CN101975994B - Three-dimensional imaging system of multi-stage lens - Google Patents

Abstract

The invention relates to a three-dimensional imaging system of multi-stage lens, which comprises multiple stages of lenses and a sensor, wherein the multiple stages of lenses are a first-stage lens, a second-stage lens, ......, a N-2-stage lens, a N-1-stage lens and a N-stage lens; the multiple stages of lenses and the sensor are arranged in the direction of light ray transmission in sequence; light rays are imaged to the N-1-stage lens through the first-stage lens and are used for generating multi-stage scene diminishing imaging information; the multi-stage scene diminishing imaging information is continuously transmitted to the N-stage lens; the N-stage lens obtains the scene two-dimensional information of multiple views of the light rays of an object; the sensor extracts the scene two-dimensional information of the multiple views; the scene two-dimensional information are three-dimensionally matched so as to obtain the depth information of the object in a scene; and the pixel dimension of the sensor, the focal length of each lens of the multi-stage lens and the distance of the adjacent lenses of the multi-stage lens are designed so as to obtain good depth resolution.

Description

The 3-D imaging system of multistage lens

Technical field

The present invention relates to three-dimensional (3D) imaging field.More specifically, the present invention relates to be used for the 3-D imaging system of multistage lens.

Background technology

The development of 3-D technology has surpassed a century, but usually because operator's requirement and cost are restricted in application.Usually we say that an objective world is three-dimensional, and the 3-D view of objective world notes it then through certain technology and handle, compress and transfer out, and show the final image that in people's brain, reproduces the objective world.Now, the 3D system just progressively be used for amusement, commerce and Scientific Application.The thing followed is, many hardware and softwares company has also added the 3D system.

In recent years, the Sharp Mova SH251iS mobile phone that NTT DoCoMo announces had used the color/graphics that can show 3D rendering first.Single digital camera is through the image of the different angles of two two dimensions of shooting (2D), thereby the process processing obtains 3D rendering then.When 3D rendering was sent out away, the equipment that needs similar functions just can be seen 3D rendering.And, become 3D rendering so must pass through the treatment conversion of thinking because the shooting of single digital camera is the 2D image.In order to obtain reasonable 3D rendering, when taking, the requirement of the position of the object of shooting is that comparison is harsh.So the quality of this image can not guarantee.

The Real 3D W1 of Fuji has used brand-new research and development " FinePix REAL 3D lens system " and natural image processing engine 3 D; Utilized binocular vision in fact; Promptly utilize two camera lenses to come two eyes of anthropomorphic dummy, thereby through handling the 3D image that is formed with stereovision.At first merge the synchronous 2D information that collects on two ccd sensors, in real time it has been processed into high-quality image then.But need two camera lenses to simulate, thereby make the size of equipment too big, inconvenience is carried, thereby promotes limited.

SwissRanger SR-2 camera has adopted the TOF principle technology first.A branch of light is transmitted in the scene to be measured as a reference,, calculates the distance of object in the scene, thereby obtain depth information through calculating the mistiming or the phase differential of light beam light echo.In addition, combining camera is taken and is obtained bidimensional image information again, thereby can obtain whole scene simultaneously.Owing to will use reference beam, thereby the equipment that makes is received restriction when obtaining whole scene, causes finally that depth resolution is low, the visual angle is little.

The achievement in research that present three-dimensional is obtained equipment still exists the size of equipment too big; Depth resolution is low, be that the visual angle is little; A little less than the re-computation property; Can not obtain the defectives such as complete object of non-rigid body easily.

Summary of the invention

In order to solve prior art problems, the 3-D imaging system of the multistage lens of the complete object that the purpose of this invention is to provide the minimizing system dimension, improve depth resolution, the big re-computation property of field angle is strong, can obtain rigid body and non-rigid body easily.

