the binocular vision;

The schematic diagram that Fig. 9 measures for a kind of stereo camera shooting that the active three-dimensional panoramic vision sensor of angular resolution such as has;

Figure 10 such as has at the panoramic vision sensor of angular resolution and the synoptic diagram that color panoramic projective light source has the same pole plane;

Figure 11 constitutes block diagram for a kind of system that the active three-dimensional panoramic vision sensor of angular resolution such as has.

Embodiment

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

Embodiment 1

With reference to Fig. 1～11, a kind of active three-dimensional panoramic vision sensor with average angle resolution, comprise: have panoramic vision sensor, the color panoramic projective light source of average angle resolution and the microprocessor that is used for omnidirectional images is carried out the 3 D stereo videographic measurment, described panoramic vision sensor and described color panoramic projective light source with average angle resolution is configured on the same axis heart line; Described panoramic vision sensor with average angle resolution comprises image unit 1, transparent semicircle outer cover 2, loam cake 3, secondary catadioptric minute surface 4, a catadioptric minute surface 5, as shown in Figure 1; A described catadioptric minute surface 5 is fixed on the described loam cake 3, described secondary catadioptric minute surface 4 is fixed on the bottom of described transparent semicircle outer cover 3, described transparent semicircle outer cover 2 passes through screw retention together with described loam cake 1, described image unit 1 is screwed on described loam cake 3, the aperture of the camera lens of described image unit 1 on a described catadioptric minute surface 5, the camera lens of described image unit 1 is on the viewpoint of a described catadioptric minute surface 5, and the output of the described image unit 1 in the described panoramic vision sensor with average angle resolution is connected with described microprocessor; Described color panoramic projective light source comprises that ball face structure base board 9-1 and many groups have the ultra-high brightness LED 9-2 of different luminescent center wavelength; Described color panoramic projective light source is connected by web member 10 usefulness screw threads with described panoramic vision sensor with average angle resolution, as shown in Figure 4;

Realize a kind of panoramic vision sensor, the panoramic vision sensor of wanting all above object points of energy real-time perception hemisphere face and whole hemisphere face all to have identical resolution exactly with average angle resolution.Omnibearing vision device as shown in Figure 1, video camera 1 is configured in the back of a catadioptric minute surface 5, the camera lens of video camera 1 is placed in the viewpoint place of a catadioptric minute surface 5, an aperture is left in the centre of a catadioptric minute surface 5, and video camera 1 can photograph the video information of catadioptric minute surface 5 fronts by aperture; Former configuration at a catadioptric minute surface 5 has a secondary catadioptric minute surface 4; Panoramic video information after secondary catadioptric minute surface 4 carries out the secondary catadioptric, is passed through aperture imaging in camera head 1 of a catadioptric minute surface 5 catadioptric minute surface 5 catadioptrics then; Realize that this panoramic vision sensor key is the design of catadioptric minute surface 5 and secondary catadioptric minute surface 4; In the design of catadioptric minute surface curve, as shown in Figure 2, the incident light V1 of a light source point P on the space is at the P1 of a catadioptric minute surface 5 (t ₁, F ₁) reflect on the point, reflected light V2 reflexes to the P2 (t of secondary catadioptric minute surface 4 ₂, F ₂) reflect again on the point, reflected light V3 goes up imaging with the camera lens that angle θ 1 enters camera head at image unit (CCD or CMOS).

According to image-forming principle, the angle of incident ray V1 and catadioptric main shaft Z is α ₀, the angle of primary event light V2 and catadioptric main shaft Z is θ 2, crosses P1 (t ₁, F ₁) tangent line and the angle of t axle be σ, normal N 1 is ε with the angle of Z axle; The angle of secondary reflection light V3 and catadioptric main shaft Z is θ 1, crosses P2 (t ₂, F ₂) tangent line and the angle of t axle of point be σ, the angle of normal N 2 and Z axle is ε 1, can obtain formula (1) based on above-mentioned relation:

$\left\{\begin{array}{c}\mathrm{\&sigma;}={180}^0-\mathrm{\&epsiv;}\\ 2\mathrm{\&epsiv;}=\mathrm{\&phi;}-{\mathrm{\&theta;}}_2\\ {\mathrm{\&sigma;}}_1={180}^0-{\mathrm{\&epsiv;}}_1\\ 2{\mathrm{\&epsiv;}}_1={\mathrm{\&theta;}}_1-{\mathrm{\&theta;}}_2\end{array}\right.---\left(1\right)$

Wherein ${\tan \mathrm{\&alpha;}}_0=\frac{t_1}{F_1(t_1-s)},$ ${\tan \mathrm{\&theta;}}_2=\frac{t_1-t_2}{F_2-{\mathrm{<figure-callout\; id="1"\; label="F"\; filenames="A2009101013240031H1.png"\; state="\{\{state\}\}">F</figure-callout>}}_1},$ ${\tan \mathrm{\&theta;}}_1=\frac{t_2}{{\mathrm{<figure-callout\; id="2"\; label="F"\; filenames="A2009101013240031H1.png"\; state="\{\{state\}\}">F</figure-callout>}}_2}$

In the formula, F ₁Be a catadioptric minute surface curve, F ₂It is secondary catadioptric minute surface curve;

Utilize triangle relation and simplify arrangement, obtain formula (2), (3):

${\mathrm{<figure-callout\; id="1"\; label="F"\; filenames="A2009101013240031H1.png"\; state="\{\{state\}\}">F</figure-callout>}}_1^{\&prime;2}-2\mathrm{\&alpha;}{\mathrm{<figure-callout\; id="1"\; label="F"\; filenames="A2009101013240031H1.png"\; state="\{\{state\}\}">F</figure-callout>}}_1^{\&prime;}-1=0---\left(2\right)$

${\mathrm{<figure-callout\; id="2"\; label="F"\; filenames="A2009101013240031H1.png"\; state="\{\{state\}\}">F</figure-callout>}}_2^{\&prime;2}-2\mathrm{\&beta;}{\mathrm{<figure-callout\; id="2"\; label="F"\; filenames="A2009101013240031H1.png"\; state="\{\{state\}\}">F</figure-callout>}}_2^{\&prime;}-1=0---\left(3\right)$

In the following formula,

$\mathrm{\&sigma;}=\frac{(F_1-s)(F_2-F_1)-t_1(t_1-t_2)}{t_1(F_2-F_1)-(t_1-t_2)(F_1-s)}$

