CN112051668B - Image stitching system - Google Patents
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- CN112051668B CN112051668B CN201910487331.5A CN201910487331A CN112051668B CN 112051668 B CN112051668 B CN 112051668B CN 201910487331 A CN201910487331 A CN 201910487331A CN 112051668 B CN112051668 B CN 112051668B
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Abstract
The application discloses image mosaic system includes: an image sensor including a modulated imaging region; an optical system having a modulation device for forming an adjusted intermediate image; the conversion component is used for converting the adjusted intermediate image into a modulation projection image, and the modulation projection image is projected to the modulation imaging area and is collected by the image sensor; wherein the optical system with the modulation device comprises: optical means for forming an intermediate image; and the modulation device comprises a light shielding area, and the light shielding area is used for shielding stray light influencing other optical systems in the intermediate image at the position of the intermediate image and modulating the intermediate image into the adjusted intermediate image. Stray light rays influencing other optical systems in the optical system are shielded at the position of the intermediate image through a shading area of the modulation device, the probability of influence of the stray light rays of the optical system on the other optical systems is reduced, and the accuracy of the image is improved.
Description
Technical Field
The application relates to the technical field of image processing and optical systems, in particular to an image splicing system.
Background
The optical path refers to a path of light finally imaged through the optical system. The optical system is a system formed by combining a plurality of optical elements such as a lens, a reflector, a prism, a diaphragm and the like in a certain order. Are commonly used for imaging or optical information processing.
An optical system is generally composed of a plurality of optical devices, and an intermediate image is formed between two adjacent optical devices in one optical system, and the intermediate image is an image generated by a previous optical device and can be imaged as an object of a next optical device.
In an image stitching system in the prior art, a plurality of optical systems are projected onto one image sensor, and then images are acquired through the image sensor. However, with such a scheme, an image projected by the optical system on the image sensor may partially coincide with an image projected by another optical system on the image sensor, and the accuracy of the image received by the image sensor is low.
Disclosure of Invention
The embodiment of the application provides an image splicing system, which improves the accuracy of an image received by an image sensor.
In a first aspect, an image stitching system is provided, which includes:
an image sensor including a modulated imaging region;
an optical system having a modulation device for forming an adjusted intermediate image;
the conversion component is used for converting the adjusted intermediate image into a modulation projection image, and the modulation projection image is projected to the modulation imaging area and is collected by the image sensor;
wherein the optical system with the modulation device comprises:
optical means for forming an intermediate image;
and the modulation device comprises a light shielding area, and the light shielding area is used for shielding stray light influencing other optical systems in the intermediate image at the position of the intermediate image and modulating the intermediate image into the adjusted intermediate image.
Further, the image sensor further includes a natural imaging region, and the image stitching system further includes:
an optical system without a modulation device for forming a natural projection image on the image sensor, wherein the natural projection image is projected to the natural imaging region and acquired by the image sensor.
Further, the number of the modulation devices is the same as the number of the intermediate images.
Further, the number of the conversion assemblies is the same as the number of the optical systems having the modulation devices.
Further, the conversion component is configured to convert at least two of the adjusted intermediate images into the modulated projection image.
Further, the optical device includes a refractive optical component, a reflective optical component or a catadioptric optical component.
Further, the conversion component comprises a refractive optical component, a reflective optical component or a catadioptric optical component.
Further, the optical system without the modulation device includes a refractive optical component, a reflective optical component, or a catadioptric optical component.
Further, the shape of the adjusted intermediate image is the same as the shape of the modulation imaging area.
Further, the shape of the natural projection image corresponds to the shape of the natural imaging region.
The embodiment of the application adopts at least one technical scheme which can achieve the following beneficial effects: stray light rays influencing other optical systems in the optical system are shielded at the position of the intermediate image through a shading area of the modulation device, the probability of influence of the optical system on other optical systems is reduced, and the accuracy of the image received by the image sensor is improved. In addition, the image sensor is divided into a plurality of imaging areas, the intermediate image is modulated into the adjusted intermediate image through the modulation device, the adjusted intermediate image is converted into the modulated projection image projected to the plurality of imaging areas of the image sensor through the conversion assembly, the images formed by the plurality of optical systems are spliced on the same image sensor, the using amount of the image sensor is reduced, and the cost is controlled.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic structural diagram of an image stitching system in an embodiment of the present application.