For reaching above-mentioned purpose; The present invention provides the 3-D imaging system of multistage lens; Its technical scheme comprises: multistage lens and sensor, said multistage lens be first order lens, second level lens ... N-2 level lens, N-1 level lens, N level lens, wherein: the direction at light ray propagation is placed multistage lens and sensor in regular turn; Light is used to generate multistage scene through first order lens imaging to the N-1 level lens and dwindles image-forming information; Multistage scene is dwindled image-forming information and is continued to be transmitted to N level lens, and N level lens obtain the scene two-dimensional signal of the various visual angles of object light, and sensor extracts the scene two-dimensional signal of various visual angles; Mate through three-dimensional again, thus the depth information of object in the acquisition scene.

Wherein, the number of each grade lens in the said multistage lens is lens, or a plurality of lens of symmetric configuration; Each lens is single face convex lens or lenticular lens, and the shape of lens is circular, or regular polygon; A plurality of lens are arranged in the plane or are arranged on the curved surface, and curved surface is the curved surface of various radius-of-curvature; Said curved surface be concave surface to incident light, or convex surface is to incident light.

Wherein, a plurality of lens of said symmetric configuration are grid-shaped layout lens, annular layout lens and any regular polygon layout lens.

Wherein, said annular layout lens are at least one annular layout lens or more than one annulus layout lens.

Wherein, said first order lens become the light that a bit sends arbitrarily on the real image can both arrive each lens in the next stage lens.

Wherein, the Pixel Dimensions of said sensor is a depth resolution less than the difference of parallax; When elected majority level lens were the two-stage lens, the difference of parallax (disparity) was represented as follows:

$\frac{\mathrm{Lg}}{t-g}-\frac{\mathrm{tgL}}{(t-g)(t+v_1^{\left(1\right)}-v_1^{\left(2\right)})}$

Wherein, If second level lens are made up of a plurality of lens; L is the distance between the center of adjacent lens in a plurality of lens in the lens of the second level; T is the distance that each lens in the lens of the second level arrive first order lens imaging reference field; G is that each lens in the lens of the second level have identical focal length;

is respectively the degree of depth is different in the scene two objects image distance to first order lens with , and

Wherein, said size sensor is greater than the scope of each lens imaging in the N level lens.

Wherein, the layout of each lens of N level lens imaging on sensor is not overlapping.

Wherein, object is greater than 1/2 corresponding to the ratio of the number of pixels of same object part in the picture through lens at different levels adjacent two lens on sensor.

Wherein, the focusing of 3-D imaging system is that one of them perhaps obtains to form images clearly in the position of several devices through regulating first order lens to the N level lens and sensor.

Wherein, the focusing of 3-D imaging system is wherein to obtain to form images clearly in the position of each device through regulating first order lens to the N level lens and sensor simultaneously.

Beneficial effect of the present invention: the present invention has adopted the three-dimensional imaging technology of multistage lens, and the symmetric configuration of lens at different levels, has reduced system dimension, thereby making to be convenient for carrying becomes possibility.The selection of lens shape and various lens layout place face has flexibly enlarged field angle, has increased the imaging visual angle greatly, has improved depth resolution.Simultaneously, the present invention proposes focus adjustment method flexibly, use in different occasions to satisfy this system.The present invention can obtain the 3-D imaging system of multistage lens of the complete object of rigid body and non-rigid body easily.

Description of drawings

Fig. 1 illustrates the block diagram of an embodiment of the 3-D imaging system of multistage lens.

Fig. 2 illustrates the block diagram of an embodiment of the 3-D imaging system of multistage lens.

Fig. 3 a to Fig. 3 h illustrates in the 3-D imaging system of multistage lens the layout type of lens in the lens at different levels.

Fig. 4 a to Fig. 4 b illustrates the basic index path of the 3-D imaging system of multistage lens.

Fig. 5 a to Fig. 5 b illustrates two index paths of object in the 3-D imaging system of multistage lens that the degree of depth is different in the scene.

Fig. 6 illustrates the synoptic diagram 1 of not overlapping with the corresponding identical pixel portion ratio of each lens imaging of guaranteeing in the 3-D imaging system of multistage lens in the afterbody lens.