$\mathrm{\&beta;}=\frac{t_2(t_1-t_2)+F_2(F_2-F_1)}{t_2(F_2-F_1)-F_2(t_1-t_2)}$

Solution formula (2), (3) can obtain formula (4), (5);

${\mathrm{<figure-callout\; id="1"\; label="F"\; filenames="A2009101013240031H1.png"\; state="\{\{state\}\}">F</figure-callout>}}_1^{\&prime;}=\mathrm{\&alpha;}\&PlusMinus;\sqrt{{\mathrm{\&alpha;}}^2+1}---\left(4\right)$

${\mathrm{<figure-callout\; id="2"\; label="F"\; filenames="A2009101013240031H1.png"\; state="\{\{state\}\}">F</figure-callout>}}_2^{\&prime;}=\mathrm{\&beta;}\&PlusMinus;\sqrt{{\mathrm{\&beta;}}^2+1}---\left(5\right)$

In the formula: F ' ₁Be F ₁The differential of curve, F ' ₂Be F ₂The differential of curve;

Have certain linear relationship in order to make between point on the imaging plane and the incident angle, to set up exactly a kind of pixel P to the Z wheelbase from incident angle α ₀Between linear relationship, as shown in Equation (6),

α ₀＝a×P+b????????????????????(6)

In the formula: a, b are and the relevant parameter of selected imager chip pixel value;

As f, P is the distance of pixel to the Z axle, the reflection spot (t on secondary catadioptric minute surface with the focal length of image unit ₂, F ₂).Then according to image-forming principle, P can be represented by formula (7):

$P=f\&times;\frac{t_2}{F_2}---\left(7\right)$

With formula (7) substitution formula (6), can get formula (8),

${\mathrm{\&alpha;}}_0=a\&times;(f\&times;\frac{t_2}{F_2})+b---\left(8\right)$

The minute surface curve design that satisfies formula (8) meets the average angle resolution requirement;

According to the catadioptric principle, formula (8) can be used formula (9) expression,

${\tan }^{-1}\left(\frac{t_1}{F_1-s}\right)=a\&times;(f\&times;\frac{t_2}{F_2})+b---\left(9\right)$

To formula (2), (3), (9), ask F then by 4 rank Runge-Kutta algorithms ₁And F ₂Digital solution, the catadioptric minute surface and the secondary catadioptric minute surface curve that calculate like this can be realized average angle resolution; Fig. 5 utilizes 4 rank Runge-Kutta algorithms to ask F ₁And F ₂The figure of digital solution.

Further, realize a kind of color panoramic projective light source, can provide a kind of active panoramic structure light source for active three-dimensional panoramic vision sensor with single launching centre point, super brightness; At first being the selection of luminescent device, secondly is the design of color panoramic projective light source;

Aspect the selection of luminescent device, present ultra-high brightness LED manufacturing technology can satisfy the luminosity requirement of projection light source basically, the red AlGaAsLED of super brightness compares with conventional material GaAsP-GaP LED, has higher luminescence efficiency, the luminous efficiency of transparent substrates (TS) AlGaAs LED (640nm) is near 101m/W, and is bigger 10 times than red GaAsP-GaP LED.The color that super brightness InGaAlP LED provides is identical with GaAsP-GaP LED to be comprised: green-yellow (560nm), light green yellow (570nm), yellow (585nm), pale yellow (590nm), orange (605nm), pale red (625nm), dark red (640nm).The comparison of transparent substrates AlGaInP LED luminescence efficiency and other LED structures and incandescent source, the luminous efficiency that InGaAlP LED absorbs substrate (AS) is 101m/W, transparent substrates (TS) is 201m/W, wants high 10～20 times in the luminous efficiency of the wavelength coverage internal ratio GaAsP-GaP of 590～626nm LED; In 560～570 wavelength coverage, then exceed 2～4 times than GaAsP-GaP LED.Super brightness InGaN LED provides blue light and green light, and its wavelength coverage blueness is 450～480nm, and blue-green is 500nm, and green is 520nm; Its luminous efficiency is 3～151m/W.Scientists obtains shades of colour with the ultra-high brightness LED of AlGaInP material and InGaN made with a plurality of (red, blue, green) ultra-high brightness LED chip portfolio together, and its luminescence efficiency has all surpassed incandescent lamp at present, and the forward fluorescent light is approaching.Luminosity has been higher than 1000mcd, and single LED power can reach several watts (being no more than 5W), and these indexs have satisfied the needs of outdoor round-the-clock, panchromatic Projection Display basically.The ultra-high brightness LED chip of selling on market is at present summed up with table 1, and along with the application of LED, the ultra-high brightness LED that more has different luminescent center wavelength will emerge, and these all provide good basis for the design of color panoramic projective light source;

The glow color and the respective wavelength corresponding tables of the ultra-high brightness LED that table 1 is at present commercially available

Color	Blue	Blue-green	Green	Green-yellow	Light green yellow	Yellow	Pale yellow	Orange	Pale red	Dark red
											Centre wavelength nm	??465	??500	??520	??560	??570	??585	??590	??605	??625	??640

When designing color panoramic projective light source with the ultra-high brightness LED array mode, design objective is: the ultra-high brightness LED of (1) all participation array combination all must have single launching centre point, and promptly the ultra-high brightness LED projecting direction extended line of all participation array combination all meets at a point; (2) consider from the circle spherical surface body, wish to participate in the ultra-high brightness LED of array combination, on same latitude direction, need to arrange equally spacedly and have same luminescent center wavelength ultra-high brightness LED, on same longitudinal, need to arrange equally spacedly and have continually varying luminescent center wavelength ultra-high brightness LED.

