CN106647148A - Device for obtaining panoramic picture and assembly method thereof - Google Patents
Device for obtaining panoramic picture and assembly method thereof Download PDFInfo
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- CN106647148A CN106647148A CN201710063065.4A CN201710063065A CN106647148A CN 106647148 A CN106647148 A CN 106647148A CN 201710063065 A CN201710063065 A CN 201710063065A CN 106647148 A CN106647148 A CN 106647148A
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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
- G03B37/02—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe with scanning movement of lens or cameras
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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
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- General Physics & Mathematics (AREA)
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- Stereoscopic And Panoramic Photography (AREA)
Abstract
The embodiment of the invention provides a device for obtaining a panoramic picture and an assembly method thereof and relates to the technical field of panoramic imaging. The device for obtaining the panoramic picture comprises a plurality of cameras, a plurality of optical path conversion elements and a frame. The plurality of cameras and the plurality of optical path conversion elements are uniformly arranged on the side walls of the frame. The optical distance from the optical center of the lens of each camera to the corresponding optical path conversion element is equal to the distance from the optical path conversion element to the geometric center or axis of the frame. Through transfer of the optical center of the camera, the virtual optical center corresponding to the optical center of each camera is converged at the same point; when real-time panoramic photographing is carried out, a plurality of obtained pictures have the same optical center; malposition is not liable to occur; and the mosaic processing workload and time of the panoramic picture are directly reduced.
Description
Technical field
The present invention relates to panoramic imaging techniques field, in particular to the device and its group of a kind of acquisition panoramic picture
Dress method.
Background technology
Existing panoramic imagery mode is divided into cylindrical panoramic imaging and spherical panorama imaging.Really panoramic picture is important
One of premise is that the scenery in the verity of full-view image information, especially visual field false can not increase.But in prior art,
Full-view image has repeating for scenery target in splicing regions, forms deceptive information image.This phenomenon compares in detail
It is more apparent, even if these fake informations can not be completely eliminated using Photogrammetric Processing technology.In the overlay region of adjacent image, phase
The conformation ray angle formed to same target with scene is different, and far and near different target produces throwing in image planes in scene
Video display are poor, and the problem of dtmf distortion DTMF for eliminating same target " Cheng Shuan " appearance is difficult during later stage spliced panoramic image.
The content of the invention
In view of this, the purpose of the embodiment of the present invention is to provide a kind of device for obtaining panoramic picture, existing to improve
Full-view image has scenery target that projected disparity is produced in image planes in splicing regions in technology, forms asking for deceptive information image
Topic.
In a first aspect, a kind of device for obtaining panoramic picture provided in an embodiment of the present invention, including multiple cameras, Duo Geguang
Road inverting element and framework, multiple cameras and multiple optical path changing elements may be contained within the frame side wall, each
The camera lens photocentre of the camera to the light path of the corresponding optical path changing element is equal to the optical path changing element to the frame
The geometric center of frame or the distance of axis.
Preferably, the framework is shaped as prism or cylinder, and multiple cameras are uniformly distributed in the framework
Side wall, the light path of the camera lens photocentre of each camera to the corresponding optical path changing element is equal to light chopper unit
The distance of part to the axis of the framework.
Preferably, multiple optical path changing elements are located normal in the section of the axis of the framework.
Preferably, each described camera of multiple cameras is big in the angle of visual field sum of the stitching direction of panoramic picture
In 360 degree.
Preferably, the framework is shaped as spheroid, and multiple cameras are uniformly distributed in the side wall of the framework, often
The camera lens photocentre of the individual camera to the light path of the corresponding optical path changing element is equal to the optical path changing element to described
The distance of the centre of sphere of framework.
Preferably, the corresponding steradian sum of the angle of visual field of each camera of multiple cameras is more than 4 π arcs
Degree.
Preferably, the optical path changing element is reflecting mirror or at least one in prism.