Fig. 7 illustrates the synoptic diagram of the 2*3 grid-shaped layout lens of second level lens in the 3-D imaging system of secondary lens.

Fig. 8 a to Fig. 8 b illustrates that lens at different levels are arranged in curved surface and plane in the 3-D imaging system of multistage lens.

Fig. 9 a to Fig. 9 l illustrates the shape of each lens in the 3-D imaging system lens at different levels of multistage lens and the signal of arranging that respective lens constitutes.

Embodiment

For making the object of the invention, technical scheme and advantage clearer, below in conjunction with specific embodiment, and with reference to accompanying drawing, to further explain of the present invention.

The 3-D imaging system of multistage lens has been described here.The 3-D imaging system of multistage lens allows the user to utilize the design of multistage lens to obtain quickly and easily three-dimensional scenic and three-dimensional body.System comprises multistage lens and sensing system two parts, multistage lens comprise first order lens, second level lens ... N-2 level lens, N-1 level lens are up to N level lens.

Fig. 1 illustrates the block diagram of an embodiment of the 3-D imaging system of two-stage lens, and the sensor etc. that comprises first order lens and second level lens and be used to obtain the two-dimensional signal of multidimensional angle of view is guaranteed a plurality of assemblies of the correct function of system.Light generates multistage scene through each lens in the second level lens 102 and dwindles image-forming information through continuing to propagate after first order lens 101 imaging, and multistage scene is dwindled image-forming information and finally obtained the information that the light of the object in the scene is formed images through first order lens 101 and second level lens 102 through sensor 103.The basic index path of this process is shown in Fig. 4 a to Fig. 4 b.First order lens 101 are L to the distance between the second level lens 102 ₁, second level lens 102 are L to the distance between the sensor 103 ₂What the first order lens 101 in the 3-D imaging system of multistage lens were selected is lens, and the layout of the lens in the second level lens 102 is grid-shaped layouts of 3*3.The layout of lens is not limited to this layout in first order lens 101 and the second level lens 102, can select the lens symmetric configuration in the lens several at different levels shown in Fig. 3 a to Fig. 3 h, also can select other symmetric configuration.First order lens 101 become the radiation direction that a bit sends arbitrarily on the real image that certain limit is all arranged, and can both arrive each lens in the second level lens 102 so need guarantee the light that every bit sends.The Pixel Dimensions of sensor 103 will guarantee less than depth resolution; And the size of sensor 103 is greater than the imaging scope of second level lens 102; Make the imaging of second level lens arra all on sensor 103, thereby can reflect the depth information of object in the scene.Through adjusting the position each other of the lens in the lens at different levels, guarantee that the imaging on sensor 103 is not overlapping.But scene is dwindled image-forming information in through second level lens 102 in adjacent two lens imagings, is greater than 1/2 corresponding to the ratio of the number of pixels of same object part.Distance between first order lens 101, second level lens 102 and the sensor 103 is not fixed, and whether the distance between this three is fixedly determined by focus adjustment method.The concrete grammar of focusing can promptly change distance L simultaneously through regulating the position of first order lens 101, second level lens 102 and sensor 103 simultaneously ₁And distance L ₂The purpose that reaches focusing makes the imaging on the sensor 103 clear; The also fixing distance L between second level lens 102 and the sensor 103 ₂Thereby the position of regulating first order lens 101 changes L ₁Focus; The also fixing distance L between first order lens 101 and the second level lens 102 ₁Thereby the position of regulating sensor 103 changes distance L ₂Thereby formed images clearly; The also fixing distance L between first order lens 101 and the sensor 103, thus the position of regulating second level lens 102 changes distance L ₁And distance L ₂Thereby formed images clearly.