The technical scheme that is adopted during the design color panoramic projective light source is: a kind of color panoramic projective light source comprises that ball face structure base board and many groups have the ultra-high brightness LED of different luminescent center wavelength; Described ball face structure base board is used for fixing the ultra-high brightness LED that described many groups have different luminescent center wavelength; Described ball face structure base board is inner circular ball-type hollow, the round spherical surface body of cylindrical hollow up and down, is arranging the aperture that equates with the overall diameter of ultra-high brightness LED according to longitude and latitude with the even five equilibrium of the certain angle of being separated by on the spherical outside surface of described ball face structure base board; The ultra-high brightness LED that described many groups have different luminescent center wavelength divides into groups in proper order according to the length of its luminescent center wavelength, every group ultra-high brightness LED number is identical with little number of perforations on the latitude direction, southern latitude value is inserted in the corresponding aperture ultra-high brightness LED group from the ultra-high brightness LED group of bob center wavelength of light to long hair center wavelength of light in order to maximum from the maximum northern latitude value on described ball face structure base board successively, same luminescent center wavelength ultra-high brightness LED group is inserted in the aperture on the same latitude direction, and the emission light direction of each ultra-high brightness LED overlaps with the normal direction of the corresponding aperture of insert;

The concrete job operation of ball face structure base board is: at first ball face structure base board is processed into the ball-shaped body, the center of its ball-shaped body is an open circles ball-type body, and the centre of spheroid is a hollow cylinder; Carry out five equilibrium by the certain angle of being separated by from the maximum gauge at the ball face on longitudinal then, such as being divided into 36 equi-angularly spaces, each equi-angularly space is 10 ° so; Then be 10 ° by equi-angularly space on from the maximum gauge of ball face from the latitude direction and carry out five equilibrium, the quantity behind the five equilibrium is identical with the glow color number of the ultra-high brightness LED of employing; In mean line on the longitudinal and the mean line on the latitude direction intersection point is arranged all, each intersection point all has corresponding longitude and latitude value, be the center of boring then with these intersection points, external diameter with ultra-high brightness LED is the diameter of boring bit, the direction of boring is aimed at the centre of sphere of ball-shaped body, as shown in Figure 3;

The assemble method of color panoramic projective light source is: after processing ball face structure base board, same luminescent center wavelength ultra-high brightness LED group is inserted in the hole on the same latitude direction, and by being arranged in order insertion from little luminescent center wavelength ultra-high brightness LED group to big luminescent center wavelength ultra-high brightness LED group according to the maximum northern latitude value on the ball face structure base board to the hole of the southern latitude value of maximum; After all ultra-high brightness LEDs insert and finish, carry out line according to the forward voltage connection index of ultra-high brightness LED, connecting line all in open circles ball-type body, draw by the hollow cylinder of circle spherical surface body by power lead; When powering to color panoramic projective light source, the ultra-high brightness LED group on the same latitude of ball face is sent the light of same luminescent center wavelength, and the direction of throw light is exactly the normal direction of sphere; And the ultra-high brightness LED on ball face different latitude sends the wavelength light that gradually changes, such as under the situation shown in the accompanying drawing 3, color panoramic projective light source will send the light of blueness, blue-green, green, green-yellow, light green yellow, yellow, pale yellow, orange, pale red and dark red wavelength successively from the low latitude to the high latitude; The emission optic angle of each ultra-high brightness LED in the color panoramic projective light source that rearranges is influential to the colorama that color panoramic projective light source produced, excessive emission optic angle or too small equi-angularly space all can produce the colorama that is sent on adjacent, the different latitude and disturb, and influence luminous homogeneity; Therefore having adopted equi-angularly space in above-mentioned design is 10 ° design, and the emission optic angle of so selected ultra-high brightness LED is good with 10 °～15 °.

Further, how to illustrate color panoramic projective light source and panoramic vision sensor combination, realizes a kind of can the acquisition and the actual object panoramic vision sensor with average angle resolution of the scenery degree of depth and color corresponding diagram one to one with average angle resolution.At first explanation adopts each pixel itself that how to make behind the color panoramic projective light source at the full-view video image of a two dimension all to have the depth information of scenery, thereby the explanation signal source quality that how can improve image space by this technology solves the quick matching problem of stereoscopic vision in measuring then; The objective of the invention is to realize initiatively three-dimensional panoramic vision sensing, develop a kind of can the acquisition and the actual object panoramic vision sensor with average angle resolution of the scenery degree of depth and color corresponding diagram one to one, make up a kind of active solid by integrated color panoramic projective light source and panoramic vision sensor with average angle resolution, panoramic vision sensor with average angle resolution, make any pixel cell on the imaging plane of panoramic vision sensor all have the scenery degree of depth, orientation and color information, the final realization come direct perception with a width of cloth panoramic picture, express and reconstruct three-dimensional panorama scene.

Color panoramic projective light source 9 is made up of the ultra-high brightness LED of several groups of different centre wavelengths, the angle of divergence of each ultra-high brightness LED is chosen in about 10 °～15 °, the substrate of color panoramic projective light source is spherosome 9-1 empty in, each ultra-high brightness LED 9-2 is arranged in the hole of spherosome 9-1 with north latitude to south latitude according to its luminous centre wavelength from small to large successively equably, here quote on the earth definition to latitude, zero latitude line is any to arctic point from this line, the distance of Geophysical South Pole all equates, according to the centre wavelength of definition in the accompanying drawing 4 is that the blue light ultra-high brightness LED 9-2 of 465nm is in 50 ° of north latitude, and the blue light ultra-high brightness LED 9-2 of this centre wavelength is arranged in the hole of 50 ° of lines of north latitude of spherosome 9-1 equably; As a same reason, centre wavelength is that the dark red coloured light ultra-high brightness LED 9-2 of 640nm is in 40 ° in south latitude, and the blue light ultra-high brightness LED 9-2 of this centre wavelength is arranged in the hole of 40 ° of lines of south latitude of spherosome 9-1 equably; The light emission direction of each ultra-high brightness LED 9-2 overlaps with the normal direction of spherosome 9-1, all coloramas of Chan Shenging all are outwards to launch from the center of spherosome 9-1 like this, just on whole sphere, produced the color structured light of a circle circle, has certain functional relation between the residing latitude value α of certain ultra-high brightness LED p on formed color structured light and the described color panoramic projective light source, as long as therefore obtain the latitude value α p that some light wavelengths just can estimate color panoramic projective light source;

Because the axle center of color panoramic projective light source 9 and axle center overlaid with panoramic vision sensor of average angle resolution, the longitude of the active projection of color panoramic projective light source 9 must be corresponding to the position angle of the panoramic vision sensor with average angle resolution, angle from computer vision, must be on the same polar plane, as shown in Figure 10; The computation process that the polar curve that therefore need will not carry out in passive stereoscopic vision mates;