Second aspect, the embodiment of the present invention also provide it is a kind of acquisition panoramic picture device, including at least one camera and
Rotary apparatuss, camera described at least one is installed on the rotary apparatuss, and the rotary apparatuss are used to drive described at least one
Camera is with around the rotation of the camera lens photocentre of the camera.
The third aspect, the embodiment of the present invention also provides a kind of assemble method of the device of acquisition panoramic picture, methods described
Including：Calculate the available field of view angle of camera；Shape and the available field of view angle of the camera according to framework, it is determined that what is needed is described
The number of camera；According to the camera number and install needed for size, determine the size of the framework；Light chopper is installed
Element and the camera, make the camera lens photocentre of each camera be equal to the light path of the corresponding optical path changing element described
Optical path changing element is to the geometric center of the framework or the distance of axis.
Preferably, calculating the available field of view angle of the camera includes：If the imaging breadth of the camera is rectangle, utilize
The angle of visual field of the stitching direction of panoramic picture is deducted after the angle of visual field of default overlapping region, obtains effectively regarding for each camera
Rink corner；Shape and the available field of view angle of the camera according to framework, it is determined that the number of the camera for needing includes：If described
Framework is cylinder, then the number of the camera for needing is 360 degree of available field of view angles divided by camera each described；If described
Framework is spheroid, and the available field of view angle of the camera is scaled into corresponding steradian, then the number of the camera for needing is 4
Available field of view angle corresponding steradian of the π steradian divided by camera each described.
Compared with prior art, the device for obtaining panoramic picture provided in an embodiment of the present invention includes multiple cameras, multiple
Camera is shot simultaneously, and by the photocentre for shifting camera, the corresponding virtual photocentre of photocentre for making each camera crosses to same
Point, when real time panoramic shoots, the multiple image of acquisition has same photocentre, is not likely to produce dislocation, directly reduces panorama sketch
Workload and time as damascene process.The device of the acquisition panoramic picture of another embodiment adopts single camera, makes single phase
Machine carries out one-dimensional or two-dimentional rotation around photocentre, to shoot 360 degree of annular panoramic figures or omnibearing stereo panorama sketch, not in the same time
The image of shooting has same photocentre when shooting, and the picture not shot in the same time is not likely to produce dislocation in splicing.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Description of the drawings
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, below will be attached to what is used needed for embodiment
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, thus be not construed as it is right
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can be with according to this
A little accompanying drawings obtain other related accompanying drawings.
The structural representation of the device of the acquisition panoramic picture that Fig. 1 is provided for first embodiment of the invention.
The camera of the device of the acquisition panoramic picture that Fig. 2 is provided for first embodiment of the invention and the light of optical path changing element
Lu Tu.
Camera and the optical path changing element of the device of the acquisition panoramic picture that Fig. 3 is provided for first embodiment of the invention and
The geometrical principle figure of framework.
The structural representation of the device of the acquisition panoramic picture that Fig. 4 is provided for second embodiment of the invention.
The structural representation of the device of the acquisition panoramic picture that Fig. 5 is provided for third embodiment of the invention.
The flow chart of the assemble method of the device of the acquisition panoramic picture that Fig. 6 is provided for fourth embodiment of the invention.
Icon：10- obtains the device of panoramic picture；100- cameras；101- camera lenses；102- imaging focal planes；103- key lights
Axle；200- optical path changing elements；300- frameworks；400- scenery.
Specific embodiment
To make purpose, technical scheme and the advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
The a part of embodiment of the present invention, rather than the embodiment of whole.Present invention enforcement generally described and illustrated in accompanying drawing herein
The component of example can be arranged and designed with a variety of configurations.
Therefore, the detailed description of embodiments of the invention below to providing in the accompanying drawings is not intended to limit claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.Based on the embodiment in the present invention, this area is common
The every other embodiment that technical staff is obtained under the premise of creative work is not made, belongs to the model of present invention protection
Enclose.