Fig. 2 illustrates the block diagram of an embodiment of the 3-D imaging system of three step lens, and the sensor etc. that comprises the two-dimensional signal that is used to obtain multidimensional angle of view after three step lens system and the imaging of first order lens, second level lens, third level lens is guaranteed a plurality of assemblies of the correct function of system.Light finally obtains the information that object is formed images through this three step lens 101,104 and 102 through sensor 103 through third level lens 102 again through continuing to propagate through after 104 imagings of second level lens after 101 imagings of first order lens.The index path of this process is shown in Fig. 4 a to Fig. 4 b.First order lens 101 are L to the distance between the second level lens 104 ₁, second level lens 104 are L to the distance between the third level lens 102 ₂, third level lens 102 are L to the distance between the sensor 103 ₃What the first order lens 101 in the 3-D imaging system of the multistage lens shown in Fig. 2 were selected is lens; Lens layout in the second level lens 104 is the grid-shaped layout lens of 2*2, and the lens layout in the third level lens 102 is the grid-shaped layout lens of 3*3.The layout of lens is not limited to this layout in the lens wherein at different levels, can select the symmetric configuration of lens in the lens several at different levels shown in Fig. 3 a to Fig. 3 h, also can select other symmetric configuration.First order lens 101 become the radiation direction that a bit sends arbitrarily on the real image that certain limit is all arranged, and can both arrive each lens in the next stage lens so need guarantee the light that every bit sends.The Pixel Dimensions of sensor 103 will guarantee less than depth resolution; And sensor 103 sizes are greater than the imaging scope of third level lens 102; Make the imaging of lens arra of third level lens 102 all on sensor 103, thereby make the information that can reflect object image-forming in the scene on the sensor 103.Through adjusting the position each other of the lens in the lens at different levels; Guarantee that the imaging on sensor 103 is not overlapping; But the light of object finally on sensor 103 in the picture of two adjacent lens, is greater than 1/2 corresponding to the ratio of the number of pixels of same object part through lens at different levels.Distance between first order lens 101, second level lens 104, third level lens 102 and the sensor 103 is not fixed; Whether the distance between this three is fixedly determined by focus adjustment method; Concrete grammar can promptly change distance L simultaneously through regulating the position of first order lens 101, second level lens 104, third level lens 102 and sensor 103 simultaneously ₁, distance L ₂And distance L ₃The purpose that reaches focusing makes the imaging on the sensor 204 clear; Also fixedly first order lens 101 to the distance L between the second level lens 104 ₁And second level lens 104 are to the distance L between the third level lens 102 ₂Regulate the position of sensor 103, change distance L ₃Thereby obtain imaging clearly; The position of third level lens 102 is regulated in the also fixing position of first order lens 101, second level lens 104 and sensor 103, changes distance L simultaneously ₂And distance L ₃Thereby obtain imaging clearly; The position of second level lens 104 is regulated in the also fixing position of first order lens 101, third level lens 102 and sensor 103, changes distance L simultaneously ₁And distance L ₂Thereby formed images clearly; The position of first order lens 101 is regulated in the also fixing position of second level lens 104, third level lens 102 and sensor 103, changes distance L ₁Obtain to form images clearly; The also fixing position of first order lens 101 and second level lens 104 is regulated the position of third level lens 102 and sensor 103 simultaneously, changes distance L ₂And distance L ₃Obtain to form images clearly; The also fixing position of first order lens 101 and third level lens 102 is regulated the position of second level lens 104 and sensor 103 simultaneously, changes distance L ₁, distance L ₂And distance L ₃Formed images clearly; The also fixing position of first order lens 101 and sensor 103 is regulated the position of second level lens 104 and third level lens 102 simultaneously, changes distance L ₁, distance L ₂And distance L ₃Thereby, obtain imaging clearly; The also fixing position between second level lens 104 and the third level lens 102 is regulated the position of first order lens 101 and sensor 103 simultaneously, changes distance L ₁And distance L ₃Thereby, obtain imaging clearly; The also fixing position of second level lens 104 and sensor 103 is regulated the position of first order lens 101 and third level lens 102 simultaneously, changes distance L ₁, distance L ₂And distance L ₃Thereby, obtain imaging clearly; The also fixing position of third level lens 102 and sensor 103 is regulated the position of first order lens 101 and second level lens 104 simultaneously, changes distance L ₁, distance L ₂And distance L ₃Thereby, obtain imaging clearly.

