CN105739231B - A kind of multi-cam full-view stereo imaging device of plane distribution - Google Patents
A kind of multi-cam full-view stereo imaging device of plane distribution Download PDFInfo
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- CN105739231B CN105739231B CN201610302509.0A CN201610302509A CN105739231B CN 105739231 B CN105739231 B CN 105739231B CN 201610302509 A CN201610302509 A CN 201610302509A CN 105739231 B CN105739231 B CN 105739231B
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- camera
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- stereoscopic vision
- latitude
- imaging device
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B37/00—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe
- G03B37/04—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe with cameras or projectors providing touching or overlapping fields of view
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B35/00—Stereoscopic photography
- G03B35/08—Stereoscopic photography by simultaneous recording
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
Abstract
The invention discloses a kind of multi-cam full-view stereo imaging devices of plane distribution, including several with the camera of model and fixed shell.It is that the spherical surface of 0 ° of weft to pole is divided into several latitude sections by basic unit with the field angle of camera；Each latitude section is divided into several longitude and latitude sections by longitude again, and each longitude and latitude section is covered by a stereoscopic vision unit visual field；Each stereoscopic vision unit is made of two parallel cameras of optical axis；Will be mutually interspersed between stereoscopic vision unit according to polygonal structure, so that stereoscopic vision unit obtains longer baseline；Shell is in pancake structure, and the profile constituted using all camera stationary planes guarantees that the visual field of camera is not blocked as shape.The device has the advantages that simple structure, high-resolution and base length, can be realized the three-dimensional imaging of hemispherical space.
Description
Technical field
The present invention relates to full-view stereo photography technical field, in particular to the multi-cam full-view stereo of a kind of plane distribution
Imaging device.
Background technique
Full-view stereo imaging device mainly has fish eye lens, catadioptric panorama camera and multi-cam panorama camera at present.
Wherein fish eye lens and catadioptric panorama camera pattern distortion is big, limited resolution, so that it is imaged in full-view stereo
Field application is subject to certain restrictions.Existing multi-cam panorama camera, camera are mostly spherical surface distribution, and volume is big, structure
It is complicated；Realize that full-view stereo is imaged using the visual field overlapping of adjacent camera, the optical axis of adjacent camera is not parallel and baseline compared with
It is short, it is unfavorable for three-dimensional imaging.
Summary of the invention
The technology of the present invention solves the problems, such as: overcoming the deficiencies of the prior art and provide a kind of multi-cam panorama of plane distribution
Stereoscopic imaging apparatus has the advantages that simple structure, high-resolution and base length, can be realized the three-dimensional imaging of hemispherical space.
The purpose of the present invention is what is be achieved through the following technical solutions:
A kind of multi-cam full-view stereo imaging device of plane distribution, comprising:
Shell is in pancake structure, and there are several side walls on surface, and each side wall is equipped with camera aperture；Camera lens hole number
It is equal with camera sum, for camera to be fixedly mounted.
Camera system is made of several with the camera of model；It is divided into two groups or more multiple groups by elevation angle size, together
The elevation angle of group camera is identical；Every group of camera includes the parallel camera of multipair optical axis；The azimuth of each pair of camera is identical,
Constitute stereoscopic vision unit.
Further, the shell, the profile constituted using all camera stationary planes is shape；Plane locating for its side wall with
Corresponding camera optical axis is mutually perpendicular to；Guarantee camera install it is fixed after, be directed toward constant, and visual angle is not by shell and other
Camera blocks.
Further, the visual field division principle of the camera system are as follows: will for basic unit with the field angle of camera
The spherical surface of 0 ° of weft to pole is divided into several latitude sections, and each latitude section is covered by one group of camera visual field；Often
A latitude section is divided into several longitude and latitude sections by longitude again, and each longitude and latitude section is by a stereoscopic vision unit visual field
It is covered；The synthesis stereoscopic fields of view of stereoscopic vision unit can cover hemispherical space.
Further, described in the same plane with group camera, between plane locating for difference group camera mutually
Parallel or coincidence；It is spaced adjacent two and is equal to 720 degree of numbers divided by this group of camera with angle between group camera optical axis.
Further, the stereoscopic vision unit, according to the mutually interspersed arrangement of polygonal structure, baseline is longer；Its baseline
It is mutually perpendicular to the two camera optical axises for forming the stereoscopic vision unit；With multiple stereoscopic vision units composed by group camera
Baseline length it is equal.
Further, the imaging resolution of the camera system, three-dimensional imaging resolution ratio and single camera is at just
Than using high-resolution camera, the three-dimensional imaging resolution ratio of Lai Tigao device.