First embodiment
Fig. 1 is refer to, is the structural representation of the device 10 of the acquisition panoramic picture that first embodiment of the invention is provided.This
Inventive embodiments provide a kind of device 10 for obtaining panoramic picture, for cylindrical space inner side and the panorama of circular periphery into
Picture, such as tunnel, pipeline, the imaging of well inner wall space, and the imaging of streetscape annular panoramic.The present embodiment adopts multiple cameras
100 around a center arrangement.
The device 10 for obtaining panoramic picture includes multiple cameras 100, multiple optical path changing elements 200 and framework 300,
Multiple cameras 100 and multiple optical path changing elements 200 may be contained within the side wall of the framework 300.
In the present embodiment, the framework 300 is shaped as cylinder, and multiple cameras 100 are uniformly distributed in described
The side wall of framework 300.Certainly, in other specific embodiments, the framework 300 can also be other shapes, such as six ribs
Post, square etc..Each camera 100 is taken pictures simultaneously, and 360 degree of circular panoramas are obtained after multiple image is spliced
Figure.The scenery that camera 100 is actually subjected to shoot is vertical with the side wall of cylindrical frame 300, by optical path changing element 200 by light path
Direction is changed or is incident to camera 100, and optical path changing element 200 described in the present embodiment is reflecting mirror, concrete at other
In embodiment, optical path changing element 200 can also be other, such as the combination of prism or prism and reflecting mirror.
Fig. 2 is refer to, is the camera 100 and light path of the device 10 of the acquisition panoramic picture that first embodiment of the invention is provided
The geometrical principle figure of inverting element 200.Because the camera lens 101 of each camera 100 has photocentre A, photocentre A is typically in camera lens
In 101, light path can be changed by the reflecting mirror of the present embodiment, by photocentre A and the isolated virtual photocentre of camera lens 101
B.The light that scenery 400 is launched or reflected, is irradiated to after reflecting mirror along primary optical axis 103 and enters in camera lens 101, after photocentre A, most
The imaging in the imaging focal plane 102 of camera 100 eventually.According to optical principle it is recognised that the distance of photocentre A to reflecting mirror C points
Can be equal with the distance of virtual photocentre B to the C points, photocentre A's and virtual photocentre B seems picture at identical, and photocentre A
It is identical with the picture of the virtual photocentre B, for different optical path changing elements 200 is imaged may be in opposite direction, it is only necessary in figure
As simple image conversion in processing procedure.
Fig. 3 is refer to, is the camera 100 and light path of the device 10 of the acquisition panoramic picture that first embodiment of the invention is provided
The geometrical principle figure of inverting element 200 and framework 300.Obtaining the device 10 of panoramic picture includes multiple cameras 100 and multiple
Reflecting mirror, multiple reflecting mirrors are in the plane that the section of cylindrical frame 300 is circular.Each camera 100 can shoot and cylindricality
The vertical scenery of framework 300, after the light of scenery is emitted into camera lens 101 from reflecting mirror, can be by photocentre A, when cylindricality frame
With multiple reflecting mirrors when the intersection point D in the section of cylindrical frame 300 overlaps with virtual photocentre B, photocentre A goes out the axis of frame 300
As in the same size with picture intersection point D at, as long as thus, the light path of guarantee photocentre A to C points (refractive index in air can be with
It is approximately equal to the refractive index of vacuum) C points are equal to the distance of intersection point D, you can and the virtual photocentre B for realizing multiple cameras 100 intersects
In intersection point D.
As long as needing it is to be noted that the light path for ensureing photocentre A to C points is equal to C points to the distance of intersection point D, Ke Yitong
Crossing the structure composition of change optical path changing element 200 can realize the change of geometric distance of photocentre A to C points, for example, in photocentre
Multiple prisms, reflecting mirror etc. are set between A to C points.In addition, each camera 100 is in the visual field of the stitching direction of panoramic picture
Angle sum should be more than 360 degree, while so could shooting complete annular panoramic image, it is ensured that each camera 100 shoots
Image between convenient splicing.Wherein, if the imaging breadth of the camera 100 is rectangle, the angle of visual field that rectangle minor face is formed is
The minimum angle of visual field.
