CN105116521A - Panoramic camera based on double-sphere two-reflection ultra large field of view - Google Patents
Panoramic camera based on double-sphere two-reflection ultra large field of view Download PDFInfo
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- CN105116521A CN105116521A CN201510514949.8A CN201510514949A CN105116521A CN 105116521 A CN105116521 A CN 105116521A CN 201510514949 A CN201510514949 A CN 201510514949A CN 105116521 A CN105116521 A CN 105116521A
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Abstract
The invention provides a panoramic camera based on double-sphere two-reflection ultra large field of view. The panoramic camera successively comprises a front end reflection group, a rear end lens group and a detector located on a focal plane from the object side. The front end reflection group and the rear end lens group are rotationally symmetric about the central axis. The front end reflection group comprises a first reflection mirror and a second reflection mirror, wherein the first reflection mirror and the second reflection mirror are spherical mirrors. The first reflection mirror is a concave reflection mirror, and a round hole is arranged at the center. The front end reflection group further comprises a transparent cover which is used for fixing the first reflection mirror and the second reflection mirror. The border light of the panoramic camera meets the conditions that a light along the ring maximum pitch angle comes to the ring outer edge of the first reflection mirror, is reflected to the outer edge of the second reflection mirror, is reflected by the second reflection mirror, is close to the edge of the round hole of the first reflection mirror, and passes through the round hole; a light along the minimum pitch angle is close to the outer edge of the second reflection mirror, comes to the edge of the round hole of the first reflection mirror, and is reflected to the second reflection mirror; and the light reflected by the second reflection mirror again passes through the round hole of the first reflection mirror.
Description
Technical field
The present invention relates to optical imaging device field, particularly relate to a kind of full shot based on the reflective ultra-large vision field of two spheres two.
Background technology
What traditional pick-up lens adopted the is lens combination of single element lens or multi-disc lens forming is as core, and scioptics image-forming principle is embodied as picture.But because the lens numerical aperture of routine is less, make the angle of imaging very little, visual range is very narrow, there is very large monitoring " blind area ".So, in order to large-scale imaging, often need to arrange a lot of traditional cameras, so just bring the rising of maintenance cost.Based on the improvement of above-mentioned camera lens, someone adopts mechanical rotary device, achieves single camera and monitors on a large scale.But because the existence of mechanical hook-up there will be mechanical fault, mechanical rotation needs the time simultaneously, and this has just occurred monitoring " time blind ".
What fish eye lens adopted is that the large lens distorted of wide-angle generation achieve super large-scale imaging.But the distortion of super large has damaged the quality of imaging, even if this point is also difficult to large improvement by the distortion correction in later stage.
Overall view ring belt imaging lens is a kind of bireflection imaging lens based on two panels mirror surface.Light from around 360 degree of directions can be imported follow-up lens combination by this camera lens after two secondary reflections, is embodied as picture.Due to the needs of two secondary reflections, a slice mirror must have been had to shelter from certain imaging angle.The overall view ring belt camera lens provided at present mainly contains following shortcoming:
1, the one-sided angle of pitch of the imaging of existing full shot can not more than 40 °.This is because entrance pupil to be arranged on when designing two panels mirror surface the edge of two panels mirror surface, the light of wide-angle is made not enter system.
Have at least the center hatching line of a slice to contain odd item in the two panels mirror surface of 2, existing full shot, opposite type has very high requirement.This is because people, for defining an entrance pupil, makes mirror surface design generally need to adopt the method for designing of free form surface when adopting traditional design concept, and can not to adopt be the scheme of spherical mirror simultaneously, adds the cost of commercialization.
3, the two panels catoptron of existing full shot is due to the rigors of face type and relative position, so that is easily subject to the ectocines such as vibration, temperature variation, causes image quality greatly to decline, is difficult to meet practical product requirement.
Summary of the invention
In order to solve Problems existing in background technology, the object of the invention is to propose a kind of full shot based on bispherical two reflective ultra-large vision fields, can realize the ultra-large vision field panoramic imagery of pitch range more than 50 °.