Fig. 2 is a schematic diagram of modulation of an intermediate image by a modulation device in an embodiment of the present application.
FIG. 3 is a schematic illustration of a modulated projected image and a modulated imaging region in one embodiment of the present application.
Fig. 4 is a schematic structural diagram of a modulation device in an embodiment of the present application.
Fig. 5 is a schematic structural diagram of an image stitching system in another embodiment of the present application.
FIG. 6 is a block diagram of an image stitching system in one embodiment of the present application, FIG. 1.
FIG. 7 is a block diagram of an image stitching system in an embodiment of the present application, FIG. 2.
FIG. 8 is a block diagram of an image stitching system in one embodiment of the present application, FIG. 3.
FIG. 9 is a block diagram of an image stitching system in an embodiment of the present application 4.
Fig. 10 is a schematic structural diagram of an image stitching system in a further embodiment of the present application.
FIG. 11 is a block diagram of an image stitching system in another embodiment of the present application, FIG. 5.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the present application provides an image stitching system, comprising:
an image sensor including a modulated imaging region;
an optical system having a modulation device for forming an adjusted intermediate image;
the conversion component is used for converting the adjusted intermediate image into a modulation projection image, and the modulation projection image is projected to the modulation imaging area and is collected by the image sensor;
wherein the optical system with the modulation device comprises:
optical means for forming an intermediate image;
and the modulation device comprises a light shielding area, and the light shielding area is used for shielding stray light influencing other optical systems in the intermediate image at the position of the intermediate image and modulating the intermediate image into the adjusted intermediate image.
Optionally, as an embodiment, the shape of the adjusted intermediate image is the same as the shape of the modulation imaging region.
Specifically, the image distance of the intermediate image is determined based on the focal length of the optical device and the distance of the object image, and in the case of a convex lens, the sum of the reciprocal of the object distance and the reciprocal of the image distance is equal to the reciprocal of the focal length. Based on the distance and the focal length of the object image, the image distance of the image formed by the convex lens can be determined.
It can be understood that, in an optical system with a modulation device, there are one or more than two optical devices, in the case of one optical device, the optical device forms an intermediate image, the intermediate image forms an adjusted intermediate image after the stray light is blocked by the light-blocking area of the modulation device, the adjusted intermediate image forms a modulated projection image through the conversion of the conversion component, the modulated projection image is projected onto the corresponding modulated imaging area on the image sensor, the modulated projection image and other images collected by the image sensor are spliced into a spliced image, the edges of the modulated projection image and other images collected by the image sensor are tangent to form a spliced image, taking two optical systems with modulation devices as an example, the two optical systems with modulation devices form two rectangular images, the two rectangular images are spliced into a spliced image, the spliced image is rectangular and has the same shape and size as the acquisition surface of the image sensor.
When the number of the optical devices is not less than two, the two optical devices transmit through an intermediate image, namely, the former optical device forms an intermediate image between the two optical devices, the latter optical device takes the intermediate image between the two optical devices as an object, and then the latter optical device forms an intermediate image. The optical device converts the object into an intermediate image, and the intermediate image forms an adjusted intermediate image after passing through the modulation device. The adjusted intermediate image is converted by the conversion component so as to be projected onto the image sensor. The image sensor collects the modulated projection image projected by the conversion assembly.