Thus, solving the problems, such as that multiple cameras 100 cannot make when mounted photocentre A be co-located on intersection point D.By multiple stage
The light path of the conformation light of camera 100 changes, and makes multiple stage camera 100 have a different space mounting positions, but every camera 100
Virtual photocentre B has identical spatial point position.So, reality of the multiple stage camera 100 to panoramic space view field imaging had both been realized
When, it is synchronization, quick, and also ensure that conformation light that the same target in adjacent photograph overlap area is formed is just as.
The adjacent photograph target different for distance in scene does not have height displacement, and the later stage not only can cancel the process ring of projective transformation
Section, and can quickly be spliced into perfect panoramic picture.The present embodiment is particularly suited for dynamic scene and requirement of real-time is high
Scene, because multiple cameras 100 are shot simultaneously, above-mentioned scene can be met.In addition, camera lens 101 and light chopper unit
Other optical elements, such as prism, reflecting mirror can be increased between part 200, with reach camera lens 101 and optical path changing element 200 it
Between light path it is constant in the case of, reduce the geometric distance between camera lens 101 and optical path changing element 200, save installing space.
Second embodiment
Fig. 4 is refer to, is the structural representation of the device 10 of the acquisition panoramic picture that second embodiment of the invention is provided.This
In embodiment, the framework 300 is shaped as spheroid, and the outer surface of spheroid framework 300 is provided with multiple cameras 100 and multiple light paths
Inverting element 200, illustrate only part camera 100 and optical path changing element 200 in figure, it is preferred that obtain the dress of panoramic picture
The camera 100 put in 10 is consistent with the number of optical path changing element 200.
The principle of the device 10 of the acquisition panoramic picture in the present embodiment is essentially identical with the principle of first embodiment, its
In, the photocentre A of the camera lens 101 and the light path of optical path changing element 200, equal to optical path changing element 200 and the distance of the centre of sphere,
To ensure that the virtual photocentre B of multiple cameras 100 intersects at the centre of sphere, it is easy to the image that multiple cameras 100 shoot in splicing, no
Produce dislocation and ghost image.
Need it is to be noted that the angle of visual field of each camera 100 is scaled after corresponding steradian, its summation should be more than 4 π
Steradian.Depending on the angle of visual field of the number of camera 100 of spherome surface according to each camera 100, if the angle of visual field of camera 100 is got over
Greatly, then need the number of camera 100 being distributed fewer, if the angle of visual field of camera 100 is less, need the number of camera 100 being distributed
It is more.Certainly, other optical elements can be increased between camera lens 101 and optical path changing element 200, such as prism, reflecting mirror, to reach
To the light path between camera lens 101 and optical path changing element 200 it is constant in the case of, reduce camera lens 101 and optical path changing element 200
Between geometric distance, save installing space.
3rd embodiment
Fig. 5 is refer to, is the structural representation of the device 10 of the acquisition panoramic picture that third embodiment of the invention is provided.This
Inventive embodiments also provide a kind of device 10 of acquisition panoramic picture, including a camera 100 and rotary apparatuss (do not show in figure
Go out), the camera 100 is installed on the rotary apparatuss, and the rotary apparatuss are used to drive the camera 100 with around the phase
The photocentre A of camera lens 101 rotations of machine 100.
In panoramic picture is obtained, there is two ways to obtain panorama sketch using one camera 100, respectively one-dimensional rotation and two
Dimension rotation.X, Y, Z three-dimensional system of coordinate is set up by origin of photocentre A.One-dimensional rotation mode is that camera 100 is arranged on into rotating dress
After putting, rotary apparatuss drive camera 100 to rotate, and the axle center that it is rotated rotates along Y-axis, thus, camera 100 can shoot vertically
In the panorama sketch of Y direction, in shooting process, in certain time, complete the rotation more than or equal to 360 degree, when
Between not shooting in the same time in section have plurality of pictures, because every pictures have identical photocentre A when shooting, exist per pictures
During splicing, dislocation will not be produced, be easy to splicing, and the image for splicing is complete.