The advantages of the present invention over the prior art are that: it is imaged it can be seen from the technical solution that foregoing invention provides
Above-mentioned rule is fixed on shell, has the advantages that structure is simple, small in size, high-resolution, it can be achieved that hemispherical space
Non-blind area three-dimensional imaging；The two camera optical axises for forming stereoscopic vision unit are parallel and vertical with baseline, and longer baseline is advantageous
In three-dimensional imaging；Pancake shell structure is conducive to circuit design and signal transmission.
Detailed description of the invention
Fig. 1 is the schematic perspective view of the full-view stereo imaging device of the embodiment of the present invention 1；
Fig. 2 is the top view of the full-view stereo imaging device of the embodiment of the present invention 1；
Fig. 3 is that the stereoscopic fields of view of the full-view stereo imaging device of the embodiment of the present invention 1 divides schematic diagram；
Fig. 4 is the schematic perspective view of the full-view stereo imaging device of the embodiment of the present invention 2；
Fig. 5 is the schematic perspective view of the full-view stereo imaging device of the embodiment of the present invention 3；
In figure: 1-A group camera, 2-B group camera, 3-C type side wall, 4-D type side wall, 5- shell, 6- rectangular pyramid.
Specific embodiment
It is described in detail with reference to the accompanying drawings and embodiments.
Embodiment 1
As shown in Figure 1, the schematic perspective view of the full-view stereo imaging device for the embodiment of the present invention 1.Shell 5 is in six
Angular flat structure, there are 12 c-type side wall 3 and 12 D type side walls 4 on surface, and is equipped with camera aperture (not on each side wall
Diagram)；Camera system includes 12 A group cameras 1 and 12 B group cameras 2；All camera models are identical, and are imaged
Visual field is all larger than equal to 60 ° × 60 °；The elevation angle of A group camera 1 is 0 °, and in the same plane, what is be fixed on faces upward for distribution
On the c-type side wall 3 that angle is 90 °；The elevation angle of B group camera 2 is 60 °, and same distribution in the same plane, is fixed on
On the D type side wall 4 that inclination angle is 30 °；It is parallel to each other between plane locating for A group camera 1 and B group camera 2；All cameras
After being fixed on shell 5, visual angle is not blocked by shell 5 and other cameras.
As shown in Figures 2 and 3, the respectively top view and stereopsis of the full-view stereo imaging device of the embodiment of the present invention 1
Field divides schematic diagram, and rectangular pyramid 6 represents 60 ° × 60 ° stereoscopic fields of view of a stereoscopic vision unit in Fig. 3.Visual field A1 and visual field
Two A group cameras, 1 optical axis corresponding to A2 is parallel to each other, and forms a stereoscopic vision unit, is responsible for 60 ° × 60 ° views of 0 latitude
The three-dimensional imaging of field；Angle is equal to 60 ° between corresponding two A group camera, 1 optical axis of visual field A1 and visual field A3；Two B group cameras 2
The baseline length L1 of the stereoscopic vision unit of composition, the baseline length L2 with the stereoscopic vision unit of another two B group camera 2 composition
It is equal, and camera optical axis is vertical with the baseline of its composed stereoscopic vision unit；12 A group cameras 1 form 60 latitudes
The stereoscopic vision unit of degree, angle is 60 ° between the stereoscopic vision unit of adjacent 0 latitude, is combined, it can be achieved that 0 latitude
The three-dimensional imaging of 360 ° × 60 ° visual fields；Similarly, 12 B group cameras 2 form the stereoscopic vision unit of 6 60 latitudes, combination
Get up, it can be achieved that 120 ° × 120 ° visual fields in pole direction three-dimensional imaging.Integrate, all 24 cameras, it can be achieved that
Three-dimensional imaging in 360 ° × 240 ° visual fields, every bit can at least image in a stereoscopic vision unit in visual field；System is stood
Body imaging resolution is directly proportional to the imaging resolution of single camera.
Embodiment 2
As shown in figure 4, the schematic perspective view of the full-view stereo imaging device for the embodiment of the present invention 2, with embodiment 1
Unlike, all cameras of embodiment 2 are in same plane, i.e. plane weight locating for A group camera 1 and B group camera 2
It closes, while shell structure has made corresponding change.
Embodiment 3
As shown in figure 5, the schematic perspective view of the full-view stereo imaging device for the embodiment of the present invention 3, with embodiment 2
Unlike, all B group cameras 2 have been made the translation such as figure by embodiment 3, are distributed on two concentric circles, while shell knot
Structure has made corresponding change.
In above embodiments, 24 cameras form 12 stereoscopic vision units, and the elevation angle of two groups of cameras is respectively
0 ° and 60 °, every group of camera quantity is 12.To cope with greater demand: the same type that 12 angles of depression are 60 ° can be increased and taken the photograph
As head, the three-dimensional imaging of 360 ° × 360 ° visual fields of spherical surface is realized；The group of camera can be changed according to the visual field division principle
Several and quantity completes the three-dimensional imaging of arbitrary continuation spherical space.The above design is based on design of the invention, each falls within this hair
Within bright protection scope.