As shown in fig. 2, the intermediate image is adjusted by blocking stray light rays by a light blocking area on the modulation device, that is, the light blocking area limits the intermediate image, so as to limit the size and shape of the intermediate image, and further, the images formed by a plurality of optical systems are projected onto one image sensor. The imaging of a plurality of optical systems is limited on the same image sensor, and compared with the scheme that each optical system corresponds to one image sensor, the use amount of the image sensors is reduced, on one hand, the cost is controlled, on the other hand, the space occupied by the image sensors is reduced due to the reduction of the number of the image sensors, and the installation of the image sensors is facilitated. In addition, stray light rays influencing other optical systems in the optical system are shielded by a light shielding area of the modulation device, so that the probability of influence of the optical system on other optical systems is reduced, and the accuracy of images received by the image sensor is improved.
The position of the modulation device is located at the position of the intermediate image. Stray light is light that affects other optical systems in the current optical system. The position of the modulation device is located at the position of the intermediate image, the modulation device shields the area formed by the stray light in the intermediate image, and compared with a scheme that the modulation device is located at a position outside the intermediate image, the modulation device in the scheme has a good shielding effect on the stray light.
For example, the modulation device acquires a complete image of the circular acquisition region to form a circular intermediate image, if the image sensor only needs to acquire a semicircular image of the lower half part of the acquisition region, the light corresponding to the region of the upper half part of the acquisition region on the intermediate image is stray light, the modulation device at the position of the intermediate image shields the image of one half part of the circular intermediate image, and then the semicircular image of the lower half part of the acquisition region is formed and projected onto the image sensor through the conversion component. At the position of the intermediate image, a circular area formed by the intermediate image corresponds to the acquisition area, and the light ray of the shielded semicircular area on the intermediate image is the light ray in the lower half area of the acquisition area. If the modulation device is arranged in front of the intermediate image, the light of each point in the object image is still in a dispersion stage, and the shielding effect of the modulation device on the stray light is poor. The modulation device at the intermediate image position has good shielding effect on stray light projected by the optical device.
The modulation device may be a metal sheet with a light hole formed in the middle (a light shielding region outside the light hole), or a light shielding region formed by plating a reflective film or an absorbing film of a predetermined shape on a transparent glass.
As shown in fig. 3, the light-shielding region of the modulation device forms a light-transmitting region, and the shape of the light-transmitting region may take the shape of a rectangle, a semicircle, a regular hexagon, or the like.
Alternatively, as an embodiment, as shown in fig. 4, the image sensor includes a plurality of modulation imaging areas, and the number of optical systems having the modulation device is the same as the number of modulation imaging areas.
For example, a rectangular image sensor is divided into four modulation imaging regions, the four modulation imaging regions are preferably four rectangles with the same area, and the sum of the areas of the four rectangles is equal to the area of the acquisition surface of the image sensor. The optical system with the modulation means is provided with four. The light transmission areas formed by the light shielding areas of the modulation devices in the four optical systems with the modulation devices are all set to be rectangular, the intermediate image formed by the optical devices forms a rectangular adjusted intermediate image after passing through the rectangular light transmission areas, the adjusted intermediate image forms a rectangular modulation projection image projected on the image sensor after being converted by the conversion assembly, and the four rectangular modulation projection images are projected on the four rectangular modulation imaging areas. The size and shape of the four modulated projection images are the same as the size and shape of the four modulated imaging regions. Through the modulation of the modulation device, the shape and the size of the intermediate image are limited after passing through the modulation device, the images formed by the optical systems are projected onto one image sensor, and the probability of the stray light influencing other optical systems is reduced through the shielding of the stray light by the shading area on the modulation device, so that the accuracy of the image received by the image sensor is improved.
Optionally, as an embodiment, as shown in fig. 5, the image sensor further includes a natural imaging region, and the image stitching system further includes:
an optical system without a modulation device for forming a natural projection image on the image sensor, wherein the natural projection image is projected to the natural imaging area and acquired by the image sensor.
Optionally, as an embodiment, a shape of the natural projection image corresponds to a shape of the natural imaging region.
It is understood that the present embodiment includes an optical system having a modulation device and an optical system having no modulation device, the optical system having no modulation device projects an object as a natural projection image onto a natural imaging region, and the optical system having no modulation device may be provided in plural.