For achieving the above object, the present invention is achieved through the following technical solutions:
Based on a described full shot for bispherical two reflective ultra-large vision fields, the detector comprising front end reflection group, back lens group successively and be positioned on focal plane from thing side; Described front end reflection group and back lens group around central shaft Rotational Symmetry,
Described front end reflection group comprises the first catoptron and the second catoptron, and described first catoptron and the second catoptron are spherical mirror; And described first catoptron is concave mirror, and center has circular hole; Described front lens group also comprises the translucent cover for fixing described first catoptron and the second catoptron,
Wherein, incident ray from visual field is reflexed to the second catoptron by described first catoptron, described light reflects and by the described circular hole of described first catoptron by described second catoptron again, described back lens group carries out aberration correction to the described light by described circular hole, make the imaging on described focal plane of described light
The boundary rays of described full shot meets the following conditions: along the light of the maximum angle of pitch to the edge, endless belt outer ring of described first catoptron, and be reflected onto the edge, outer ring of described second catoptron, then reflected by described second catoptron and the described bore edges being close to described first catoptron by described circular hole; Light along the minimum angle of pitch is close to the described bore edges of outer ring marginal incident to described first catoptron of described second catoptron, and being reflected onto described second catoptron, the light after being reflected again by described second catoptron is by the described circular hole of described first catoptron.
Preferably, the opening radius r of described first catoptron
1, the spherical radius R of described first catoptron
1, the opening radius r of described second catoptron
2, football fan's radius R of described second catoptron
2, the radius r of the described circular hole of described first catoptron
3, the distance D between described first catoptron and the second catoptron, the maximum pitching angle theta of described visual field
max, and the minimum pitching angle theta of described visual field
min, be incident to the light of the first catoptron and the angle α of reflecting surface normal with the maximum angle of pitch, meet following relation,
Preferably, described second catoptron is concave spherical mirror or convex spherical mirror.
Preferably, described second catoptron is level crossing.
Preferably, described back lens group comprises the lens of more than 5.
Preferably, described translucent cover has anti-reflection film.
Preferably, described detector is CCD or cmos detector, and it carries out the collection of picture signal on focal plane.
Preferably, in described full shot, described along minimum pitching angle theta
minthe light light that enters described circular hole after the first catoptron and the reflection of the second catoptron with along maximum pitching angle theta
maxlight enter the homonymy of light at central shaft of described circular hole after reflection, and closer to central shaft.
According to structure of the present invention, can realize the ultra-large vision field panoramic imagery of one-sided pitch range more than 50 °.Further, two panels mirror surface can be all spherical mirror, reduce the requirement of opposite type, thus the cost of commercialization have dropped.
Accompanying drawing explanation
Fig. 1 is the optical texture schematic diagram of a kind of full shot based on the reflective ultra-large vision field of two spheres two of the present invention.
Fig. 2 is the parameter schematic diagram of front end reflection group of the present invention.
Fig. 3 is the schematic diagram of a specific embodiment of the boundary rays of front end reflection group of the present invention.
Fig. 4 is the schematic diagram that the detector in full shot of the present invention adopts coaxial detection.
Fig. 5 is the schematic diagram of the detector employing off-axis detection in full shot of the present invention.
Fig. 6 and Fig. 7 is the derivation schematic diagram of relational expression in the present invention.
Embodiment
Below, by the present invention is described in detail in conjunction with the accompanying drawings and embodiments.Following examples are not limitation of the present invention.Under the spirit and scope not deviating from inventive concept, the change that those skilled in the art can expect and advantage are all included in the present invention.
As shown in Figure 1, the full shot of the present invention detector 3 that comprises front end reflection group 1, back lens group 2 successively and be positioned on focal plane from thing side.This front end reflection group and back lens group are around central optical axis Rotational Symmetry.
Front lens group mainly comprises the first catoptron 11, second catoptron 12 and the translucent cover 13 for fixing the first catoptron 11 and the second catoptron 12.By translucent cover 13, the distance between the first catoptron 11 and the second catoptron 12 has also been fixed.
In the present invention, the first catoptron 11 and the second catoptron 12 are spherical mirror.First catoptron 11 is spherical concave mirrors, and center has a coaxial circular hole 14.Second catoptron 12 can be concave spherical mirror, also can be convex spherical mirror.And the second catoptron 12 is the catoptrons with high reflectance.
Fix the translucent cover 13 preferred resin material of the first catoptron 11 and the second catoptron 12, light weight is not yielding.The thickness of translucent cover 13 is very little, to be refracted as good to incident ray generation hardly.Preferably, anti-reflection film on translucent cover plated surface, increases the transmitance of light.First light from a distant place be incident on the reflecting surface of the first catoptron 11 through translucent cover 13, and light is reflected on the reflecting surface of the second catoptron 12, reflected and by the center hole 14 of the first catoptron 11 by the second catoptron 12.
