CN1558262A - Annular panoramic gaze imaging method for large viewing field with 180 degree - Google Patents
Annular panoramic gaze imaging method for large viewing field with 180 degree Download PDFInfo
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Abstract
The present invention discloses one kind of 180 deg large view field annular panoramic staring image method. It adopts cylindrical plane projection method, twice reflecting annular lens for the first imaging to realize the annular panoramic staring imaging, relay lens for the second imaging to obtain real image, planar photoelectronic imaging device receiving and displaying 3D panoramic staring image with infinite field depth. The present invention has the advantages of large view field of 180 deg, no motion part, small size, light structure, infinite field depth and no need of focusing to form clear image, and may be used in panoramic machine vision, tunnel and pipe inner wall detection, medical endoscopic imagig, bank safety monitoring, panoramic 360 deg photography, etc.
Description
Technical field
The present invention relates to a kind of 180 ° big view field annular panoramic staring imaging methods.
Background technology
Fig. 2 is the synoptic diagram of traditional optical formation method-central projection method, this is the model of visual optics, around the eye-observation during scenery, visual optics is to follow the central projection principle, it is the object of same size, near apart from eyes, big when seeming meeting than distance, promptly there is little nearly big phenomenon far away.Make human eye produce far and near sensation, three dimensions just is presented on us at the moment.For being compressed to two dimensional surface, three dimensions gets on.Here it is central projection method.As when wanting to describe three dimensions with a width of cloth picture, be scenery at a distance to be drawn smaller equally, and scenery is nearby drawn greatly.And along with the increase of distance, observed scenery will be more and more littler, slowly disappears at last.
This method that three dimensions is projected on the two dimensional surface is called central projection method.Last that disappears of scenery is called vanishing point.The vanishing point of central projection method point-blank, this straight line is the said eye-level displays of people.Optical imagery (taking a picture or photography) is just followed central projection method and is realized.Because the vanishing point of central projection method is point-blank, in order to obtain 360 ° panoramic picture, need an infinitely-great picture plane, this is practically impossible.For guaranteeing to observe 360 ° visual field, must rotate optical system, so just can't observe whole space, and can only observe the scene of each regional extent successively by the rotation sequential scanning of imaging system at synchronization, be spliced into the panorama picture then.Therefore conventional optics can not obtain panoramic imagery.
By the optical system of central projection method's design, be chief ray imaging by field angle.By field angle classification, be field angle that photographic lens more than 60 ° calls wide-angle lens, and be field angle that photographic lens more than 90 ° calls super wide-angle lens.Fish-eye lens for example.Equally, because fish-eye lens is also followed central projection method, along with the expansion of visual field, it is curved that view plane becomes, image corresponding relation complexity all is difficult to compensation in record or in reproducing, and limited it and spied on and the application of aspect such as security monitoring in duct survey, medical treatment.This shows that be applied to big visual field, panoramic imagery, the conventional optical systems of following central projection method has the defective that is difficult to overcome.
Summary of the invention
The purpose of this invention is to provide a kind of 180 ° big view field annular panoramic staring imaging methods.
It adopts cylinder plane projection method, does imaging for the first time with the lens ring of secondary reflection, realizes the annular panoramic staring imaging, do imaging for the second time with relay lens, obtain real image, connect with plane photoelectricity image device and receive And demonstration three dimensions, the depth of field is that the panorama of infinity is stared picture.
Said employing cylinder plane projection method, do imaging for the first time with the lens ring of secondary reflection: be to adopt the lens ring of global face secondary reflection to do the imaging first time of cylinder plane projection, this similarly is the virtual image, and this formation method does not have fixing entrance pupil, replace with virtual entrance pupil, each visual field is by the annular aperture imaging, and each object point on the direction of visual field all becomes on same picture point, realizes depth of field infinity.
Relay lens is the relay lens of global face.Plane photoelectricity image device is CCD or CMOS.
Advantage of the present invention: this is 360 ° of annular panoramic staring imaging methods of a kind of 180 ° of big visual fields, movement-less part, have small size, light structure, depth of field infinity, far and near object need not be focused with regard to the optical means of energy blur-free imaging, can be used for robot panoramic vision, tunnel, inner-walls of duct detection, full view safeties such as medical science based endoscopic imaging and bank's traffic are monitored in real time, also can use in 360 ° of full shots.