The image sensor is divided into a modulation imaging area and a natural imaging area, and an optical system with a modulation device and the natural imaging area can be spliced into a complete image acquisition surface of the image sensor.
For example, a rectangular image sensor is divided into a natural imaging area and two modulation imaging areas, the two modulation imaging areas are located at two sides of the natural imaging area, the imaging of the existing optical system without a modulation device takes a circular shape, the two modulation imaging areas form a rectangle with a circular hole in the middle, and the size of the circular hole is the same as the shape of the natural imaging area. A natural projection image formed by an optical system without a modulation device is projected to a central circular natural imaging area, and two optical systems with modulation devices form two modulated projection images through a conversion assembly and project the two modulated projection images into the two modulated imaging areas.
Optionally, as an embodiment, the optical system without the modulation device includes a refractive optical component, a reflective optical component, or a catadioptric optical component.
It is understood that a refractive, reflective or catadioptric optical component is comprised of optical elements. An optical system without a modulation device converts an object image into a natural imaging area on which a natural projection image is projected on an image sensor.
Optionally, as an embodiment, each of the optical systems having a modulation device has one modulation device.
It will be appreciated that each optical system having a modulation means will form one or more than two intermediate images, and that the intermediate images are modulated by a modulation means to control the shape of the intermediate images to form an adjusted intermediate image before the conversion assembly.
For example, when there are three optical devices in the optical system having the modulation device, three intermediate images are formed in the optical system having the modulation device, and one modulation device is disposed at a position of a last intermediate image among the three intermediate images, so that the optical system having the modulation device forms an adjusted intermediate image. In addition, one modulation device may be disposed at a position of any one of the three intermediate images, and one modulation device may be disposed at a position of a first intermediate image of the three intermediate images, taking a light-transmitting region formed by the light-shielding region as a rectangle as an example, the first intermediate image forms a rectangular intermediate image after passing through the light-transmitting region, the first rectangular intermediate image forms a second rectangular intermediate image after being collected by the second optical device, and the second rectangular intermediate image is collected by the third rectangular intermediate image and forms a rectangular adjusted intermediate image.
Optionally, as an embodiment, the number of the modulation devices is the same as the number of the intermediate images.
It is understood that when the number of optical devices in an optical system having a modulation device is one, an intermediate image formed by one optical device is modulated by one modulation device to form an adjusted intermediate image.
Under the condition that the number of the optical devices in an optical system with the modulation devices is more than two, the optical devices can form not less than two intermediate images, and stray light can be generated in the process that light rays pass through the optical devices, so that the scheme arranges one modulation device at the position of each intermediate image, and then forms the adjusted intermediate image. According to the scheme, the modulation device is arranged at the position of each intermediate image, stray light rays are further limited, the probability that the current optical system influences other optical systems is reduced, and the accuracy of the image is improved.
Alternatively, as an embodiment, as shown in fig. 1, the number of the conversion assemblies is the same as the number of the optical systems having the modulation devices.
It will be appreciated that each conversion assembly corresponds to each optical system having a modulation device, i.e. an adjusted intermediate image formed by an optical system having a modulation device passes through a conversion assembly to form a modulated projected image.
Optionally, as an embodiment, the optical device includes a refractive optical component, a reflective optical component, or a catadioptric optical component.
It is understood that a refractive, reflective or catadioptric optical component is comprised of optical elements. The optical device comprises a refractive optical component, a reflective optical component or a catadioptric optical component, and the object image forms an intermediate image after passing through the refractive optical component, the reflective optical component or the catadioptric optical component.
Optionally, as an embodiment, the conversion component includes a refractive optical component, a reflective optical component, or a catadioptric optical component.
It will be appreciated that the conversion component comprises a refractive, reflective or catadioptric optical component, and the intermediate image passes through the refractive, reflective or catadioptric optical component to form the modulated projection image.
For example, when the optical device in the optical system with the modulation device adopts a refractive optical component, the intermediate image formed by the refractive optical component forms an adjusted intermediate image after passing through the modulation device, and the adjusted intermediate image passes through one refractive optical component and then is projected on the modulation imaging area on the image sensor to form a modulation projection image.