According to above-mentioned design, when color panoramic projective light source is in power supply state, 360 ° on longitudinal, have been formed, on the latitude direction, formed the projection light that is according to a peak wavelength that encloses of angle function relationship change, as shown in Figure 9, a point A (X on the space, Y, Z) receive the light of certain wavelength, according to the configuration mode of accompanying drawing 4, project an A (X, Y, Z) only greenish-yellow coloured light, wavelength is 560nm, this luminous point A (X, Y, Z) continue to reflect to a catadioptric minute surface 5 of panoramic vision sensor with average angle resolution, light continues to carry out catadioptric towards secondary catadioptric minute surface 4 according to above-mentioned secondary catadioptric design light towards the viewpoint of the panoramic vision sensor with average angle resolution, and catadioptric light enters an imaging in image unit 1 of the aperture on the catadioptric minute surface 5; The secondary of the panoramic vision sensor of the luminous point that respectively has certain wavelength through having average angle resolution of reflection material picture is catadioptric to be mapped to imaging in the collector lens of image unit 1, a point P (x on this imaging plane, y) corresponding the coordinate A (X of a point spatially in kind, Y, Z), imaging optical path figure is shown in the heavy line in the accompanying drawing 9; Oblique line in the accompanying drawing 5 has partly been represented the scope of stereoscopic vision;

By above-mentioned design, color panoramic projective light source has two independent viewpoints respectively with the panoramic vision sensor with average angle resolution, and these two independent viewpoints are in these two characteristics of same symcenter axle; So-called viewpoint is meant the launching centre point of color panoramic projective light source for color panoramic projective light source, i.e. the center of circle of round spherical surface body 9-1; Be meant the viewpoint of a catadioptric minute surface for panoramic vision sensor with average angle resolution; Such configuration makes Camera calibration, Feature Selection, the images match step in original stereo camera shooting measuring technique simplify, determined a some A (X on the space by color panoramic projective light source and acting in conjunction with panoramic vision sensor of average angle resolution, Y, Z) (x, projectional angle α p y) and incident angle α o promptly put P (x on imaging plane to put P on imaging plane, y) can determine an A (X on, Y, depth information Z) is shown in accompanying drawing 9 (c);

About the position angle, because the axle center of color panoramic projective light source 9 and axle center overlaid with panoramic vision sensor of average angle resolution, therefore the longitude of the active projection of color panoramic projective light source 9 must be consistent with the position angle of the panoramic vision sensor with average angle resolution, with the longitude of the active projection of color panoramic projective light source 9 bearing data as the panoramic vision sensor with average angle resolution;

Have naming a person for a particular job of a certain specific wavelength corresponding point are arranged on the imaging plane of panoramic vision sensor, be P (x, y), catadioptric image-forming principle according to the panoramic vision sensor with average angle resolution can obtain formula (10) by formula (6), calculate the incident angle α o of point with a certain specific wavelength by formula (10)

${\mathrm{\&alpha;}}_0=a\&times;P+b=a\&times;\sqrt{x^2+{\mathrm{<figure-callout\; id="2"\; label="y"\; filenames="A2009101013240031H1.png"\; state="\{\{state\}\}">y</figure-callout>}}^2}+b---\left(10\right)$

In the formula, x, y put P (x, coordinate figure y), a, b are and the relevant parameter of selected imager chip pixel value, α on the imaging plane ₀The incident angle of expression;

Because the projectional angle α p of a certain wavelength light wavelength and incident angle α o are all on same polar plane, there have been these two data just can obtain the depth and the angle information of spatial point and observation point easily, promptly the information of incident angle α o is represented in the position of the some pixels on the panoramic vision sensor imaging plane, and the color of this pixel is represented the information of projectional angle α p;

In order to obtain the actual color information of imaging point, in the active stereoscopic full views vision sensor of the angular resolution such as a kind of of design, adopt the timesharing control technology, promptly by controlling the luminous of color panoramic projective light source, promptly control the power supply of ultra-high brightness LED light source, obtain the degree of depth and the orientation angles information of space object point on the imaging plane at panoramic vision sensor when giving the power supply of ultra-high brightness LED light source; When allowing the power supply of led light source cut off,, obtain the color information of object point like this by natural light because the response speed of led light source is fast; Temporal information is determined by the clock time of microprocessor; Therefore, and any space object point A as shown in Figure 8 (R, φ, β, r, g, b, information such as degree of depth t), angle, color and time can be expressed in the Gaussian sphere coordinate system.Having realized that the three-dimensional video-frequency information that is obtained in active stereoscopic full views vision sensor possesses becomes the scenery degree of depth and color corresponding diagram one to one with actual object.

Comprise in the described microprocessor: as shown in Figure 11;

The color panoramic projective light source control module, be used to control color panoramic projective light source and send full color panoramic structure light, when the color panoramic projective light source control module makes the power supply of color panoramic projective light source be in the ON state, in the image-generating unit of panoramic vision sensor, directly obtain the degree of depth and the orientation angles information of space object point; When the color panoramic projective light source control module makes the power supply of color panoramic projective light source be in the OFF state, in the image-generating unit of panoramic vision sensor, directly obtain the actual color information of space object point; The power supply switch control of actual color panoramic projective light source adopts electronic switch to realize;

The video image read module is used to read the video image of panoramic vision sensor, and is kept in the described memory device, and its output is connected with described spatial information computing module; Each pixel color in the full-view video image that is read when the power supply of color panoramic projective light source is in the ON state has the degree of depth and the orientation angles information of certain object point; Each pixel color in the full-view video image that is read when the power supply of color panoramic projective light source is in the OFF state has the actual color information of certain object point; As shown in Figure 9; Pixel P (x such as certain object point in accompanying drawing 9 (a), y) color that reads in is a green-yellow, the projectional angle α p of this color showing color panoramic projective light source is 20 ° of north latitude, calculate P (x on the imaging plane according to the catadioptric image-forming principle of the secondary with average angle resolution by formula (10), y) incident angle α o, the central point by projectional angle α p, incident angle α o and color panoramic projective light source and have the depth information that distance between the viewpoint Om of panoramic vision sensor of average angle resolution obtains the space object point;

The spatial information computing module, be used for object point on the computer memory to the distance and the incident angle of stereo vision measuring apparatus central point, respectively the central point O of computer memory object point and distance R 1, space object point and the color panoramic projective light source of the viewpoint Om of panoramic vision sensor with average angle resolution _pThe distance R of distance R 2, space object point and median eye and the incident angle φ of space object point; Its output is connected with the 3-D view reconstructed module;