Description of drawings
Fig. 1 is 180 ° big view field annular panoramic staring imaging optical system synoptic diagram;
Fig. 2 is a traditional optical central projection method synoptic diagram;
Fig. 3 is a cylinder plane panoramic projection method synoptic diagram;
Fig. 4 is the optical system synoptic diagram of the 1st imaging of annular panoramic;
The optical system synoptic diagram of the 2nd imaging of Fig. 5 visual field endless belt, the secondary imaging synoptic diagram of (a) lens ring picture, (b) imaging region synoptic diagram among the figure;
The photo of Fig. 6 annular panoramic staring imaging, (a) indoor far field and near field imaging among the figure, the imaging of (b) cylinder inner wall literal, (c) scenery panoramic imagery.
Embodiment
180 ° big view field annular panoramic formation methods are that employing cylinder plane projection imaging method replaces the central projection imaging method in the traditional optical, are a kind of formation methods of new ideas.
If three dimensions is regarded as a right cylinder rather than ball-type body, then image can be launched into a plane with the method that stretches, and represents the three-dimensional face of cylinder with two dimensional surface.This projecting method is called the cylinder plane projection, and it is the basis of annular panoramic lens imaging.In the cylinder Planar Mapping, all parallel light focusings are on a point, and vanishing point is the center of circle.And the parallel lines of different directions focus on the difference of (level) line in traditional central projection method.Fig. 3 is the synoptic diagram of cylinder plane projection, and demonstrates the qualification angle of decision visual field.In cylinder plane projection method, part that can imaging is formed 3 D stereo zone after 360 ° of optical axis z rotations, two limits at α angle.This zone is projected in the annulus on the two-dimensional image plane.And formed conical area can not imaging after 360 ° of z axle rotations on the both sides at cone angle 2 β angles, and the circle of this zone corresponding internal diameter on two dimensional surface is the blind area.Obviously, increase α and reduce β and can increase imaging viewing field, but the value of these two parameters is subjected to the restriction of the refraction coefficient of existing glass.The corresponding getable α value of annular panoramic picture is 360 ° and becomes panorama to stare picture.Design at present can reach α=60 °.Therefore can to obtain field angle be 180 ° to this method, and annular imaging area is 60 ° * 360 ° a panoramic imagery.
Fig. 4 is the optical system of annular panoramic imaging, it is the Optical Implementation of cylinder plane projection method, imaging object is that (A is a light 1 to a cylindrical inner surface, 2, B is 3,4 convergent point, and A, B are on internal surface of column), the panoramic imagery of scenery around when right cylinder is tending towards infinity being exactly, the incident ray in the AB zone is through annular mirror reflecting surface R
1And will become behind the secondary reflection of spherical reflector R2 emergent ray 1 ', 2 ', 3 ', 4 ', and 1 ', 2 ' convergent point A ', 3 ', 4 ' convergent point B ' be exactly the imaging (virtual image) of 2 of A, B, so three-dimensional periphery has just been realized the projection to two dimensional surface, this projection plane I is the virtual image plane, and virtual image face I is the imaging first time of annular panoramic imaging.Rear at lens ring adds relay lens again, makes virtual image face I zoom into real image, realizes that observation shows, so the optical system of annular panoramic imaging, as shown in Figure 1, and the secondary imaging process of annular panoramic method that Here it is.
The key of annular panoramic imaging is the sharpness that how to guarantee three dimensions imaging under the big visual field, and the present invention adopts global plane system to realize the annular panoramic blur-free imaging, and its method is:
(1) guarantee desirable image height H=f ' tg θ (f '-focal length, θ-field angle), and actual image height L=H=f ' θ, when field angle θ increases, actual image height f ' θ desirable image height f ' tg θ more definite than geometrical optics is little, be it θ/tg θ doubly, its linear distortion is:
ΔH＝f′(tgθ-θ)
Amount of distortion is relatively:
Annular panoramic whole world plane system is to adopt light to block the coma lens to produce distortion, and its amount of distortion represents with aberration coefficients, then
N-material refractive index in the formula, u-ray angles, J-Laplace invariant, k and p=1,2,3 ...Therefore the aberration that produces during the imaging of sphere lens ring is recompensed by coma, distortion and ratio chromatism, that the relaying imaging system produces, realizes blur-free imaging (Fig. 6 is the imaging photo).