Fig. 1 and Fig. 2 just set forth the 3-D imaging system of secondary lens and the 3-D imaging system of three step lens.For the 3-D imaging system of multistage lens, three-dimensional imaging is carried out in the design that can expand to more multistage lens, and principle is consistent with the image-forming principle of Fig. 1 and Fig. 2.Focus adjustment method for the 3-D imaging system of multistage lens; Just carried out bright specifically among Fig. 1 and Fig. 2 to the 3-D imaging system of secondary lens and the 3-D imaging system of three step lens; But, all can obtain to form images clearly through regulating lens at different levels and sensor one of them or several positions for the 3-D imaging system of more multistage lens.

Fig. 3 a-Fig. 3 h illustrates the lens layout type in the lens at different levels in the 3-D imaging system of multistage lens; The for example first order lens 101 among Fig. 1, second level lens 102 etc.; First order lens 101 among Fig. 2, second level lens 104, third level lens 102 etc., even N level lens can be the symmetric configurations of any one lens among Fig. 3 a-Fig. 3 h.Fig. 3 a to Fig. 3 h has only listed the lens arra of some symmetric configurations: single lens (as Fig. 3 a), grid-shaped layout lens (like Fig. 3 b, Fig. 3 d, Fig. 3 e and Fig. 3 h), annular layout lens (like Fig. 3 f) and regular polygon layout lens (like Fig. 3 c and Fig. 3 g) etc.The lens arra of lens at different levels is symmetric configurations; Also can be that canonical is arranged; Can be a lot of forms, just enumerate a part wherein shown in Fig. 3 a to Fig. 3 h, even the grid-shaped layout lens of the grid-shaped layout lens of 100*100 and 200*200 also can; Other symmetric configurations or canonical are arranged also passable, just give unnecessary details no longer one by one here.

Each lens in the 3-D imaging system of multistage lens can be the single face convex lens (a) like Fig. 9; Also can be lenticular lens (like Fig. 9 b); And the shape of lens is not limited only to the circle of Fig. 9 c; Can also be other regular polygons, like equilateral triangle (like Fig. 9 d), square (like Fig. 9 e), regular pentagon (like Fig. 9 f), regular hexagon (like Fig. 9 g) and octagon multiple regular polygons such as (like Fig. 9 h).Arranging of lens so at different levels also can be the regular layout that is made up of a plurality of regular polygons, the various regular layouts that are made up of a plurality of other regular polygons of a kind of regular layout (like Fig. 9 j) that constitutes like a kind of regular layout (like Fig. 9 i) that is made up of equilateral triangle, by square, a kind of regular layout (like Fig. 9 k) that is made up of regular hexagon and a kind of regular layout (like Figure 91) of being made up of octagon or the like.

Each lens in the 3-D imaging system of multistage lens in the lens at different levels can be arranged in the plane shown in Fig. 1 and Fig. 2; Also can be arranged on the curved surface; And curved surface can be the curved surface of any curvature, curved surface be concave surface to incident light, or convex surface is to incident light.Fig. 8 a shows lens at different levels and is arranged in a sectional view on the convex surface, and Fig. 8 b shows lens at different levels and is arranged in a sectional view on the concave curved surface.

Fig. 4 a to Fig. 4 b illustrates a concrete index path of the 3-D imaging system of multistage lens.The index path of the 3-D imaging system of multistage lens is to be lens with first order lens, and second level lens are that the 3-D imaging system of secondary lens of the grid-shaped lens arra of 1*3 is that example is explained.Wherein the number of the lens in first order lens 101 and the second level lens (second level lens constitute second level lens arra by 10201,10202 and 10203) can be the lens arra of one or more symmetric configuration.And the progression of lens also can expand to multistage.With the distance of primary optical axis be that the object of P is first order lens 101 imagings of f through focal length, the real image that first order lens 101 are become and the distance of primary optical axis are Q, wherein in the light path that first order lens 101 form images, object distance is u ₁, image distance is v ₁Light continue to be propagated each lens that are g through the focal length in the lens of the second level, wherein, will pass through the real image that first order lens 101 are become and be used as object, and in the light path of second level level lens imaging, object distance is u so ₂, image distance is v ₂ Sensor 103 sizes are greater than the scope of second level lens imaging.In Fig. 4 b, through middle lens 10202, the distance that is imaged onto optical axis on sensor 103 is D for first order lens 101 imagings _mFor lens 10201 adjacent with intermediate lens 10202; Its center is L to the distance of primary optical axis (intermediate lens 10202), and first order lens 101 imagings are D through edge 10201 imaging on sensor 103 to the distance of these lens 10201 optical axises _sSo, two of being become with its adjacent lens 10202 by intermediate lens 10201 of definition object look like separately that the difference of the distance of lens axis is parallax (disparity), represent with D, i.e. D=D _s-D _m