Back lens group 2 carries out aberration correction to the light by above-mentioned circular hole 14, makes the imaging on described focal plane of this light.Back lens group 2 needs the lens of use more than 5 usually, by permutation and combination, carries out aberration correction to the light entering into rear light path, and by light focusing in picture plane.The image height of back lens group 2 pairs of imagings also can regulate simultaneously, tie detector 3 imaging.The preferred black cylinder of lens combination 2 is fixed, between every two panels lens barrel can as diaphragm, rational distance can make the parasitic light conductively-closed directly entering rear light path fall.Preferably, barrel adopts thermal expansivity preferably material, can carry out thermal compensation to the distance of eyeglass.
Ccd detector or cmos detector 3 are placed on the collection that focal plane can complete picture signal, and utilize cable or Wifi that picture signal is sent to the terminals such as PC.
The ultra-large vision field of full shot of the present invention is mainly determined by front end reflection group 1.Full shot of the present invention abandons entrance pupil or the center entrance pupil of the lens edge of artificial design when designing, and adopts twin-beam to retrain, namely by two light of the most limit (along maximum pitching angle theta
maxincident light and along minimum pitching angle theta
minincident light, i.e. boundary rays) determine the boundary condition of two panels reflecting surface (the first catoptron and the second catoptron).In order to realize ultra-large vision field, need the size of the second reflecting surface will do as far as possible little relative to the first reflecting surface.When two light of the most limit can be reflected by the two panels catoptron of front end reflection group and are imaged on focal plane, every other light beam then in two extreme rays all can be reflected onto in the center hole 14 of the first catoptron 11, thus imaging in focal plane.
Fig. 2 is the schematic diagram of a specific embodiment of the boundary rays of front end reflection group 1 of the present invention.As shown in the figure, the boundary rays of full shot of the present invention meets the following conditions: along maximum pitching angle theta
maxlight I be incident to the edge, endless belt outer ring of the first catoptron 11, and by the edge, outer ring of endless belt outer ring edge reflections to the second catoptron 12 of the first catoptron 11, then reflected by the second catoptron 12 and circular hole 14 edge being close to the first catoptron 11 by this circular hole 14.Aberration correction is carried out by back lens group (not shown) by the light of this circular hole 14, and imaging on focal plane.In the present embodiment, along maximum pitching angle theta
maxlight shafts are light (θ close to glancing incidence
max=89.5 °), be therefore close to the endless belt outer ring marginal incident of the side of the first catoptron 11, and be incident to the edge, endless belt outer ring of the opposite side of the first catoptron 11.In other embodiments, θ
maxwhen not requiring so large, then along maximum pitching angle theta
maxincident ray be not the endless belt outer ring marginal incident of the side being close to the first catoptron 11, but must be incident to the edge, endless belt outer ring of the opposite side of the first catoptron 11.
Light II along the minimum angle of pitch is close to the edge of the circular hole 14 of outer ring marginal incident to the first catoptron 11 of the second catoptron 12, and is reflected onto the second catoptron 12, and the light after being reflected again by the second catoptron 12 is by the circular hole 14 of the first catoptron 11.Aberration correction is carried out by back lens group (not shown) by the light of this circular hole 14, and imaging on focal plane.
The full shot of ultra-large vision field is obtained, the specific parameters relationship of minute surface demand fulfillment of front end reflection group 1 in order to meet above-mentioned boundary rays designing requirement.Fig. 3 is the parameter schematic diagram of front end reflection group 1 in full shot of the present invention.As shown in the figure, the opening radius r of the first catoptron 11
1, the spherical radius R of the first catoptron 11
1, the opening radius r of the second catoptron 12
2, the spherical radius R of the second catoptron 12
2, the radius r of the circular hole 14 of the first catoptron 11
3, the distance D between the first catoptron 11 and the second catoptron 12, the maximum pitching angle theta of visual field (monitoring visual field)
max, and the minimum pitching angle theta of visual field
min, along maximum pitching angle theta
maxbe incident to the light of the first catoptron and the angle α of reflecting surface normal, meet following relation (1) ~ (3),
When front end reflection group 1 meets above-mentioned parameter relation, then can realize twin-beam constraint, namely two light of the most limit are (along maximum pitching angle theta
maxincident light and along minimum pitching angle theta
minincident light) imaged on focal plane by the first catoptron and the reflection of the second catoptron.
