CN102819179A - Single-camera panoramic stereo imaging system - Google Patents
Single-camera panoramic stereo imaging system Download PDFInfo
- Publication number
- CN102819179A CN102819179A CN2011101767182A CN201110176718A CN102819179A CN 102819179 A CN102819179 A CN 102819179A CN 2011101767182 A CN2011101767182 A CN 2011101767182A CN 201110176718 A CN201110176718 A CN 201110176718A CN 102819179 A CN102819179 A CN 102819179A
- Authority
- CN
- China
- Prior art keywords
- imaging system
- catoptron
- stereo imaging
- view stereo
- light
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000003384 imaging method Methods 0.000 title claims abstract description 70
- 239000000463 material Substances 0.000 claims description 6
- 230000004308 accommodation Effects 0.000 claims description 5
- -1 acryl Chemical group 0.000 claims description 3
- 239000011521 glass Substances 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 6
- 230000011514 reflex Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000003325 tomography Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
Images
Abstract
The invention relates to a single-camera panoramic stereo imaging system, which comprises: the light-transmitting support is provided with a first end and a second end, and a light-transmitting space is formed between the first end and the second end; the first sleeve is provided with a first reflector, the first sleeve is combined with the first end of the light-transmitting support, and the first reflector is positioned in the light-transmitting space of the light-transmitting support; and the second sleeve part is provided with an image sensor, the second sleeve part is combined with the second end of the light-transmitting support part, and the lens of the image sensor faces the light-transmitting space. The single-camera panoramic stereo imaging system has wide-angle panoramic capture and distance judgment, and the panoramic stereo imaging is implemented by a single camera, so the imaging effect is good, the panoramic imaging is realized, the distance-sensing stereo imaging can be constructed, and the cost can be reduced.
Description
Technical field
The invention relates to a kind of full-view stereo imaging system, especially a kind of single camera full-view stereo imaging system.
Background technology
Existing full-view stereo imaging system, embodiment has many kenels, comprises polyphaser imaging, rotation tomography and lens panoramic imagery.Form images with polyphaser; This imaging system is through setting up camera in a plurality of different angles; Intersect comparison with light after the acquisition and relative distributing position again, reaching full shot and apart from the purpose of judgement, yet; This imaging system needs not only camera, needs to consume bigger cost relatively.
For rotation tomography; This imaging system with a camera fixing in the rotating shaft of a revolving part; And do one 360 degree rotation, make panorama arround this phase function acquisition, yet the picture of this imaging system acquisition has the mistiming; If arround object produce displacement or conversion suddenly, the panorama situation arround this imaging system can't demonstrate fully.
In addition, for the lens panoramic imagery, please with reference to shown in Figure 1; This lens panoramic imaging device 9 comprises one first catoptron 91, second catoptron 92 and a CIS 93, arround the light of object can be projected to this CIS 93 and form images through the reflex of this first catoptron 91 with second catoptron 92; And utilizing the range difference distance after the projection, the panorama arround the judgement distributes, yet; Though this imaging system can provide panoramic imagery, only the curvature of this first catoptron 91 and second catoptron 92 need be worked in coordination, and makes the reflection ray of this first catoptron 91 can accurately reflex to this CIS 93; This design has higher technical threshold; And for arround the distance of object judge still not enoughly to some extent, cause the range difference distance that can't provide correct, make three-dimensional imaging produce error.
Summary of the invention
Fundamental purpose of the present invention provides a kind of single camera full-view stereo imaging system, and this imaging system has the panorama acquisition of wide-angle and judges with distance.
Secondary objective of the present invention provides a kind of single camera full-view stereo imaging system, and the full-view stereo imaging of this imaging system is to implement with single camera.
For reaching aforementioned goal of the invention, the technological means that the present invention used includes:
A kind of single camera full-view stereo imaging system comprises: an euphotic support, have one first end and one second end, and form a printing opacity space between this first end and second end; One first external member has one first catoptron, and this first external member is incorporated into first end of euphotic support, and this first catoptron is positioned at the printing opacity space of this euphotic support; And one second external member, being provided with a CIS, this second external member is incorporated into second end of euphotic support, and the camera lens of this CIS is towards this printing opacity space.