The 3-D view reconstructed module is used for launching computing with carry out column at the panoramic picture that panoramic vision sensor obtained, and horizontal ordinate is represented the position angle in the stretch-out view, and ordinate is represented incident angle; Need the image of this core is separated separately when launching omnidirectional images, then omnidirectional images is launched, the calculating step-length of horizontal direction is in the deployment algorithm, Δ β=2 π/l, and l is the horizontal development amplitude in the formula; The calculating step-length of vertical direction is Δ m=(α _O-max-α _O-min)/m; In the formula, α _O-maxBe the scene angle of incidence of light of the maximum effective radius Rmax of the former figure of panorama correspondence, α _O-minScene angle of incidence of light for the minimum effective radius Rmin of the former figure of panorama correspondence;

With the former picture point A (α that uses among the former figure of panorama of polar coordinate representation ₀, β) the A point coordinate in the Dui Ying sphere expansion mode is respectively:

x＝β/Δβ，y＝(α _o-α _o-min)/Δm???????????(11)

In the formula: Δ β is the calculating step-length of horizontal direction, and β is the position angle, and Δ m is the calculating step-length of vertical direction, α _oThe scene angle of incidence of light of the former figure effective radius of panorama R correspondence, α _O-minScene angle of incidence of light for the minimum effective radius Rmin of the former figure of panorama correspondence;

Panoramic picture is being carried out column when launching, be in the ON/OFF two states at the power supply of color panoramic projective light source and can produce two kinds of different column stretch-out views; When the power supply of color panoramic projective light source is in the state of ON, on the column stretch-out view, have panorama full-view video image that color structured light shines; When the power supply of color panoramic projective light source is in the state of OFF, the full-view video image that natural light throwed on the column stretch-out view;

Described spatial information calculation unit comprises projectional angle α p computing unit, incident angle α o computing unit and metrics calculation unit;

Projectional angle α p computing unit, be used for utilizing and have between the projectional angle α p of color panoramic projection and the optical wavelength that certain high-brightness LED of color panoramic projection is launched that certain functional relation calculates, when the power supply of color panoramic projective light source is in the ON state, there are one-to-one relationship in the color component of the pixel on the imaging plane and projectional angle α p, utilize this to concern and obtain projectional angle α p;

Incident angle α o computing unit calculates the incident angle α o of the point with a certain specific wavelength by formula (10),

${\mathrm{\&alpha;}}_0=a\&times;P+b=a\&times;\sqrt{x^2+{\mathrm{<figure-callout\; id="2"\; label="y"\; filenames="A2009101013240031H1.png"\; state="\{\{state\}\}">y</figure-callout>}}^2}+b---\left(10\right)$

In the formula, x, y put P (x, coordinate figure y), a, b are and the relevant parameter of selected imager chip pixel value, α on the imaging plane ₀The incident angle of expression;

Metrics calculation unit is used to utilize formula (12)～(15) to distinguish the real focus O of computer memory object point and panoramic vision sensor _mThe real focus O of distance R 1, space object point and color panoramic projective light source _pThe distance R of distance R 2, space object point and median eye and the incident angle φ of space object point,

$\mathrm{<figure-callout\; id="1"\; label="R"\; filenames="A2009101013240031H1.png"\; state="\{\{state\}\}">R</figure-callout>}1=\stackrel{\&OverBar;}{O_{m}A}=\frac{\cos \left({\mathrm{\&alpha;}}_o\right)}{\sin ({\mathrm{\&alpha;}}_o+{\mathrm{\&alpha;}}_p)}B---\left(12\right)$

$\mathrm{<figure-callout\; id="2"\; label="R"\; filenames="A2009101013240031H1.png"\; state="\{\{state\}\}">R</figure-callout>}2=\stackrel{\&OverBar;}{O_{p}A}=\frac{\cos \left({\mathrm{\&alpha;}}_p\right)}{\sin ({\mathrm{\&alpha;}}_o+{\mathrm{\&alpha;}}_p)}B---\left(13\right)$

$R=\stackrel{\&OverBar;}{\mathrm{OA}}=\sqrt{{\mathrm{<figure-callout\; id="2"\; label="R"\; filenames="A2009101013240031H1.png"\; state="\{\{state\}\}">R</figure-callout>}2}^2+{(B/2)}^2-2R2(B/2)\cos ({\mathrm{\&alpha;}}_p+90)}$

$=B\sqrt{{\left[\frac{\cos \left({\mathrm{\&alpha;}}_p\right)}{\sin ({\mathrm{\&alpha;}}_o+{\mathrm{\&alpha;}}_p)}\right]}^2+0.25+\frac{\cos \left({\mathrm{\&alpha;}}_p\right)}{\sin ({\mathrm{\&alpha;}}_o+{\mathrm{\&alpha;}}_p)}\sin \left({\mathrm{\&alpha;}}_p\right)}---\left(14\right)$

$\mathrm{\&phi;}=\arcsin \left[\frac{B}{2R}\cos \left({\mathrm{\&alpha;}}_o\right)\right]---\left(15\right)$

In the formula: B is the baseline distance, α _oBe incident angle, α _pBe projectional angle, R1 is object point A and the viewpoint O with panoramic vision sensor of average angle resolution _mDistance, R2 is the real focus O of object point A and color panoramic projective light source _pDistance, R is the distance of object point A and median eye, φ is the incident angle of space object point with respect to median eye.

In described spatial information computing module, a light coding schedule is set realizes the mapping relations that exist between a certain light wavelength lambda and a certain projectional angle α p, incident angle reckoner realizes that the coordinate data of some points and this put the mapping relations that exist between the pairing incident angle α o, and projectional angle α p, incident angle α o calculate and adopt lookup table mode to realize; At first when being in the ON state, reads the power supply of color panoramic projective light source the wavelength X value of some pixels in proper order by the point coordinate of the imaging plane of panoramic vision sensor, obtain this with point coordinate value retrieval incident angle reckoner and put pairing incident angle α o, then the light wavelength lambda value retrieval light coding schedule with this point obtains the pairing projectional angle α p of this light wavelength lambda; Utilize formula (12) or formula (13) or formula (14) to calculate on the space certain any range information at last;

We can design the relation table of a projectional angle α p and color wavelength λ value, and are as shown in table 2;

Table 2 projectional angle α p and respective color wavelength X value corresponding tables