(2) clear aperature of annular panoramic imaging is relevant with field angle, it is the endless belt aperture imaging of visual field, its aperture does not need fixing entrance pupil, only be subjected to the restriction of a virtual entrance pupil, virtual entrance pupil is on the virtual image face I of the imaging first time (Fig. 2), each field rays has strict direction, as shown in Figure 5, when light beam passes the A point of same visual field γ and B point, A point and the picture point of B point on the face of resembling are same point, when therefore the annular panoramic camera lens was to outside view field imaging, A point and B point were clear equally, and promptly the depth of field is infinity.
(3) evaluation function of annular panoramic image quality is represented with following formula
W in the formula
iBe the weighting coefficient of i the factor, V
iBe the actual value of i the factor, T
iIt is the desired value of i the factor.The MF of system of the present invention
2Value is estimated image quality.
Fig. 6 is 3 examples of annular panoramic imaging.Photo 1 is the photography situation of camera lens horizontal positioned (being Fig. 4 position) among the figure, in the photo thing (instrument) far away and nearly thing (portrait) need not focus just clear naturally.2 is imagings to the cylinder inner wall literal among the figure.When camera lens is vertically placed, just can as the photo of Fig. 3, do the Nonlinear Processing of mapping again by computing machine to scenery panoramic imagery in 360 °, just can obtain the distortionless photo of panorama.
Claims (4)
- A visual field near or surpass 180 ° annular panoramic staring imaging method, it is characterized in that adopting cylinder plane projection method, lens ring with secondary reflection is done imaging for the first time, realize the annular panoramic staring imaging, do imaging for the second time with relay lens, obtain real image, connect with plane photoelectricity image device and receive And demonstration three dimensions, the depth of field is that the panorama of infinity is stared picture.
- 2. approaching or the method for panoramic imaging in a kind of visual field according to claim 1 above 180 °, it is characterized in that said employing cylinder plane projection method, do imaging for the first time with the lens ring of secondary reflection: be to adopt the lens ring of global face secondary reflection to do the imaging first time of cylinder plane projection, this similarly is the virtual image, and this formation method does not have fixing entrance pupil, replace with virtual entrance pupil, each visual field is by the annular aperture imaging, each object point on the direction of visual field all becomes on same picture point, realizes depth of field infinity.
- 3. a kind of visual field according to claim 1 is approaching or surpass 180 ° method for panoramic imaging, it is characterized in that said relay lens is the relay lens of global face.
- 4. a kind of visual field according to claim 1 is approaching or surpass 180 ° method for panoramic imaging, it is characterized in that said plane photoelectricity image device is CCD or CMOS.
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN100361023C (en) * | 2005-12-15 | 2008-01-09 | 中国人民解放军国防科学技术大学 | Omnidirectional vision system |
| CN101086550B (en) * | 2006-06-09 | 2010-09-22 | 奥林巴斯株式会社 | Optical system |
| CN101975994A (en) * | 2010-08-27 | 2011-02-16 | 中国科学院自动化研究所 | Three-dimensional imaging system of multi-stage lens |
| CN102169232A (en) * | 2011-05-23 | 2011-08-31 | 华北电力大学（保定） | Double-spectrum helmet display system |
| CN102007440B (en) * | 2008-02-15 | 2012-09-26 | 全视Cdm光学有限公司 | Circularly symmetric aspheric optics providing non-monotonic wavefront phase profile and extended depth of field |
| CN102928961A (en) * | 2012-12-01 | 2013-02-13 | 上海臻恒光电系统有限公司 | Concave-convex two-reflection type panorama annular-belt view field imaging camera lens |
| CN101449573B (en) * | 2006-01-18 | 2013-02-27 | 康生科技公司 | In vivo sensor with panoramic camera |