Fig. 5 a to Fig. 5 b illustrates two index paths of object in the 3-D imaging system of multistage lens that the degree of depth is different in the scene.In scene, the image distance of the real image that the object 1 that the degree of depth is different is become with 2 process first order lens is different, for the next stage lens, is exactly that object distance is different, causes parallax different.The object distance of object 1 and object 2 is respectively among different index path 5a to Fig. 5 b of two degree of depth of the 3-D imaging system of multistage lens

With

Wherein

Image distance is respectively

With

Wherein

The focal length of first order lens 101 is f; The focal length of each lens is g in the lens of the second level, and second level lens 102 are t to the distance of first order lens 101 imaging reference fields, in these two objects; Object 1 is imaged on the imaging reference field of camera lens, and then the object distance for second level lens does

Object 2 is imaged on (to the skew of first order lens direction) before the lens imaging reference field, and then the object distance for second level lens does

Object 1 and object 2 are respectively P to the distance of optical axis ₁And P ₂, through behind the first order lens imaging, the looking like of the picture of object 1 and object 2 is respectively Q to the distance of optical axis ₁And Q ₂The light that object 1 and object 2 send finally obtains the parallax D of object 1 and object 2 respectively respectively according to the index path among Fig. 4 a to Fig. 4 b on sensor 103 ⁽¹⁾And D ⁽²⁾The difference δ D (being also referred to as depth resolution) of the parallax of two objects in two width of cloth images is so:

$\mathrm{\δD}=D^{\left(1\right)}-D^{\left(2\right)}=\frac{\mathrm{Lg}}{t-g}-\frac{\mathrm{tgL}}{(t-g)(t+v_1^{\left(1\right)}-v_1^{\left(2\right)})},$

Where the image distance

and

is expressed as:

$v_1^{\left(1\right)}=\frac{u_1^{\left(1\right)}f}{u_1^{\left(1\right)}-f},$ $v_1^{\left(2\right)}=\frac{u_1^{\left(2\right)}f}{u_1^{\left(2\right)}-f},$

For can be at the difference δ D that obtains the parallax of two objects in two width of cloth images on the sensor 103, the difference δ D that the Pixel Dimensions of the sensor 103 that requires so is less than the parallax of two objects in two width of cloth images be:

$\mathrm{\δD}=D^{\left(1\right)}-D^{\left(2\right)}=\frac{\mathrm{Lg}}{t-g}-\frac{\mathrm{tgL}}{(t-g)(t+v_1^{\left(1\right)}-v_1^{\left(2\right)})},$

Can reflect the depth information of object in scene.For the parallax (disparity) of object in two width of cloth figure that makes different depth the difference greater than 1 pixel is arranged simultaneously, need the first order camera lens that uses focal length long.