How to regulate the parameter of front end reflection group to obtain the full shot with ultra-large vision field of the present invention below by the detailed introduction of citing.
In general, the size of camera lens is by the opening radius r of the first catoptron 11
1determine with the distance D of two panels catoptron (the first and second catoptrons).The maximum angle of pitch of monitoring visual field is θ
max, the minimum angle of pitch is θ
min.The environment that above-mentioned four parameters specifically can use according to camera lens, the requirement of the visual field angle of pitch and deciding.The imaging effect of detector 3 is relevant with the light intensity finally arriving detector 3 surface, the radius r of the center hole 14 of this intensity and the first catoptron 11
3relevant.Existing commercialization detector can regulate imaging effect by regulating aperture size and time shutter, and this also represents r
3have certain adjustable extent, and this scope is relevant with the performance of detector.At the beginning of design, a r can be pre-determined with reference to the size of detector light-sensitive surface
3initial value.
That is, according to actual conditions and the demand such as environment, the requirement of the visual field angle of pitch, the performance of detector that camera lens specifically uses, can in advance by the opening radius r of the first catoptron 11
1, the distance D of the first and second catoptrons, maximum pitching angle theta
max, minimum pitching angle theta
minand the radius r of center hole 14
3concrete numerical value decide.Certainly, those skilled in the art knows, and according to different actual demands, also other parameters can be pre-determined.
As previously mentioned, camera lens of the present invention requires along minimum pitching angle theta
minlight beam be the marginal incident being close to the second catoptron 12, beat the endless belt inner ring edge at the first catoptron 11, i.e. the edge of circular hole 14.Following relation can be learnt by geometric relationship,
The opening radius r of the second catoptron 12 can be determined by above-mentioned formula (1)
2value.
Camera lens of the present invention requires along maximum pitching angle theta
maxlight beam be beat at the edge, endless belt outer ring of the first catoptron 11.By regulating the spherical radius R of the first catoptron 11
1, the direction after reflecting on the first catoptron 11 along the light beam of the maximum angle of pitch can be obtained.
Further, camera lens of the present invention requires along maximum pitching angle theta
maxlight beam through first catoptron 11 reflect after beat on the edge of the second reflecting surface 12.By introducing parameter alpha, α represents along the maximum angle of pitch and is incident to the light at the first edge, catoptron outer ring and the angle (i.e. incident angle) of reflecting surface normal, and parameter r
2known, the spherical radius R of the first reflecting surface 11 can be determined by following relational expression (2)
1,
With reference to figure 2, because the first catoptron is spherical mirror, normal is through the centre of sphere.In above-mentioned two equations, due to other parameter θ
max, r
1, r
2, r
3all known, only have two unknown number R
1and α, therefore solve above-mentioned system of equations and can obtain R
1numerical value.
The derivation of above-mentioned system of equations (2) is as follows:
As shown in Figure 6, according to comprising R
1(i.e. the limit at normal place) and r
1the triangle relation of the right-angle triangle on these two limits, can obtain:
In addition, according to comprising (r
1-r
2) this segment distance limit with from the first edge, catoptron outer ring to the triangle relation of the right-angle triangle on the limit of the distance at the second edge, catoptron outer ring, can obtain:
Wherein,
for this segment distance that h1 represents,
for this segment distance that h2 represents.
Camera lens of the present invention requires along maximum pitching angle theta
maxlight beam reflect on the edge, outer ring of the second catoptron 12 after be close to the center hole 14 of the first catoptron 11 edge inject back lens group 2.Light beam along the maximum angle of pitch is beaten on the second catoptron 12, by regulating the spherical radius R of the second catoptron 12
2the direction after reflecting can be determined.In the present invention, R
2meet following relational expression (3),
By solving above-mentioned relation formula, then R can be obtained
2numerical value.
The derivation of above-mentioned relation formula (3) is as follows:
As shown in Figure 7, according to the triangle relation of the right-angle triangle at angle 1 (∠ 1) place, can obtain:
then can obtain:
According to angle of parallelism scheduling theory, then can obtain: ∠ 2=θ
max-2 α;
According to r
2and R
2the triangle relation of the right-angle triangle that limit, place is formed, can obtain:
by the relational expression of above-mentioned ∠ 1, ∠ 2, ∠ 3 being substituted into respectively, then can obtain following relational expression (3).