A kind of single camera full-view stereo imaging system, wherein, first catoptron of this first external member is a parabolic minute surface or a sphere minute surface.
A kind of single camera full-view stereo imaging system, wherein, this second external member is provided with a housing in addition.
A kind of single camera full-view stereo imaging system, wherein, this housing is provided with an accommodation space, this CIS of this holding space for holding.
A kind of single camera full-view stereo imaging system, wherein, this housing is provided with a perforation, this perforation and the corresponding setting of camera lens of this CIS.
A kind of single camera full-view stereo imaging system, wherein, this first external member is provided with one second catoptron, and this second catoptron is positioned at the axial centre of this first catoptron.
A kind of single camera full-view stereo imaging system, wherein, this second catoptron is a plane.
A kind of single camera full-view stereo imaging system, wherein, this housing is provided with one the 3rd catoptron, and the 3rd catoptron is established along this perforation ring, and towards this printing opacity space.
A kind of single camera full-view stereo imaging system, wherein, the 3rd catoptron is a parabolic minute surface or a sphere minute surface.
A kind of single camera full-view stereo imaging system, wherein, the material of this euphotic support is glass or acryl.
The single camera full-view stereo of the present invention imaging system has the panorama acquisition of wide-angle and judges with distance; And the full-view stereo imaging is implemented with single camera, so imaging effect is good, not only has panoramic imagery; The three-dimensional imaging that more can construction goes out to have distance perspective, and can reduce cost.
Description of drawings
Fig. 1: existing omnidirectional imaging system Organization Chart.
Fig. 2: the full-view stereo imaging system three-dimensional exploded view of first embodiment of the invention.
Fig. 3: the full-view stereo imaging system constitutional diagram of first embodiment of the invention.
Fig. 4: the full-view stereo imaging system constitutional diagram of second embodiment of the invention.
Fig. 5: the full-view stereo imaging system index path of second embodiment of the invention.
The main element symbol description:
Embodiment
For letting the present invention above-mentioned and other purposes, characteristic and the advantage can be more obviously understandable, hereinafter is special lifts preferred embodiment of the present invention, and conjunction with figs., elaborates as follows:
Please with reference to shown in Figure 2; It is the single camera full-view stereo of the present invention imaging system first embodiment; In the present embodiment; This imaging system comprises an euphotic support 1, one first external member 2 and one second external member 3, and this first external member 2 and this second external member 3 are incorporated into the two ends of this euphotic support 1 respectively.
This euphotic support 1 has one first end 11 and one second end 12, and this first end 11 and 12 at second end have a printing opacity space 13.The material and the external form of this euphotic support 1 are not limited at this; Preferable can be as in the present embodiment; Be the cylindrical tube support member that a light-transmitting materials is processed, this light-transmitting materials can be glass or acryl, make light can be smoothly through this euphotic support 1 tube wall and get into this printing opacity space 13.
This first external member 2 has one first catoptron 21; This first external member 2 is incorporated into first end 11 of this euphotic support 1; And make this first catoptron 21 be positioned at the printing opacity space 13 of this euphotic support 1; Behind the tube wall entering printing opacity space 13 of this light, can be projected to this first catoptron 21 through this euphotic support 1.The minute surface of this first catoptron 21 can be sphere, parabola, hyperboloid or oval calotte; Do not limit at this; Preferable can be as in the present embodiment being a protruding reflecting surface, in order to this light through these first catoptron, 21 reflections after, can reflex to second end 12 of this euphotic support 1.
This second external member 3 is provided with a CIS 31, and this CIS 31 can be existing charge coupled cell (CCD) or other sensing apparatus, does not limit at this.This second external member 3 is incorporated into second end 12 of this euphotic support 1, and the camera lens that makes this CIS 31 makes this CIS 31 can receive the light from printing opacity space 13 towards this printing opacity space 13.What this second external member 3 was preferable can be provided with a housing 32 in addition like present embodiment; And this housing 32 has an accommodation space 321 and a perforation 322; This CIS 31 can be installed with and be fixed in this accommodation space 321; And should 322 pairs of perforation should CIS 31 the camera lens setting, can concentrate the light that captures from this printing opacity space 13 through this perforation 322 in order to the camera lens of this CIS 31.