Claims (5)
1. a kind of multi-cam full-view stereo imaging device of plane distribution, characterized by comprising:
Shell is in pancake structure, and there are several side walls on surface, and each side wall is equipped with camera aperture；Camera lens hole number with take the photograph
Picture head sum is equal, for camera to be fixedly mounted；
Camera system is made of several with the camera of model；It is divided into two groups or more multiple groups by elevation angle size, is taken the photograph with group
As the elevation angle of head is identical；Every group of camera includes the parallel camera of multipair optical axis；The azimuth of each pair of camera is identical, constitutes
Stereoscopic vision unit；
The stereoscopic vision unit, according to the mutually interspersed arrangement of polygonal structure, baseline is longer；Its baseline and the composition stereopsis
Feel that two camera optical axises of unit are mutually perpendicular to；With the baseline length phase of multiple stereoscopic vision units composed by group camera
Deng.
2. the multi-cam full-view stereo imaging device of plane distribution according to claim 1, it is characterised in that: the shell
Body, the profile constituted using all camera stationary planes is shape；Plane locating for its side wall is mutually perpendicular to corresponding camera optical axis；
Guarantee after camera is installed and fixed, direction is constant, and visual angle is not blocked by shell and other cameras.
3. the multi-cam full-view stereo imaging device of plane distribution according to claim 1, it is characterised in that: described to take the photograph
As the visual field division principle of head system are as follows: be divided into the spherical surface of 0 ° of weft to pole for basic unit with the field angle of camera
Several latitude sections, each latitude section are covered by one group of camera visual field；Each latitude section is divided by longitude again
Several longitude and latitude sections, each longitude and latitude section are covered by a stereoscopic vision unit visual field；Stereoscopic vision unit it is comprehensive
Hemispherical space can be covered by closing stereoscopic fields of view.
4. the multi-cam full-view stereo imaging device of plane distribution according to claim 1, it is characterised in that: described same
Group camera is in the same plane, is parallel to each other or is overlapped between plane locating for difference group camera；It is spaced adjacent two
It is equal to 720 degree of numbers divided by this group of camera with angle between group camera optical axis.
5. the multi-cam full-view stereo imaging device of plane distribution according to claim 1, it is characterised in that: described to take the photograph
As head system, three-dimensional imaging resolution ratio is directly proportional to the imaging resolution of single camera, using high-resolution camera,
To improve the three-dimensional imaging resolution ratio of device.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610302509.0A CN105739231B (en) | 2016-05-06 | 2016-05-06 | A kind of multi-cam full-view stereo imaging device of plane distribution |
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| CN201610302509.0A CN105739231B (en) | 2016-05-06 | 2016-05-06 | A kind of multi-cam full-view stereo imaging device of plane distribution |
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| CN105739231A CN105739231A (en) | 2016-07-06 |
| CN105739231B true CN105739231B (en) | 2019-04-26 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE202017104934U1 (en) * | 2016-08-17 | 2017-11-20 | Google Inc. | Multi-level camera carrier system for stereoscopic image acquisition |
| CN106647149A (en) * | 2016-10-20 | 2017-05-10 | 北京机灵科技有限公司 | Compact and intensive lens group device |
| CN106647148A (en) * | 2017-01-25 | 2017-05-10 | 成都中信华瑞科技有限公司 | Device for obtaining panoramic picture and assembly method thereof |
| CN107274400B (en) * | 2017-06-21 | 2021-02-12 | 歌尔光学科技有限公司 | Space positioning device, positioning processing method and device, and virtual reality system |
| CN107205127B (en) * | 2017-07-10 | 2019-12-31 | 中国人民解放军国防科学技术大学 | Light field imaging device of fold-in type camera array structure |
| CN107483911A (en) * | 2017-08-25 | 2017-12-15 | 秦山 | A kind of signal processing method and system based on more mesh imaging sensors |
| CN107738642A (en) * | 2017-11-15 | 2018-02-27 | 长春理工大学 | A kind of drive assist system based on catadioptric panorama camera |
| CN113163189A (en) * | 2021-04-20 | 2021-07-23 | 中国海洋大学 | Binocular vision underwater three-dimensional panoramic imaging system and imaging method |
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| CN1965578A (en) * | 2003-06-03 | 2007-05-16 | 伦纳德·P·斯图尔特第三 | Digital 3D/360 degree camera system |
| DE202011003574U1 (en) * | 2011-03-04 | 2012-06-12 | Willy Bogner Film Gesellschaft mit beschränkter Haftung | camera device |
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