Projectional angle α p	50 ° of north latitude	40 ° of north latitude	30 ° of north latitude	20 ° of north latitude	10 ° of north latitude	0 ° of zero latitude	10 ° in south latitude	20 ° in south latitude	30 ° in south latitude	40 ° in south latitude
											Color	Blue	Blue-green	Green	Green-yellow	Light green yellow	Yellow	Pale yellow	Orange	Pale red	Dark red
Central wavelength lambda (nm)	??465	??500	??520	??560	??570	??585	??590	??605	??625	??640

If the color wavelength that obtains on certain pixel of imaging plane is 540nm, according to tabling look-up, can obtain this color wavelength between green 520nm and green-yellow 560nm, the projectional angle α p that can obtain when color wavelength is 540nm by interpolation calculation is 25 ° of north latitude;

Adopt " median eye " visual manner to describe the information (R of a certain object point A on the space among the present invention, φ, β, r, g, b, t), so-called median eye is the mid point of stereoscopic vision baseline distance, is that the line central point between the viewpoint of panoramic vision sensor by having average angle resolution and panorama color light source obtains, here with the coordinate of median eye as Gaussian sphere origin O, as shown in Figure 9; The information of a certain object point A (R, φ, β on the space, r, g, b, the t) R in the result of calculation setting of formula (14), the φ result of calculation setting of formula (15), β is that standard is provided with the orientation initial angle of panorama color light source, r, g, with the actual color component value setting of this pixel on the imaging plane of panoramic vision sensor when the power supply of led light source is in the OFF state, t is provided with the clock of microprocessor b respectively; Like this information of any point on the panorama space can both with (R, φ, β, r, g, b, t) 7 component values are expressed, as shown in Figure 9.

Embodiment 2

With reference to Fig. 1～Figure 11, the selection aspect of the spectral range of the led light source of present embodiment, at some special occasions, as what need that color panoramic projective light source sends is infrared spectrum, therefore the spectral range with the LED device is chosen in 700nm～2000nm.Other structures of present embodiment are identical with embodiment 1 with the course of work.

Claims (8)

1, a kind of active three-dimensional panoramic vision sensor with average angle resolution, it is characterized in that: described active three-dimensional panoramic vision sensor comprises panoramic vision sensor, color panoramic projective light source with average angle resolution and the microprocessor that is used for omnidirectional images is carried out the 3 D stereo videographic measurment, and described panoramic vision sensor and described color panoramic projective light source with average angle resolution is configured on the same axis heart line; Described panoramic vision sensor with average angle resolution comprises image unit, transparent semicircle outer cover, loam cake, secondary catadioptric minute surface, a catadioptric minute surface; A described catadioptric minute surface is fixed on and covers on described, described secondary catadioptric minute surface is fixed on the bottom of described transparent semicircle outer cover, described transparent semicircle outer cover is fixedlyed connected with described loam cake, described image unit is fixed on and covers on described, the aperture of the camera lens of described image unit on a described catadioptric minute surface, the camera lens of described image unit is on the viewpoint of a described catadioptric minute surface, and the output of the described image unit in the described panoramic vision sensor with average angle resolution is connected with described microprocessor; Described color panoramic projective light source comprises that ball face structure base board and many groups have the ultra-high brightness LED of different luminescent center wavelength; Described color panoramic projective light source is connected by web member with described panoramic vision sensor with average angle resolution;

Comprise in the described microprocessor:

The color panoramic projective light source control module, be used to control color panoramic projective light source and send full color panoramic structure light, when the color panoramic projective light source control module makes the power supply of color panoramic projective light source be in the ON state, in the image-generating unit of panoramic vision sensor, directly obtain the degree of depth and the orientation angles information of space object point; When the color panoramic projective light source control module makes the power supply of color panoramic projective light source be in the OFF state, in the image-generating unit of panoramic vision sensor, directly obtain the actual color information of space object point; The power supply switch control of actual color panoramic projective light source adopts electronic switch to realize;

The video image read module is used to read the video image of panoramic vision sensor, and is kept in the described memory device, and its output is connected with described spatial information computing module; Each pixel color in the full-view video image that is read when the power supply of color panoramic projective light source is in the ON state has the degree of depth and the orientation angles information of certain object point; Each pixel color in the full-view video image that is read when the power supply of color panoramic projective light source is in the OFF state has the actual color information of certain object point; According to the P (x on the catadioptric image-forming principle calculating of the secondary with the average angle resolution imaging plane, y) incident angle α o, the central point by projectional angle α p, incident angle α o and color panoramic projective light source and have the depth information that distance between the viewpoint Om of panoramic vision sensor of average angle resolution obtains the space object point;

The spatial information computing module, be used for object point on the computer memory to the distance and the incident angle of stereo vision measuring apparatus central point, respectively computer memory object point and the distance R of distance R 2, space object point and the median eye of the central point Op of distance R 1, space object point and the color panoramic projective light source of the viewpoint Om of panoramic vision sensor and the incident angle φ of space object point with average angle resolution; Its output is connected with the 3-D view reconstructed module;

The 3-D view reconstructed module is used for launching computing with carry out column at the panoramic picture that panoramic vision sensor obtained, and horizontal ordinate is represented the position angle in the stretch-out view, and ordinate is represented incident angle; Need the image of this core is separated separately when launching omnidirectional images, then omnidirectional images is launched, the calculating step-length of horizontal direction is in the deployment algorithm, Δ β=2 π/l, and 1 is the horizontal development amplitude in the formula; The calculating step-length of vertical direction is Δ m=(α _O-max-α _O-min)/m; In the formula, α _O-maxBe the scene angle of incidence of light of the maximum effective radius Rmax of the former figure of panorama correspondence, α _O-minScene angle of incidence of light for the minimum effective radius Rmin of the former figure of panorama correspondence;

With the former picture point A (α that uses among the former figure of panorama of polar coordinate representation ₀, β) the A point coordinate in the Dui Ying sphere expansion mode is respectively:

x＝β/Δβ，y＝(α _o-α _o-min)/Δm????????????????(11)

In the formula: Δ β is the calculating step-length of horizontal direction, and β is the position angle, and Δ m is the calculating step-length of vertical direction, α _oThe scene angle of incidence of light of the former figure effective radius of panorama R correspondence, α _O-minScene angle of incidence of light for the minimum effective radius Rmin of the former figure of panorama correspondence;

Panoramic picture is being carried out column when launching, be in the ON/OFF two states at the power supply of color panoramic projective light source and can produce two kinds of different column stretch-out views; When the power supply of color panoramic projective light source is in the state of ON, on the column stretch-out view, have panorama full-view video image that color structured light shines; When the power supply of color panoramic projective light source is in the state of OFF, the full-view video image that natural light throwed on the column stretch-out view.