See also shown in Figure 3ly, it is the constitutional diagram of first embodiment of the invention, the image-forming principle of this imaging system; Be the light that utilizes object arround first catoptron 21 acquisition of this first external member 2, and utilize this first catoptron 21 that this light is reflexed to this CIS 31, make this CIS 31 obtain the image of panorama; More in detail, form because this euphotic support 1 is light-transmitting materials, thus arround the light that sends of object can directly pass the tube wall of this euphotic support 1; And be incident to this first catoptron 21; The curvature minute surface of this first catoptron 21 also has the effect of reflection ray, so this light can pass this printing opacity space 13 via reflection, and gets into and should bore a hole 322; Because this perforation 322 is to camera lens setting that should CIS 31; So get into the light of this perforation 322, also can get into the camera lens of this CIS 31, make this CIS 31 obtain arround the distribution of light of object; Through the different distributing position of the light of object arround this, the panoramic imagery of object arround the completion.
See also shown in Figure 4; It is the single camera full-view stereo of the present invention imaging system second embodiment; Present embodiment euphotic support 1 is identical with first embodiment, repeats no more, and the difference of the present embodiment imaging system and first embodiment is this first external member 2 and second external member 3.
The CIS 31 of this second external member 3, housing 32, accommodation space 321 and bore a hole 322 identical with first embodiment, the main difference of present embodiment second external member 3 be this perforation 322 around be provided with one the 3rd catoptron 323.The 3rd catoptron 323 is established along these perforation 322 rings; And the minute surface of the 3rd catoptron 323 can be sphere, parabola, hyperboloid or oval calotte; Preferable can be as in the present embodiment being a protruding reflecting surface; In order to light via the reflection of the 3rd catoptron 323 after, can reflex to second catoptron 22 of this euphotic support 1 first end 11, and the preferable top that is positioned at the 3rd catoptron 323 convex surfaces of this perforation 322.
See also shown in Figure 5ly, second embodiment of imaging system of the present invention is to capture two light of each object; And utilize two picture points of this two light institutes projection to judge the respectively distance of this object respectively; More in detail, when an object P0 sent two light, the tube wall that this first light can penetrate this euphotic support 1 arrived this first catoptron 21; This first catoptron 21 can reflex to this perforation 322 with this first light, and is incident to these CIS 31 formation one corresponding picture point P1; The tube wall that second light of this object P0 also can penetrate this euphotic support 1 arrives the 3rd catoptron 323; The 3rd catoptron 323 can reflex to this second catoptron 22 with this second light; Reflex to this perforation 322 again; And be incident to this CIS 31 another corresponding picture point P2 of formation, through the acquisition of above-mentioned these two light, obtain the relational coordinate of this two picture point P1, P2.When arround after each object all produces two corresponding picture points by this imaging system, be aided with the calculating of optical imagery rule, the relative distance of each object arround can inferring makes this imaging effect not only have panoramic imagery, the three-dimensional imaging that more can construction goes out to have distance perspective.
The single camera full-view stereo of the present invention imaging system, this imaging system have the panorama acquisition of wide-angle and judge to have the effect of panorama and three-dimensional imaging with distance.
The single camera full-view stereo of the present invention imaging system, the full-view stereo imaging system of this imaging system implements with single camera, has cost-effective effect.
Claims (10)
1. a single camera full-view stereo imaging system is characterized in that, comprises:
An euphotic support has one first end and one second end, forms a printing opacity space between this first end and second end;
One first external member has one first catoptron, and this first external member is incorporated into first end of euphotic support, and this first catoptron is positioned at the printing opacity space of this euphotic support; And
One second external member is provided with a CIS, and this second external member is incorporated into second end of euphotic support, and the camera lens of this CIS is towards this printing opacity space.