| CN103778649A (en) * | 2012-10-11 | 2014-05-07 | 通用汽车环球科技运作有限责任公司 | Imaging surface modeling for camera modeling and virtual view synthesis |
| CN103945103A (en) * | 2013-01-17 | 2014-07-23 | 成都国腾电子技术股份有限公司 | Multi-plane secondary projection panoramic camera image distortion elimination method based on cylinder |
| CN105116521A (en) * | 2015-08-20 | 2015-12-02 | 上海臻恒光电系统有限公司 | Panoramic camera based on double-sphere two-reflection ultra large field of view |
| CN105824184A (en) * | 2016-04-18 | 2016-08-03 | 浙江大学 | Novel hemispherical and lateral panoramic imaging system |
| WO2016165315A1 (en) * | 2015-04-15 | 2016-10-20 | 广景科技有限公司 | Optical lens and annular projection display system thereof |
| WO2016206002A1 (en) * | 2015-06-23 | 2016-12-29 | 博立多媒体控股有限公司 | Catadioptric lens assembly and panoramic image acquisition device |
| CN106610520A (en) * | 2017-01-19 | 2017-05-03 | 吉林省中业光电技术有限公司 | Internal reflection type catadioptric panoramic imaging lens |
| CN106908935A (en) * | 2015-12-22 | 2017-06-30 | 博立码杰通讯(深圳)有限公司 | Panoramic optical camera lens and image acquisition device |
| CN108369730A (en) * | 2015-12-16 | 2018-08-03 | 汤姆逊许可公司 | Method and apparatus for focusing at least one panoramic video again |
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2004
- 2004-01-12 CN CNA2004100158280A patent/CN1558262A/en active Pending
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN100361023C (en) * | 2005-12-15 | 2008-01-09 | 中国人民解放军国防科学技术大学 | Omnidirectional vision system |
| CN101449573B (en) * | 2006-01-18 | 2013-02-27 | 康生科技公司 | In vivo sensor with panoramic camera |
| CN101086550B (en) * | 2006-06-09 | 2010-09-22 | 奥林巴斯株式会社 | Optical system |
| CN102007440B (en) * | 2008-02-15 | 2012-09-26 | 全视Cdm光学有限公司 | Circularly symmetric aspheric optics providing non-monotonic wavefront phase profile and extended depth of field |
| CN101975994A (en) * | 2010-08-27 | 2011-02-16 | 中国科学院自动化研究所 | Three-dimensional imaging system of multi-stage lens |
| CN102169232A (en) * | 2011-05-23 | 2011-08-31 | 华北电力大学（保定） | Double-spectrum helmet display system |
| CN102169232B (en) * | 2011-05-23 | 2013-03-20 | 华北电力大学（保定） | Double-spectrum helmet display system |
| CN103778649A (en) * | 2012-10-11 | 2014-05-07 | 通用汽车环球科技运作有限责任公司 | Imaging surface modeling for camera modeling and virtual view synthesis |
| CN103778649B (en) * | 2012-10-11 | 2018-08-31 | 通用汽车环球科技运作有限责任公司 | Imaging surface modeling for camera modeling and virtual view synthesis |
| CN102928961A (en) * | 2012-12-01 | 2013-02-13 | 上海臻恒光电系统有限公司 | Concave-convex two-reflection type panorama annular-belt view field imaging camera lens |
| CN103945103A (en) * | 2013-01-17 | 2014-07-23 | 成都国腾电子技术股份有限公司 | Multi-plane secondary projection panoramic camera image distortion elimination method based on cylinder |
| WO2016165315A1 (en) * | 2015-04-15 | 2016-10-20 | 广景科技有限公司 | Optical lens and annular projection display system thereof |
| WO2016206002A1 (en) * | 2015-06-23 | 2016-12-29 | 博立多媒体控股有限公司 | Catadioptric lens assembly and panoramic image acquisition device |
| CN105116521A (en) * | 2015-08-20 | 2015-12-02 | 上海臻恒光电系统有限公司 | Panoramic camera based on double-sphere two-reflection ultra large field of view |
| CN108369730A (en) * | 2015-12-16 | 2018-08-03 | 汤姆逊许可公司 | Method and apparatus for focusing at least one panoramic video again |
| CN108369730B (en) * | 2015-12-16 | 2022-05-27 | 交互数字Ce专利控股公司 | Method and apparatus for refocusing at least one panoramic video |
| CN106908935A (en) * | 2015-12-22 | 2017-06-30 | 博立码杰通讯(深圳)有限公司 | Panoramic optical camera lens and image acquisition device |
| CN106908935B (en) * | 2015-12-22 | 2019-11-26 | 博立码杰通讯(深圳)有限公司 | Panoramic optical camera lens and image acquisition device |
| CN105824184A (en) * | 2016-04-18 | 2016-08-03 | 浙江大学 | Novel hemispherical and lateral panoramic imaging system |
| CN106610520A (en) * | 2017-01-19 | 2017-05-03 | 吉林省中业光电技术有限公司 | Internal reflection type catadioptric panoramic imaging lens |
| CN106610520B (en) * | 2017-01-19 | 2018-11-30 | 吉林省中业光电技术有限公司 | A kind of reflection type refractive and reflective panorama imaging lens |
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