EP0276271A1

EP0276271A1 - Image shooting method for recording and reproducing complete panoramic views and device for implementing such method

Info

Publication number: EP0276271A1
Application number: EP87904902A
Authority: EP
Inventors: Jean-Michel Verret
Original assignee: VERRET JEAN MICHEL
Current assignee: VERRET JEAN MICHEL
Priority date: 1986-08-11
Filing date: 1987-08-05
Publication date: 1988-08-03
Also published as: US4949108A; AU7785187A; JPH01500543A; FR2602885B1; WO1988001401A1; FR2602885A1

Abstract

Pour la mise en oeuvre de ce procédé, on utilise un dispositif (1) constitué par un support de fixation (3) en forme de U et sur lequel sont fixés des moyens optiques d'enregistrement (5). Ce support (3) est également fixé par deux axes (6), dans le prolongement l'un de l'autre, prenant appui au droit des jambages (3a) du U et montés pivotants dans des paliers (7) prévus sur les jambages (9c) d'un second support de fixation (9) fixé sur un axe vertical (10) monté pivotant dans un palier (11) prévu dans la face supérieure d'une embase (14) comportant sur sa face opposée à celle portant le palier (11) des moyens de fixation (15) du dispositif à des moyens supports appropriés.For the implementation of this method, a device (1) consisting of a U-shaped fixing support (3) and on which optical recording means (5) are fixed is used. This support (3) is also fixed by two axes (6), in the extension of one another, resting in line with the legs (3a) of the U and pivotally mounted in bearings (7) provided on the legs (9c) of a second fixing support (9) fixed on a vertical axis (10) pivotally mounted in a bearing (11) provided in the upper face of a base (14) comprising on its face opposite to that bearing the bearing (11) of the fixing means (15) of the device to appropriate support means.

Description

Method of taking pictures making it possible to record visual spheres and device for its implementation

The subject of the present invention is a method of taking pictures making it possible to record visual spheres. It also relates to a device for the implementation of this method. By the expression "visual spheres" is meant the whole of the luminous reality visible from any point in space. Until now, we hadn't managed to take total shots from any point in space. We knew for example panoramic cameras, but none allowed to restore all of this luminous reality. An object of the invention is to solve the problem of reproducing in the form of images of the whole of said light reality visible from any point in space by means of a process constituting the breaking up of a volume of revolution, for example a sphere, in parts which can be replaced by plane or faceted surfaces, these surfaces then being brought together so as to constitute a volume of revolution of substantially corresponding shape, for example a "pseudosphere".

Another object of the invention is to provide a visual recording device making it possible to record from any point in space images capable of covering the flat faces or facets obtained from the volume of revolution while possibly being able to overlap.

Yet another object of the present invention is to provide an apparatus making it possible to record the images corresponding to the facets, so as to be able to reuse the images thus recorded to project them onto any spatial support of any volume of revolution situated altogether point of space, regardless of point of view for recording.

The subject of the present invention is therefore a method of taking pictures making it possible to record visible spheres. suelles, characterized in that a surface of revolution, for example a sphere, is fragmented into zones which are liable to be replaced by plane or faceted surfaces, which are taken from a first point of the given space called "first point of view" as many views as facets using appropriate optical or video-optical means by determining the orientation of each view as a function of latitude and longitude, that the images are recorded corresponding respectively to the facets and that the images thus recorded are reused To project them onto any spatial support of any volume situated around a second point of the chosen space called "second point of view". The first point of view can be spatially identical or different from the second point of view. The invention also relates to a device for implementing the method specified above, this device being characterized in that it comprises a U-shaped fixing support on which are mounted optical recording means, this support being fixed by two axes bearing on the legs of the U pivotally mounted in bearings provided in the legs of a second U-shaped fixing support fixed on a vertical axis pivotally mounted by means of a bearing in the upper face of the jamb comprising on its face opposite to that carrying the bearing of the vertical axis of the means for fixing the device to appropriate support means, thus allowing the optical recording means to be moved along two perpendicular axes defined by the respective extensions of the aforementioned axes, so as to be capable of rotating in all directions around the focal point defined by the intersection of said axes.

The optical means can be constituted by any optical device or optical video capable of recording views and of restoring them on supports capable of being used subsequently. Moto-reducing means, usually constituted by a reducer transmitting the movements of a motor, for example electrically driven, are also provided for positioning the fixing supports and the optical means respectively. These motor means can be controlled by electronic data processing means consisting for example of an electronic card cooperating with a microprocessor card. These electronic data processing means are connected to a power supply system, for example by battery. Other advantages and characteristics of the present invention will appear on reading the following nonlimiting description of an embodiment of the method of the invention and of an embodiment of the device for its implementation, with reference to the attached drawing in which:

Fig. 1 is a schematic view of the device intended for implementing the method of taking pictures according to the invention, and

Fig. 2 is a plan view of a diagram of twenty images intended to reconstruct the spherical image of a visual sphere.