Along minimum pitching angle theta
minlight beam through the first catoptron 11 and the second catoptron 12 reflection after inject in circular hole 14, whether entered the homonymy of light at central shaft of circular hole 14 with the light beam along maximum luffing angle by the light judging to enter circular hole 14, and closer to central shaft, can judge whether the camera lens of above-mentioned design can realize the full shot of ultra-large vision field of the present invention.If so, then design successfully; If not, then need to readjust parameter r
3initial value after repeat said process.
In order to improve the utilization factor of detection, require that the center blind zone of imaging is the smaller the better.This also requires to enter back lens group near central shaft along the light beam of minimum luffing angle as far as possible.Can be optimized according to the optical design software of above-mentioned designing requirement by commercialization herein.Therefore, owing to generally needing through optimizing when reality uses, there is certain deviation with the theoretical values obtained by above-mentioned relation formula in the lens parameter of the actual front end reflection group used, this is well known to those skilled in the art sometimes.
The example enumerated above just obtains an embodiment of the special parameter relation of front end reflection group of the present invention, and those skilled in the art also can obtain the special parameter relation meeting the front end reflection group that boundary rays of the present invention requires by the alternate manner comprising existing optical design software.
In full shot of the present invention, the full shot with the two panels catoptron of special parameter relation of above-mentioned design, when there is slight deformation or dislocation because of environmental change, is compensated can be worked on by the correction of self.Existing endless belt panoramic imaging lens then cannot be embodied as picture when there is deformation or dislocation.
As in the example of the parameter of adjustment front end reflection group enumerated, select maximum pitching angle theta above
maxbe 89.5 °, minimum luffing angle θ
minbe the visual field of 23.5 °, one-sided pitch range reaches 66 °, and the maximum imaging viewing field of so whole camera lens is 360 ° of panoramic imageries of both sides pitching 132 °.The design parameter that can realize the first catoptron of the front end reflection group of above-mentioned pitch range and the second catoptron is as shown in table 1 below.
Table 1 (unit: mm)
| D＝28.5 | r 3＝4.3 |
| R 1＝20.2 | r 1＝16.9 |
| R 2＝71.2 | r 2＝8 |
In the full shot of ultra-large vision field of the present invention, according to the description that above-mentioned twin-beam retrains, also can realize the first reflecting surface is sphere, and the second reflecting surface is the camera lens of plane.Level crossing in fact also can regard one piece of very large spherical mirror of radius as.Here only need the R in aforementioned parameters control method (parameter adjusting method when two catoptrons are all spherical mirrors)
2get fixed value, by R
1and r
1design optimization is carried out as variable.First catoptron as shown in table 2 below and the design parameter of the second catoptron achieve the maximum angle of pitch 89.5 °, and the camera lens of the minimum angle of pitch 39 ° achieves the panoramic imagery of the one-sided angle of pitch 50.5 °.
Table 2 (unit: mm)
| D＝15.6 | r 3＝4.3 |
| R 1＝14.6 | r 1＝11.8 |
| R 2=249 (very large) | r 2＝8.4 |
In the present invention, detector 3 selects commercial CCD or cmos detector.Fig. 4 is the schematic diagram that the detector in full shot of the present invention adopts coaxial detection.According to coaxial detection, by the adjustment of back lens group 2,360 ° of panoramas can be carried out imaging.As shown in the figure, boxed area is the photosensitive region of detector 3, and gray area represents that detector does not use region, and shadow region is expressed as picture blind area.Detector length breadth ratio 4:3, investigative range 360 °.
Fig. 5 is the schematic diagram of the detector employing off-axis detection in full shot of the present invention.If selection off-axis detection, and regulate image height, detector is placed on correct position, 240 °, 180 ° etc. imagings at any angle can be realized.So can reasonable arrangement according to the actual needs, improve the utilization ratio of detector pixel.As shown in the figure, boxed area is the photosensitive region of detector, and gray area represents that detector does not use region, and shadow region is expressed as picture blind area.Detector length breadth ratio 16:9, investigative range 194 °.
According to the peculiar structure of full shot of the present invention, owing to not needing to arrange entrance pupil at the limit scape camera lens of two panels mirror surface, the light of wide-angle therefore can be made to enter system, realize the pitch range of panoramic imagery more than 50 °.Further, in full shot of the present invention, two panels catoptron all can adopt spherical mirror, reduces the requirement to mirror surface type, greatly reduces the cost of commercialization.
Be only preferred embodiment of the present invention in sum, be not used for limiting practical range of the present invention.Namely all equivalences done according to the content of the present patent application the scope of the claims change and modify, and all should belong to technology category of the present invention.