2, the active three-dimensional panoramic vision sensor with average angle resolution as claimed in claim 1 is characterized in that: described color panoramic projective light source comprises that ball face structure base board and many groups have the ultra-high brightness LED of different luminescent center wavelength; It is inner circular ball-type hollow, the round spherical surface body of cylindrical hollow up and down that described ball face structure base board is used for fixing the described ball face of ultra-high brightness LED structure base board that described many groups have different luminescent center wavelength, is arranging the aperture that equates with the overall diameter of ultra-high brightness LED according to longitude and latitude with the even five equilibrium of the certain angle of being separated by on the spherical outside surface of described ball face structure base board; The ultra-high brightness LED that described many groups have different luminescent center wavelength divides into groups in proper order according to the length of its luminescent center wavelength, every group ultra-high brightness LED number is identical with little number of perforations on the latitude direction, southern latitude value is inserted in the corresponding aperture ultra-high brightness LED group from the ultra-high brightness LED group of bob center wavelength of light to long hair center wavelength of light in order to maximum from the maximum northern latitude value on described ball face structure base board successively, same luminescent center wavelength ultra-high brightness LED group is inserted in the aperture on the same latitude direction, and the emission light direction of each ultra-high brightness LED overlaps with the normal direction of the corresponding aperture of insert.

3, the active three-dimensional panoramic vision sensor with average angle resolution as claimed in claim 1 or 2, it is characterized in that: the catadioptric minute surface of described panoramic vision sensor with average angle resolution and the design of secondary catadioptric minute surface are as follows, and the angle of incident ray V1 and catadioptric main shaft Z is α ₀, the angle of primary event light V2 and catadioptric main shaft Z is θ ₂, cross P1 (t ₁, F ₁) tangent line and the angle of t axle be σ, normal N 1 is ε with the angle of Z axle The angle of secondary reflection light V3 and catadioptric main shaft Z is θ ₁, cross P2 (t ₂, F ₂) tangent line and the angle of t axle of point be σ, the angle of normal N 2 and Z axle is ε ₁, obtain formula (1) based on above-mentioned relation:

Wherein $\tan {\mathrm{\&alpha;}}_0=\frac{t_1}{F_1(t_1-s)},$ $\tan {\mathrm{\&theta;}}_2=\frac{t_1-t_2}{F_2-F_1},$ $\tan {\mathrm{\&theta;}}_1=\frac{t_2}{F_2}$

In the formula, F ₁Be a catadioptric minute surface curve, F ₂It is secondary catadioptric minute surface curve;

Utilize triangle relation and simplify arrangement, obtain formula (2), (3):

F ₁′ ²-2αF ₁′-1＝0????????????????(2)

F ₂′ ²-2βF ₂′-1＝0????????????????(3)

In the following formula,

$\mathrm{\&sigma;}=\frac{(F_1-s)(F_2-F_1)-t_1(t_1-t_2)}{t_1(F_2-F_1)-(t_1-t_2)(F_1-s)}$

$\mathrm{\&beta;}=\frac{t_2(t_1-t_2)+F_2(F_2-F_1)}{t_2(F_2-F_1)-F_2(t_1-t_2)}$

Solution formula (2), (3) obtain formula (4), (5);

${F_1}^{\&prime;}=\mathrm{\&alpha;}\&PlusMinus;\sqrt{{\mathrm{\&alpha;}}^2+1}---\left(4\right)$

${F_2}^{\&prime;}=\mathrm{\&beta;}\&PlusMinus;\sqrt{{\mathrm{\&beta;}}^2+1}---\left(5\right)$

In the formula: F ₁' be F ₁The differential of curve, F ₂' be F ₂The differential of curve;

Have certain linear relationship in order to make between point on the imaging plane and the incident angle, to set up exactly a kind of pixel P to the Z wheelbase from incident angle α ₀Between linear relationship, as shown in Equation (6),

α ₀＝a×P+b????????????????????????(6)

In the formula: a, b are and the relevant parameter of selected imager chip pixel value;

As f, P is the distance of pixel to the Z axle, the reflection spot (t on secondary catadioptric minute surface with the focal length of image unit ₂, F ₂), then according to image-forming principle, P is represented by formula (7):

$P=f\&times;\frac{t_2}{F_2}---\left(7\right)$

With formula (7) substitution formula (6), can get formula (8),

${\mathrm{\&alpha;}}_0=a\&times;(f\&times;\frac{t_2}{F_2})+b---\left(8\right)$

The minute surface curve design that satisfies formula (8) meets the average angle resolution requirement;

According to the catadioptric principle, formula (8) can be used formula (9) expression,

${\tan }^{-1}\left(\frac{t_1}{F_1-s}\right)=a\&times;(f\&times;\frac{t_2}{F_2})+b---\left(9\right)$

To formula (2), (3), (9), ask F then by 4 rank Runge-Kutta algorithms ₁And F ₂Digital solution, the catadioptric minute surface and the secondary catadioptric minute surface curve that calculate like this can be realized average angle resolution.

4, the active three-dimensional panoramic vision sensor with average angle resolution as claimed in claim 2, it is characterized in that: described color panoramic projective light source is adopted the timesharing control technology, control the luminous of described color panoramic projective light source or not luminous by electronic switch, when described color panoramic projective light source control module makes the power supply of described color panoramic projective light source be in the ON state, in the image-generating unit of described panoramic vision sensor, directly obtain the degree of depth and the orientation angles information of space object point; When described color panoramic projective light source control module makes the power supply of described color panoramic projective light source be in the OFF state, in the image-generating unit of described panoramic vision sensor, directly obtain the actual color information of space object point.