Two Dimensional Rotating mode is that rotary apparatuss include two rotary shafts, it is ensured that two rotary shafts overlap with Y-axis and Z axis, i.e.,
Ensure camera 100 when two dimensions rotate, ensure that the axle for rotating crosses photocentre A, the picture of shooting so not in the same time exists
During splicing, dislocation will not be produced.The device 10 of the acquisition panoramic picture of the present embodiment is particularly suited for changing little photographed scene,
Such as static scene.
In other specific embodiments, the number of the camera 100 can also be multiple, compared to a camera 100
Rotated, the anglec of rotation can be reduced, improved the real-time of panoramic imagery.For example, it is each when the number of camera 100 is 3
When the angle of visual field of individual camera 100 is 60 degree, three cameras 100 can be disposed adjacent, now, pan figure when, obtain complete
The device 10 of scape image needs at least to rotate 180 degree；The spaced setting of three cameras 100 now, can also be panned
During figure, the device 10 for obtaining panoramic picture only needs at least rotate 60 degree, and the angle for being rotated is little.
Fourth embodiment
Fig. 6 is refer to, is the flow process of the assemble method of the device of the acquisition panoramic picture that fourth embodiment of the invention is provided
Figure.The assemble method of the present embodiment is applied to the device 10 of the acquisition panoramic picture to first embodiment and second embodiment.Institute
The method of stating includes：
S101, calculates the available field of view angle of camera 100.
If the imaging breadth of the camera 100 is rectangle, in the angle of visual field of the stitching direction of panoramic picture default weight is deducted
After the angle of visual field in folded region, the available field of view angle of each camera 100 is obtained.For example, if under column structure, the length of rectangle
Side correspondence is encompassed as when being spliced into panorama sketch, using the angle of visual field on the long side of single camera 100 default overlapping region being deducted
After the angle of visual field, the available field of view angle of each camera 100 is obtained；The minor face correspondence of rectangle is encompassed as being spliced into panorama sketch
When, deducted after the angle of visual field of default overlapping region using the angle of visual field of the minor face of single camera 100, obtain each described camera
100 available field of view angle.Under spherical structure, using the angle of visual field of the minor face of single camera 100 default overlapping region is deducted
After the angle of visual field, the available field of view angle of each camera 100 is obtained.
Wherein, also included choosing camera 100 before step S101.According to the imaging indicators of panorama camera 100, really
The angular resolution of a fixed pixel.The angular resolution of one pixel is multiplied by by the quantity of the pixel of type selecting camera 100, is determined that
The angle of visual field size of selected camera 100, then can choose the camera lens 101 of satisfactory camera 100 and matching.
S102, it is determined that the number of the camera 100 for needing.
According to the shape of framework 300, it is determined that the number of the camera 100 for needing.If the framework 300 be cylinder or
Prism, that is, when needing to carry out annular panoramic figure, then the number of the camera 100 for needing is 360 degree divided by camera each described
100 available field of view angle；If the framework 300 is spheroid, the available field of view angle of the camera 100 is scaled into corresponding sphere
Degree, then the number of the camera 100 for needing is available field of view angle corresponding ball of the 4 π steradian divided by camera each described 100
Face degree.If needing it is to be noted that when gained camera number is non-integer, ending method should be adopted, make camera number for integer and
More than value of calculation.
S103, determines the size of the framework 300.
According to the physical dimension of the installation of camera 100, determine the diameter of corresponding framework 300, it is ensured that camera 100 and
Its adnexa has enough installing spaces.
S104, installs optical path changing element 200 and the camera 100.