Fig. 6 illustrates the 3-D imaging system of multistage lens.To guarantee that wherein following four conditions set up: the one, the distance in the afterbody lens between adjacent two lens must be greater than the diameter of lens, so just can be not overlapping between the lens.The 2nd, in the end to get them in the one-level lens in the imaging of each lens circle and connect the image of square in maximum for finally on sensor, obtaining, these square interior can not have other lenses imaging in the afterbody lens.The 3rd, connect the public domain of forming images between the square in above-mentioned and want enough greatly, greater than 1/2.The 4th, each square all will drop in the scope of sensor.Confirm the position of each lens in the afterbody lens through above-mentioned four conditions.In the system of Fig. 6, first order lens are the lens that focal length is f, and effective aperture is D, and each focal length of lens is g in the lens of the second level, and diameter is d, and array is as shown in Figure 7, wherein, and L among Fig. 7 _xAnd L _yBe respectively in the lens of the second level distance between the center of circle of two adjacent lens on the x axle and y direction of principal axis; A, b, f, h are called the edge lens in the lens of the second level, and c and e are called intermediate lens; The distance on light process first order lens imaging plane, lens place to the second level is as object distance; Its value is u; Is that its value of image distance is v through second level lens to the distance of sensor, and two diameter of a circles on the accessed first order lens imaging plane of edge lens 10201 and intermediate lens 10202 are L1, and the distance in the center of circle of two circles is E; The light of object is through first order lens imaging; Again through the secondary imaging of edge lens 10201 and intermediate lens 10202 on sensor 103, radius is r, the distance between the center of circle is S.

Consider horizontal direction:

$\mathrm{<figure-callout\; id="1"\; label="L"\; filenames="HSA00000246440800071.png,HSA00000246440800072.png"\; state="\{\{state\}\}">L</figure-callout>}1=[D(\frac{u}{v}+1)g+\mathrm{df}]/[(\frac{u}{v}+1)g+f],$

The imaging radius of a circle of the lens in the lens of the second level

$r=\frac{\mathrm{<figure-callout\; id="1"\; label="vL"\; filenames="HSA00000246440800071.png,HSA00000246440800072.png"\; state="\{\{state\}\}">vL</figure-callout>}1}{2u},$

The distance of center circle of the lens imaging circle in the lens of the second level from S does

$S=\frac{[(\frac{u}{v}+1)g+f+(\frac{v}{u}+1)g]}{[(\frac{u}{v}+1)g+f]}{L}_x,$

Thereby four conditions that lens arrangement position, the second level will be satisfied are:

1. adjacent lens is not overlapping, i.e. L _x＞=d

2. the image on the sensor that is obtained be second level lens each lens imaging circle in connect square, so, do not have eclipse effect between the image of to obtain on the sensor each other, then

Promptly to L _xRequirement do,

$L_x\&GreaterEqual;\frac{(1+\frac{\sqrt{2}}{2})r[(\frac{u}{v}+1)g+f]}{(\frac{u}{v}+1)g+f+(\frac{v}{u}+1)g},$

The L that is given _xThe coincidence factor R that must satisfy two adjacent pictures is greater than 50% two circles as the picture of two lens in the lens of the second level, and the distance in the center of circle can be expressed as:

$E=\frac{L_{x}f}{(\frac{u}{v}+1)g+f},$

Thereby L _xMaximum is to make public domain R just satisfy 1/2 condition.

Can calculate two circles this moment as the picture of edge lens 10201 and intermediate lens 10202, the center of circle apart from E should be

thus requiring

At this point there

then

$L_x\&le;\frac{D(\frac{u}{v}+1)g+\mathrm{<figure-callout\; id="2"\; label="df"\; filenames="HSA00000246440800071.png"\; state="\{\{state\}\}">df</figure-callout>}}{2\sqrt{2}f}.$

More than three at vertical direction identical conclusion is arranged also.

Connect square in being got; Should all be arranged in the scope of sensor; Can not exceed the scope of sensor thereby

arranged wherein that w is the length of sensor, promptly

$L\&le;\frac{(w-\sqrt{2}r)[(\frac{u}{v}+1)g+f]}{2[(\frac{u}{v}+1)g+f+(\frac{v}{u}+1)g]},$

3., then need the w in the formula be replaced to the wide h of sensor if consider vertical direction.

The above; Be merely the embodiment among the present invention, but protection scope of the present invention is not limited thereto, anyly is familiar with this technological people in the technical scope that the present invention disclosed; Can understand conversion or the replacement expected, all should be encompassed within the protection domain of claims of the present invention.