Claims (8)
1., based on a full shot for the reflective ultra-large vision field of two spheres two, it is characterized in that,
The detector that described full shot comprises front end reflection group, back lens group successively and is positioned on focal plane from thing side; Described front end reflection group and back lens group around central shaft Rotational Symmetry,
Described front end reflection group comprises the first catoptron and the second catoptron, and described first catoptron and the second catoptron are spherical mirror; And described first catoptron is concave mirror, and center has circular hole; Described front lens group also comprises the translucent cover for fixing described first catoptron and the second catoptron,
Wherein, incident ray from visual field is reflexed to the second catoptron by described first catoptron, described light reflects and by the described circular hole of described first catoptron by described second catoptron again, described back lens group carries out aberration correction to the described light by described circular hole, make the imaging on described focal plane of described light
The boundary rays of described full shot meets the following conditions: along the light of the maximum angle of pitch to the edge, endless belt outer ring of described first catoptron, and be reflected onto the edge, outer ring of described second catoptron, then reflected by described second catoptron and the described bore edges being close to described first catoptron by described circular hole; Light along the minimum angle of pitch is close to the described bore edges of outer ring marginal incident to described first catoptron of described second catoptron, and being reflected onto described second catoptron, the light after being reflected again by described second catoptron is by the described circular hole of described first catoptron.
2. a kind of full shot based on the reflective ultra-large vision field of two spheres two according to claim 1, is characterized in that, the opening radius r of described first catoptron
1, the spherical radius R of described first catoptron
1, the opening radius r of described second catoptron
2, football fan's radius R of described second catoptron
2, the radius r of the described circular hole of described first catoptron
3, the distance D between described first catoptron and the second catoptron, the maximum pitching angle theta of described visual field
max, and the minimum pitching angle theta of described visual field
min, be incident to the light of the first catoptron and the angle α of reflecting surface normal with the maximum angle of pitch, meet following relation,
3. a kind of full shot based on the reflective ultra-large vision field of two spheres two according to claim 1 and 2, it is characterized in that, described second catoptron is concave spherical mirror or convex spherical mirror.
4. a kind of full shot based on the reflective ultra-large vision field of two spheres two according to claim 1 and 2, it is characterized in that, described second catoptron is level crossing.
5. a kind of full shot based on the reflective ultra-large vision field of two spheres two according to claim 1, it is characterized in that, described back lens group comprises the lens of more than 5.
6. a kind of full shot based on the reflective ultra-large vision field of two spheres two according to claim 1, is characterized in that, described translucent cover has anti-reflection film.
7. a kind of full shot based on the reflective ultra-large vision field of two spheres two according to claim 1, it is characterized in that, described detector is CCD or cmos detector, and it carries out the collection of picture signal on focal plane.
8. a kind of full shot based on the reflective ultra-large vision field of two spheres two according to claim 1, is characterized in that, in described full shot, described along minimum pitching angle theta
minthe light light that enters described circular hole after the first catoptron and the reflection of the second catoptron with along maximum pitching angle theta
maxlight enter the homonymy of light at described central shaft of described circular hole after reflection, and closer to described central shaft.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106646831A (en) * | 2017-01-19 | 2017-05-10 | 吉林省中业光电技术有限公司 | Aspheric catadioptric panoramic imaging lens |
| RU2728321C1 (en) * | 2020-02-12 | 2020-07-29 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Сибирский государственный университет геосистем и технологий" | Panoramic two-spectral mirror-lens system |
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| CN102455588A (en) * | 2010-10-28 | 2012-05-16 | 鸿富锦精密工业（深圳）有限公司 | Panoramic shooting system |
| CN102928961A (en) * | 2012-12-01 | 2013-02-13 | 上海臻恒光电系统有限公司 | Concave-convex two-reflection type panorama annular-belt view field imaging camera lens |
| CN204945477U (en) * | 2015-08-20 | 2016-01-06 | 上海臻恒光电系统有限公司 | A kind of full shot based on the reflective ultra-large vision field of two spheres two |
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| CN106646831A (en) * | 2017-01-19 | 2017-05-10 | 吉林省中业光电技术有限公司 | Aspheric catadioptric panoramic imaging lens |
| RU2728321C1 (en) * | 2020-02-12 | 2020-07-29 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Сибирский государственный университет геосистем и технологий" | Panoramic two-spectral mirror-lens system |
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Application publication date: 20151202 |