On the imaging optical path of each camera 100, an optical path changing element 200 is set, the photocentre A realities of camera 100 are made
Border locus separate with virtual photocentre B location on geometric space.Ensure that multiple cameras 100 have same virtual photocentre B,
Solve the problems, such as that the photocentre A of 100 camera lens of polyphaser 101 cannot be in same spatial point.Preferably, optical path changing element 200
It is convenient and simple for an illuminator.
By above-mentioned steps, it is possible to produce being capable of 360 degree of annular panoramics of captured in real-time or captured in real-time omnibearing stereo
The device 10 of the acquisition panoramic picture of panorama sketch.
In sum, the device for obtaining panoramic picture provided in an embodiment of the present invention includes multiple cameras, and multiple cameras are same
Shi Jinhang shoots, and by the photocentre for shifting camera, the corresponding virtual photocentre of photocentre for making each camera crosses to same point, in reality
When pan-shot when, the multiple image of acquisition has same photocentre, is not likely to produce dislocation, directly reduces panoramic picture and inlays place
The workload of reason and time.The device of the acquisition panoramic picture of another embodiment adopts single camera, makes single camera around photocentre
One-dimensional or two-dimentional rotation is carried out, to shoot 360 degree of annular panoramic figures or omnibearing stereo panorama sketch, the figure not shot in the same time
As having same photocentre when shooting, the picture not shot in the same time is not likely to produce dislocation in splicing.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined in individual accompanying drawing, then it need not be further defined and is explained in subsequent accompanying drawing.
In describing the invention, it should be noted that term " " center ", " on ", D score, "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outward " be based on orientation shown in the drawings or position relationship, or should
Orientation or position relationship that invention product is usually put when using, are for only for ease of the description present invention and simplify description, and not
Be indicate or imply indication device or element must have specific orientation, with specific azimuth configuration and operation, therefore not
It is understood that as limitation of the present invention.Additionally, term " first ", " second ", " the 3rd " etc. are only used for distinguishing description, and can not manage
Solve to indicate or implying relative importance.
Additionally, the term such as term " level ", " vertical ", " pendency " is not offered as requiring part abswolute level or pendency, and
Can be to be slightly tilted.It is not the expression structure as " level " only refers to for its direction relative " vertical " more level
Must be fully horizontal, and can be to be slightly tilted.
In describing the invention, in addition it is also necessary to explanation, unless otherwise clearly defined and limited, term " setting ",
" installation ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected, or be detachably connected, or one
The connection of body ground；Can be mechanically connected, or electrically connect；Can be joined directly together, it is also possible to indirect by intermediary
It is connected, can is the connection of two element internals.For the ordinary skill in the art, can be with concrete condition understanding
State term concrete meaning in the present invention.
The preferred embodiments of the present invention are the foregoing is only, the present invention is not limited to, for the skill of this area
For art personnel, the present invention can have various modifications and variations.It is all within the spirit and principles in the present invention, made any repair
Change, equivalent, improvement etc., should be included within the scope of the present invention.It should be noted that：Similar label and letter exists
Similar terms is represented in figure below, therefore, once being defined in a certain Xiang Yi accompanying drawing, then it is not required in subsequent accompanying drawing
It is further defined and is explained.
The above, the only specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, all should contain
Cover within protection scope of the present invention.Therefore, protection scope of the present invention described should be defined by scope of the claims.
Claims (10)
1. it is a kind of obtain panoramic picture device, it is characterised in that including multiple cameras, multiple optical path changing elements and framework,
Multiple cameras and multiple optical path changing elements may be contained within the frame side wall, the camera lens photocentre of each camera
Light path to the corresponding optical path changing element is equal to the geometric center or axis of the optical path changing element to the framework
Distance.
2. it is according to claim 1 obtain panoramic picture device, it is characterised in that the framework be shaped as prism or
Cylinder, multiple cameras are uniformly distributed in the side wall of the framework, and the camera lens photocentre of each camera is to corresponding
The light path of the optical path changing element is equal to the distance of the optical path changing element to the axis of the framework.