For example, as shown in fig. 6, the optical system with the modulation device is provided with two paths, the optical device in the optical system with the modulation device in the first path is a refractive optical component a1, and the conversion component is a refractive optical component a 2; the optical device in the second optical system with the modulation device adopts a refractive optical component a3, and the conversion component adopts a refractive optical component a 4. In the first optical system having the modulation device, the refractive optical element a1 forms an intermediate image, the intermediate image is modulated by the modulation device to form an adjusted intermediate image, and the adjusted intermediate image is refracted by the refractive optical element a2 to form a first modulated projection image on the image sensor. In the second optical system having the modulation device, the refractive optical element a3 forms an intermediate image, the intermediate image is modulated by the modulation device to form an adjusted intermediate image, and the adjusted intermediate image is refracted by the refractive optical element a4 to form a second modulated projection image on the image sensor. The first modulation projection image and the second modulation projection image are spliced to one image sensor, stray light is limited by a light shielding area on the modulation device, the probability that the first modulation projection image and the second modulation projection image have mutual influence is small, and the accuracy of the image received by the image sensor is improved.
For example, as shown in fig. 7, the optical system with the modulation device is provided with two paths, the optical device in the optical system with the modulation device in the first path adopts a refractive optical component c1, and the conversion component adopts a reflective optical component a 2; the optical device in the second optical system with the modulation device adopts a refractive optical component c3, and the conversion component adopts a refractive optical component c 4. In the first optical system having the modulation device, the refractive optical element c1 forms an intermediate image, the intermediate image is modulated by the modulation device to form an adjusted intermediate image, and the adjusted intermediate image is refracted by the reflective optical element c2 to form a first modulated projection image on the image sensor. In the second optical system having the modulation device, the refractive optical element c3 forms an intermediate image, the intermediate image is modulated by the modulation device to form an adjusted intermediate image, and the adjusted intermediate image is refracted by the refractive optical element c4 to form a second modulated projection image on the image sensor. The first modulation projection image and the second modulation projection image are spliced on the image sensor, and the first modulation projection image and the second modulation projection image have small probability of mutual influence through the limitation of a shading area on stray light rays on the modulation device, so that the accuracy of the image received by the image sensor is improved.
For example, as shown in fig. 8, the optical system with the modulation device is provided with two paths, the optical device in the optical system with the modulation device in the first path adopts a refractive optical component d1, and the conversion component adopts a reflective optical component d 2; the optical device in the second optical system with the modulation device adopts a refractive optical component d3, and the conversion component adopts a refractive optical component d 4. In the first optical system with the modulation device, the refractive optical component d1 forms an intermediate image, the intermediate image is modulated by the modulation device to form an adjusted intermediate image, and the adjusted intermediate image is refracted by the reflective optical component d2 to form a first modulated projection image on the image sensor. In the second optical system having the modulation device, the refractive optical element d3 forms an intermediate image, the intermediate image is modulated by the modulation device to form an adjusted intermediate image, and the adjusted intermediate image is refracted by the refractive optical element d4 to form a second modulated projection image on the image sensor. The first modulated projected image and the second modulated projected image are stitched onto an image sensor.
For example, as shown in fig. 9, the optical system with the modulation device is provided with two paths, the optical device in the optical system with the modulation device in the first path is a refractive optical component f1, and the conversion component includes a refractive optical component d2 and a reflective optical component f 3; the optical device in the second optical system with the modulation device adopts a refractive optical component f4, and the conversion component adopts a refractive optical component f 5. In the first optical system with the modulation device, the refractive optical component f1 forms an intermediate image, the intermediate image is modulated by the modulation device to form an adjusted intermediate image, and the adjusted intermediate image is refracted by the refractive optical component f2, reflected by the reflective optical component f3, and forms a first modulated projection image on the image sensor. In the second optical system having the modulation device, the refractive optical element f4 forms an intermediate image, the intermediate image is modulated by the modulation device to form an adjusted intermediate image, and the adjusted intermediate image is refracted by the refractive optical element f5 to form a second modulated projection image on the image sensor. The first modulated projected image and the second modulated projected image are stitched onto an image sensor.