2. single according to claim 1 camera full-view stereo imaging system is characterized in that, first catoptron of this first external member is a parabolic minute surface or a sphere minute surface.
3. single according to claim 1 camera full-view stereo imaging system is characterized in that this second external member is provided with a housing in addition.
4. like the said single camera full-view stereo imaging system of claim 3, it is characterized in that this housing is provided with an accommodation space, this CIS of this holding space for holding.
5. like the said single camera full-view stereo imaging system of claim 3, it is characterized in that this housing is provided with a perforation, this perforation and the corresponding setting of camera lens of this CIS.
6. single according to claim 1 or claim 2 camera full-view stereo imaging system is characterized in that this first external member is provided with one second catoptron, and this second catoptron is positioned at the axial centre of this first catoptron.
7. like the said single camera full-view stereo imaging system of claim 6, it is characterized in that this second catoptron is a plane.
8. like the said single camera full-view stereo imaging system of claim 5, it is characterized in that this housing is provided with one the 3rd catoptron, the 3rd catoptron is established along this perforation ring, and towards this printing opacity space.
9. like the said single camera full-view stereo imaging system of claim 8, it is characterized in that the 3rd catoptron is a parabolic minute surface or a sphere minute surface.
10. single according to claim 1 camera full-view stereo imaging system is characterized in that the material of this euphotic support is glass or acryl.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW100120144 | 2011-06-09 | ||
| TW100120144A TWI442166B (en) | 2011-06-09 | 2011-06-09 | A single-camera panoramic stereo system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102819179A true CN102819179A (en) | 2012-12-12 |
Family
ID=47303350
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011101767182A Pending CN102819179A (en) | 2011-06-09 | 2011-06-28 | Single-camera panoramic stereo imaging system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN102819179A (en) |
| TW (1) | TWI442166B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104079918A (en) * | 2014-07-22 | 2014-10-01 | 北京蚁视科技有限公司 | Panoramic three dimensional camera shooting device |
| CN105739074A (en) * | 2016-03-29 | 2016-07-06 | 宁波舜宇光电信息有限公司 | Optical imaging device and condenser thereof |
| WO2017097263A1 (en) * | 2015-12-11 | 2017-06-15 | 宁波舜宇光电信息有限公司 | Optical imaging apparatus, condenser thereof, and application thereof |
| US10455221B2 (en) | 2014-04-07 | 2019-10-22 | Nokia Technologies Oy | Stereo viewing |
| CN110769134A (en) * | 2019-09-17 | 2020-02-07 | 重庆特斯联智慧科技股份有限公司 | Device and system for realizing three-dimensional panoramic video acquisition in scenic spot |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI581051B (en) * | 2015-03-12 | 2017-05-01 | Three - dimensional panoramic image generation method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1870759A (en) * | 2005-05-26 | 2006-11-29 | 韩国科学技术院 | Apparatus for providing panoramic stereo image with single camera |
| CN101191878A (en) * | 2006-11-28 | 2008-06-04 | 鸿富锦精密工业（深圳）有限公司 | Stereo image-pickup camera module group and electronic device |
| EP2059056A2 (en) * | 2007-11-07 | 2009-05-13 | Victor Company Of Japan, Limited | Optical system and projection display device |
| CN102053475A (en) * | 2010-10-15 | 2011-05-11 | 肖继忠 | Single camera based omnibearing stereo vision system |
| CN201837826U (en) * | 2010-10-15 | 2011-05-18 | 肖继忠 | All-directional stereoscopic vision system based on single camera |
-
2011
- 2011-06-09 TW TW100120144A patent/TWI442166B/en active
- 2011-06-28 CN CN2011101767182A patent/CN102819179A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1870759A (en) * | 2005-05-26 | 2006-11-29 | 韩国科学技术院 | Apparatus for providing panoramic stereo image with single camera |