3. it is according to claim 2 obtain panoramic picture device, it is characterised in that multiple optical path changing element positions
In the section of the axis perpendicular to the framework.
4. it is according to claim 2 obtain panoramic picture device, it is characterised in that each institute of multiple cameras
The angle of visual field sum that camera is stated in the stitching direction of panoramic picture is more than 360 degree.
5. the device for obtaining panoramic picture according to claim 1, it is characterised in that the framework is shaped as spheroid,
Multiple cameras are uniformly distributed in the side wall of the framework, and the camera lens photocentre of each camera is to the corresponding light path
The light path of inverting element is equal to the distance of the optical path changing element to the centre of sphere of the framework.
6. it is according to claim 5 obtain panoramic picture device, it is characterised in that each institute of multiple cameras
The corresponding steradian sum of the angle of visual field for stating camera is more than 4 π radians.
7. it is according to claim 1 obtain panoramic picture device, it is characterised in that the optical path changing element for reflection
At least one in mirror or prism.
8. it is a kind of obtain panoramic picture device, it is characterised in that including at least one camera and rotary apparatuss, at least one institute
State camera and be installed on the rotary apparatuss, the rotary apparatuss are used to drive camera described at least one with around the camera
Camera lens photocentre rotates.
9. a kind of assemble method of the device for obtaining panoramic picture, is applied to the arbitrary described acquisition panorama sketch of claim 1-7
The device of picture, it is characterised in that methods described includes：
Calculate the available field of view angle of camera；
Shape and the available field of view angle of the camera according to framework, it is determined that the number of the camera for needing；
According to the camera number and install needed for size, determine the size of the framework；
Optical path changing element and the camera are installed, the camera lens photocentre of each camera is made to the corresponding light chopper unit
The light path of part is equal to the optical path changing element to the geometric center of the framework or the distance of axis.
10. the assemble method of the device for obtaining panoramic picture according to claim 9, it is characterised in that calculate the phase
The available field of view angle of machine includes：If the imaging breadth of the camera is rectangle, using the visual field of the stitching direction in panoramic picture
Angle is deducted after the angle of visual field of default overlapping region, obtains the available field of view angle of each camera；
Shape and the available field of view angle of the camera according to framework, it is determined that the number of the camera for needing includes：If described
Framework is cylinder, then the number of the camera for needing is 360 degree of available field of view angles divided by camera each described；If described
Framework is spheroid, and the available field of view angle of the camera is scaled into corresponding steradian, then the number of the camera for needing is 4
Available field of view angle corresponding steradian of the π steradian divided by camera each described.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710063065.4A CN106647148A (en) | 2017-01-25 | 2017-01-25 | Device for obtaining panoramic picture and assembly method thereof |
| PCT/CN2018/080278 WO2018137721A1 (en) | 2017-01-25 | 2018-03-23 | Apparatus for capturing panoramic image, and method of assembling said apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710063065.4A CN106647148A (en) | 2017-01-25 | 2017-01-25 | Device for obtaining panoramic picture and assembly method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN106647148A true CN106647148A (en) | 2017-05-10 |
Family
ID=58840766
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710063065.4A Pending CN106647148A (en) | 2017-01-25 | 2017-01-25 | Device for obtaining panoramic picture and assembly method thereof |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106647148A (en) |
| WO (1) | WO2018137721A1 (en) |
Cited By (7)
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| CN111275750A (en) * | 2020-01-19 | 2020-06-12 | 武汉大学 | Indoor space panoramic image generation method based on multi-sensor fusion |
| CN111385487A (en) * | 2018-12-28 | 2020-07-07 | 中兴通讯股份有限公司 | Debugging method and device of multi-lens camera and storage medium |
| CN111405170A (en) * | 2020-04-26 | 2020-07-10 | 深圳移动互联研究院有限公司 | Panoramic picture camera device and method with distributed photosensitive chip design |
| CN114554176A (en) * | 2022-01-24 | 2022-05-27 | 北京有竹居网络技术有限公司 | Depth camera |
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