5, the active three-dimensional panoramic vision sensor with average angle resolution as claimed in claim 1, it is characterized in that: described spatial information computing module comprises refraction angle α _pComputing unit, incident angle α _oComputing unit and metrics calculation unit;

Projectional angle α p computing unit, be used for utilizing and have between the projectional angle α p of color panoramic projection and the optical wavelength that certain high-brightness LED of color panoramic projection is launched that certain functional relation calculates, when the power supply of color panoramic projective light source is in the ON state, there are one-to-one relationship in the color component of the pixel on the imaging plane and projectional angle α p, utilize this to concern and obtain projectional angle α p;

Incident angle α o computing unit calculates the incident angle α o of the point with a certain specific wavelength by formula (10),

${\mathrm{\&alpha;}}_0=a\&times;P+b=a\&times;\sqrt{x^2+y^2}+b---\left(10\right)$

In the formula, x, y put P (x, coordinate figure y), a, b are and the relevant parameter of selected imager chip pixel value, α on the imaging plane ₀The incident angle of expression;

Metrics calculation unit is used to utilize formula (12)～(15) to distinguish the real focus O of computer memory object point and panoramic vision sensor _mThe real focus O of distance R 1, space object point and color panoramic projective light source _pThe distance R of distance R 2, space object point and median eye and the incident angle φ of space object point,

$R1=\stackrel{\&OverBar;}{O_{m}A}=\frac{\cos \left({\mathrm{\&alpha;}}_o\right)}{\sin ({\mathrm{\&alpha;}}_o+{\mathrm{\&alpha;}}_p)}B---\left(12\right)$

$R2=\stackrel{\&OverBar;}{O_p\&CenterDot;A}=\frac{\cos \left({\mathrm{\&alpha;}}_p\right)}{\sin ({\mathrm{\&alpha;}}_o+{\mathrm{\&alpha;}}_p)}B---\left(13\right)$

$R=\stackrel{\&OverBar;}{\mathrm{OA}}=\sqrt{{R2}^2+{(B/2)}^2-2R2(B/2)\cos ({\mathrm{\&alpha;}}_p+90)}$

(14)

$=B\sqrt{{\left[\frac{\cos \left({\mathrm{\&alpha;}}_p\right)}{\sin ({\mathrm{\&alpha;}}_o+{\mathrm{\&alpha;}}_p)}\right]}^2+0.25+\frac{\cos \left({\mathrm{\&alpha;}}_p\right)}{\sin ({\mathrm{\&alpha;}}_o+{\mathrm{\&alpha;}}_p)}\sin \left({\mathrm{\&alpha;}}_p\right)}$

$\mathrm{\&phi;}=\arcsin \left[\frac{B}{2R}\cos \left({\mathrm{\&alpha;}}_o\right)\right]---\left(15\right)$

In the formula: B is the baseline distance, α _oBe incident angle, α _pBe projectional angle, R1 is object point A and the viewpoint O with panoramic vision sensor of average angle resolution _mDistance, R2 is the real focus O of object point A and color panoramic projective light source _pDistance, R is the distance of object point A and median eye, φ is the incident angle of space object point with respect to median eye.

6, a kind of active three-dimensional panoramic vision sensor as claimed in claim 5 with average angle resolution, it is characterized in that: in described spatial information computing module, a light coding schedule is set realizes the mapping relations that exist between a certain light wavelength lambda and a certain projectional angle α p, incident angle reckoner realizes that the coordinate data of some points and this put the mapping relations that exist between the pairing incident angle α o, and projectional angle α p, incident angle α o calculate and adopt lookup table mode to realize; At first when being in the ON state, reads the power supply of color panoramic projective light source the wavelength X value of some pixels in proper order by the point coordinate of the imaging plane of panoramic vision sensor, obtain this with point coordinate value retrieval incident angle reckoner and put pairing incident angle α o, then the light wavelength lambda value retrieval light coding schedule with this point obtains the pairing projectional angle α p of this light wavelength lambda; Utilize formula (11) or formula (12) or formula (13) to calculate on the space certain any range information at last;

Projectional angle α p 50 ° of north latitude 40 ° of north latitude 30 ° of north latitude 20 ° of north latitude 10 ° of north latitude 0 ° of zero latitude 10 ° in south latitude 20 ° in south latitude 30 ° in south latitude 40 ° in south latitude Color Blue Blue-green Green Green-yellow Light green yellow Yellow Pale yellow Orange Pale red Dark red Central wavelength lambda (nm) ??465 ??500 ??520 ??560 ??570 ??585 ??590 ??605 ??625 ??640

Table 2

Table 2 is the corresponding tables that concern of a projectional angle α p and color wavelength λ value, and the wavelength X value of passing through some pixels of being obtained 2 obtains two adjacent centre wavelengths with tabling look-up, and adopts the method for interpolation to calculate projectional angle α p then.

7, as claim 2 or 4 described active three-dimensional panoramic vision sensors with average angle resolution, it is characterized in that: the assemble method of described color panoramic projective light source is: after processing ball face structure base board, same luminescent center wavelength ultra-high brightness LED group is inserted in the hole on the same latitude direction, and by being arranged in order insertion from little luminescent center wavelength ultra-high brightness LED group to big luminescent center wavelength ultra-high brightness LED group according to the maximum northern latitude value on the ball face structure base board to the hole of the southern latitude value of maximum; After all ultra-high brightness LEDs insert and finish, carry out line according to the forward voltage connection index of ultra-high brightness LED, connecting line all in open circles ball-type body, draw by the hollow cylinder of circle spherical surface body by power lead; When powering to color panoramic projective light source, the ultra-high brightness LED group on the same latitude of ball face is sent the light of same luminescent center wavelength, and the direction of throw light is exactly the normal direction of sphere; And the ultra-high brightness LED on ball face different latitude sends the wavelength light that gradually changes.

8, as claim 2 or 4 described active three-dimensional panoramic vision sensors with average angle resolution, it is characterized in that: the concrete job operation of the ball face structure base board of described color panoramic projective light source is: at first ball face structure base board is processed into the ball-shaped body, the center of its ball-shaped body is an open circles ball-type body, and the centre of spheroid is a hollow cylinder; Carry out five equilibrium by the certain angle of being separated by from the maximum gauge at the ball face on longitudinal then, be divided into 36 equi-angularly spaces, promptly each equi-angularly space is 10 °; Then be 10 ° by equi-angularly space on from the maximum gauge of ball face from the latitude direction and carry out five equilibrium, the quantity behind the five equilibrium is identical with the glow color number of the ultra-high brightness LED of employing; In mean line on the longitudinal and the mean line on the latitude direction intersection point is arranged all, each intersection point all has corresponding longitude and latitude value, be the center of boring then with these intersection points, external diameter with ultra-high brightness LED is the diameter of boring bit, and the direction of boring is aimed at the centre of sphere of ball-shaped body.

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