| CN101191878A (en) * | 2006-11-28 | 2008-06-04 | 鸿富锦精密工业（深圳）有限公司 | Stereo image-pickup camera module group and electronic device |
| EP2059056A2 (en) * | 2007-11-07 | 2009-05-13 | Victor Company Of Japan, Limited | Optical system and projection display device |
| CN102053475A (en) * | 2010-10-15 | 2011-05-11 | 肖继忠 | Single camera based omnibearing stereo vision system |
| CN201837826U (en) * | 2010-10-15 | 2011-05-18 | 肖继忠 | All-directional stereoscopic vision system based on single camera |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10455221B2 (en) | 2014-04-07 | 2019-10-22 | Nokia Technologies Oy | Stereo viewing |
| US10645369B2 (en) | 2014-04-07 | 2020-05-05 | Nokia Technologies Oy | Stereo viewing |
| US11575876B2 (en) | 2014-04-07 | 2023-02-07 | Nokia Technologies Oy | Stereo viewing |
| CN104079918A (en) * | 2014-07-22 | 2014-10-01 | 北京蚁视科技有限公司 | Panoramic three dimensional camera shooting device |
| CN107529053A (en) * | 2014-07-22 | 2017-12-29 | 北京蚁视科技有限公司 | Panorama three-dimensional image pickup device |
| WO2017097263A1 (en) * | 2015-12-11 | 2017-06-15 | 宁波舜宇光电信息有限公司 | Optical imaging apparatus, condenser thereof, and application thereof |
| CN105739074A (en) * | 2016-03-29 | 2016-07-06 | 宁波舜宇光电信息有限公司 | Optical imaging device and condenser thereof |
| CN110769134A (en) * | 2019-09-17 | 2020-02-07 | 重庆特斯联智慧科技股份有限公司 | Device and system for realizing three-dimensional panoramic video acquisition in scenic spot |
Also Published As
| Publication number | Publication date |
|---|---|
| TW201250373A (en) | 2012-12-16 |
| TWI442166B (en) | 2014-06-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| TW528924B (en) | Panorama image acquisition system, magnifying device for the panorama distorted image capture system, and the alignment device containing four fixed reflective surfaces | |
| JP4620131B2 (en) | Panoramic 3D adapter for optical equipment and combination of panoramic 3D adapter and optical equipment | |
| KR100988872B1 (en) | Method and imaging system for obtaining complex images using rotationally symmetric wide-angle lens and image sensor for hardwired image processing | |
| KR101833576B1 (en) | Wide angle field of view active illumination imaging system | |
| US7612946B2 (en) | Wide-angle lenses | |
| CN102819179A (en) | Single-camera panoramic stereo imaging system | |
| CN101271187B (en) | Non-dead angle binocular solid all-directional vision sensing equipment | |
| CN101414054B (en) | Device and method for implementing stereo imaging by overall view ring belt imaging lens | |
| CN107991838B (en) | Self-adaptive three-dimensional imaging system | |
| KR100934719B1 (en) | Omnidirectional optics and camera system having the same | |
| US9503638B1 (en) | High-resolution single-viewpoint panoramic camera and method of obtaining high-resolution panoramic images with a single viewpoint | |
| WO2018137721A1 (en) | Apparatus for capturing panoramic image, and method of assembling said apparatus | |
| CN107948470B (en) | Camera module and mobile device | |
| KR20070096315A (en) | Omni-directional stereo camera and method of controlling thereof | |
| KR102126159B1 (en) | Scanning panoramic camera and scanning stereoscopic panoramic camera | |
| US20140362232A1 (en) | Objective lens with hyper-hemispheric field of view | |
| WO2016165644A1 (en) | Panoramic image acquisition device | |
| US20140340472A1 (en) | Panoramic bifocal objective lens | |
| WO2017219590A1 (en) | Image collection apparatus and panoramic camera | |
| JP2006235509A (en) | Omnidirectional imaging device | |
| US20140118526A1 (en) | Curvilinear sensor system | |
| JP2007264402A (en) | Omniazimuth visual sensor | |
| KR101469361B1 (en) | Apparatus for panorama image acquisition | |
| WO2017212616A1 (en) | Optical device and imaging device provided with same | |
| TWI531211B (en) | Stereoscopic imaging device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C05 | Deemed withdrawal (patent law before 1993) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20121212 |