Claims (11)

1. the 3-D imaging system of multistage lens is characterized in that, said system comprises: multistage lens and sensor, said multistage lens be first order lens, second level lens ... N-2 level lens, N-1 level lens, N level lens, wherein:

Direction at light ray propagation is placed multistage lens and sensor in regular turn; Light is used to generate multistage scene through first order lens imaging to the N-1 level lens and dwindles image-forming information; Multistage scene is dwindled image-forming information and is continued to be transmitted to N level lens, and N level lens obtain the scene two-dimensional signal of the various visual angles of object light, and sensor extracts the scene two-dimensional signal of various visual angles; Mate through three-dimensional again, thus the depth information of object in the acquisition scene; Distance in the afterbody lens of said multistage lens between adjacent two lens must be greater than the diameter of lens, and is just not overlapping between the lens; In the end get them in the one-level lens in the imaging of each lens circle and connect the image of square for finally on sensor, obtaining in maximum, these square interior can not have other lenses imaging in the afterbody lens; Connect the public domain of forming images between the square in above-mentioned and want enough big, greater than 1/2; Each square all will drop in the scope of sensor.

2. the 3-D imaging system of multistage lens as claimed in claim 1 is characterized in that, the number of each grade lens in the said multistage lens is lens, or a plurality of lens of symmetric configuration; Each lens is single face convex lens or lenticular lens, and the shape of lens is circular, or regular polygon; A plurality of lens are arranged in the plane or are arranged on the curved surface, and curved surface is the curved surface of various radius-of-curvature; Said curved surface be concave surface to incident light, or convex surface is to incident light.

3. the 3-D imaging system of multistage lens as claimed in claim 2 is characterized in that, a plurality of lens of said symmetric configuration are grid-shaped layout lens, annular layout lens and any regular polygon layout lens.

4. the 3-D imaging system of multistage lens as claimed in claim 3 is characterized in that, said annular layout lens are at least one annular layout lens or more than one annulus layout lens.

5. the 3-D imaging system of multistage lens as claimed in claim 1 is characterized in that, said first order lens become the light that a bit sends arbitrarily on the real image can both arrive each lens in the next stage lens.

6. the 3-D imaging system of multistage lens as claimed in claim 1 is characterized in that, the Pixel Dimensions of said sensor is a depth resolution less than the difference of parallax; When elected majority level lens were the two-stage lens, the difference of parallax was represented as follows:

$\frac{\mathrm{Lg}}{t-g}-\frac{\mathrm{tgL}}{(t-g)(t+v_1^{\left(1\right)}-v_1^{\left(2\right)})}$

Wherein, If second level lens are made up of a plurality of lens; L is the distance between the center of adjacent lens in a plurality of lens in the lens of the second level; T is the distance that each lens in the lens of the second level arrive first order lens imaging reference field; G is that each lens in the lens of the second level have identical focal length;

is respectively the degree of depth is different in the scene two objects image distance to first order lens with

, and

7. the 3-D imaging system of multistage lens as claimed in claim 1 is characterized in that, said size sensor is greater than the scope of each lens imaging in the N level lens.

8. the 3-D imaging system of multistage lens as claimed in claim 1 is characterized in that, the layout of each lens of N level lens imaging on sensor is not overlapping.

9. the 3-D imaging system of multistage lens as claimed in claim 1 is characterized in that, object is greater than 1/2 corresponding to the ratio of the number of pixels of same object part in the picture through lens at different levels adjacent two lens on sensor.

10. the 3-D imaging system of multistage lens as claimed in claim 1 is characterized in that, the focusing of 3-D imaging system is that one of them perhaps obtains to form images clearly in the position of several devices through regulating first order lens to the N level lens and sensor.

11. the 3-D imaging system of multistage lens as claimed in claim 1 is characterized in that, the focusing of 3-D imaging system is wherein to obtain to form images clearly in the position of each device through regulating first order lens to the N level lens and sensor simultaneously.

Images