Optionally, as an embodiment, as shown in fig. 10, the converting component is configured to convert at least two of the adjusted intermediate images into the modulated projection image.
For example, two optical systems with modulation means convert the intermediate image into an adjusted intermediate image, which is converted by a conversion assembly to form two modulated projection images. Two optical systems with modulation devices adopt refractive optical components, the two refractive optical components respectively form two adjusted intermediate images, one conversion component comprises two refractive optical components or two reflective optical components, and the two adjusted intermediate images respectively form a modulation projection image through one refractive optical component or one reflective optical component.
In this embodiment, at least two optical components (the optical component is a refractive optical component, a reflective optical component, or a catadioptric optical component) are combined into one and the same conversion component, and only one conversion component needs to be installed in the installation process, so that the installation is convenient.
For example, as shown in fig. 11, the optical system having the modulation device is provided with two paths, the optical device in the optical system having the modulation device in the first path is a refractive optical component b 1; the optical device in the second optical system with the modulation device adopts a refractive optical component b2, and the conversion component adopts a shared optical system b. In the first path of optical system with the modulation device, the refractive optical component b1 forms an intermediate image, and the intermediate image is modulated by the modulation device to form a first adjusted intermediate image; in the second optical system with the modulation device, the refractive optical component b2 forms an intermediate image, the intermediate image is modulated by the modulation device to form a second adjusted intermediate image, the first adjusted intermediate image and the second adjusted intermediate image form a first modulated projection image and a second modulated projection image after passing through the common optical system b3, and the first modulated projection image and the second modulated projection image are spliced on an image sensor. Here, the common optical system b3 may be provided as two optical systems each including a refractive optical system, a reflective optical system, or a catadioptric optical system.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement or the like made within the spirit and principle of the present application shall be included in the scope of the claims of the present application.
Claims (10)
1. An image stitching system, comprising:
an image sensor including a modulated imaging region;
an optical system having a modulation device for forming an adjusted intermediate image;
the conversion component is used for converting the adjusted intermediate image into a modulation projection image, and the modulation projection image is projected to the modulation imaging area and is collected by the image sensor;
wherein the optical system with the modulation device comprises:
optical means for forming an intermediate image;
and a modulation device including a light shielding region for shielding stray light affecting other optical systems in the intermediate image at the position of the intermediate image and modulating the intermediate image into the adjusted intermediate image by limiting the size and shape of the intermediate image.
2. The image stitching system of claim 1, wherein the image sensor further comprises a natural imaging region, the image stitching system further comprising:
an optical system without a modulation device for forming a natural projection image on the image sensor, wherein the natural projection image is projected to the natural imaging area and acquired by the image sensor.
3. Image stitching system according to claim 1 or 2, characterized in that the number of modulating means is the same as the number of intermediate images.
4. The image stitching system according to claim 1 or 2, wherein the number of the conversion assemblies is the same as the number of the optical systems having the modulation devices.
5. The image stitching system of claim 1, wherein the conversion component is configured to convert at least two of the adjusted intermediate images into the modulated projection images.
6. The image stitching system of claim 1 or 2, wherein the optical device comprises a refractive optical component, a reflective optical component, or a catadioptric optical component.
7. The image stitching system of claim 4, wherein the conversion component comprises a refractive optical component, a reflective optical component, or a catadioptric optical component.
8. The image stitching system of claim 2, wherein the optical system without a modulating device comprises a refractive optical component, a reflective optical component, or a catadioptric optical component.
9. The image stitching system of claim 1, wherein the shape of the adjusted intermediate image is the same as the shape of the modulated imaging region.
10. The image stitching system of claim 2, wherein the shape of the natural projection image corresponds to the shape of a natural imaging region.
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