As shown in FIG. 1, the picture taking device according to the invention consists of an electromechanical part embodied in frame 1 and an electro-computer part embodied in frame 2.

The electromechanical part consists of a first U-shaped fixing support 3 having centrally at the base of the U a fixing member 4 for an optical recording device 5. This support 3 has two axes externally on its side legs 3a two axes 6 secured to the right of said legs and extending virtually inside the support 3 so as to form an axis x-x '. The axes 6 are mounted respectively in rolling cages or bearings 7 whose axes also coincide with the axis x-x '. These bearings 7 are secured respectively to the legs 9a of a second U-shaped fixing support 9 which is fixed on a vertical axis 10 which extends virtually so as to define an axis yy 'crossing at a point O with the axis x-x' . This vertical axis 10 is mounted in a bearing or rolling cage 11 whose axis is located in the extension of the axis y-y '. This bearing 11 is fixed on the upper wall 13 of a base 14 which is equipped with a system 15 allowing its fixing on a support (for example a threaded hole with Kodak pitch for fixing on a photo tripod).

This device is designed so that the optical recording device can move along two perpendicular axes so as to rotate in all directions around the focal point or optical focus of the device which must coincide with the point O of intersection of axes xx 'and yy' - The distance dl between the legs 3a of the support 3 must allow the attachment and manipulation of the device 5, while the distance d2 between the axis xx 'and the base of the support 3 must be equal to the distance between the base of the device, possibly fitted with its accessories, and the optical focus of the device. The distance between the axis xx 'and the base of the support 9 represents the template which can freely rotate around the horizontal axis xx' over 360 °. This distance referenced d3 is constituted by the largest radius that it is possible to describe between the optical focus O of the device and any one of the ends of this device. From the above, we see that the device must be fixed on the support 3 so that the optical focus of the device is always in the axis x-x '. One of the axes 6 of the support 3 engages, direct or indirect, with a drive system consisting of a reduction gear 20a cooperating with a motor 21a, while the axis 10 comes into direct or indirect engagement with a device drive consisting of a reducer 20b cooperating with a motor 21b. The reduction rate is calculated in depending on the desired precision and depends on the minimum movement of the motor. Thus in the example of a stepping motor having a step angle of 7.5 °, the use of a reduction gear having a rate of 750 allows an accuracy of 1/100 of a degree per step.

Each motor 21a, 21b is controlled by an electronic data processing system 2. This electronic data processing system 2 comprises an electronic control card 22 of the motors 21a, 21b respectively making it possible to transmit to the motor the orders received in the collector 23. This card includes integrated circuits 24 plugged into a printed circuit; a microprocessor card 25 intended to read and have the orders contained in control software carried out. This card includes a microprocessor and integrated circuits connected together by a printed circuit 26. As soon as it is connected, the microprocessor executes the software program burned in a ROM or read-only memory 27. The computer or software data burned in ROM is a written program in machine language adapted to the microprocessor used. This software comprises two parts, namely the process executed by the microprocessor and the digital data to be executed in the process, this data corresponding to the movements to be carried out by the motors as a function of the importance and the direction of said successive movements. These two cards are connected to a power supply system 28, for example by cells or batteries.

By implementing the device according to the present invention, it is possible to produce a series of views making it possible to record and then reconstruct a visual sphere. To do this, we proceed as follows. As already specified above, the term "visual sphere" means the whole of the luminous reality visible from any point in space. This reality can be projected onto a sphere or any other volume located around the center of the sphere. The process therefore consists in breaking up a sphere into parts which can be replaced by flat or faceted surfaces. These surfaces are then reassembled so as to constitute a "pseudosphere". We operate as follows:

1) We choose a visual recording device.

2) The constitution of the images produced with this device is measured or determined beforehand, and in particular the opening angle of the optics. 3) The visual sphere is broken up into as many facets as necessary so that the combined facets cover the entire sphere and possibly overlap, knowing the orientation of each view as a function of latitude and longitude. 4) The images corresponding to these facets are recorded.

5) The images thus recorded are reused so as to project them onto any spatial support of any volume situated around the chosen point of view. This point of view may be located at any point in space independently of that which served as point of view for the recording.

6) To do this, we choose a first image that we project, then we project the following images so that they continue the previously projected image. When all the images have been projected, we have a reconstructed sphere. As projection technique one can use:

- either a manual process, using for the projection the same optics as that which was chosen during the recording;

- either an automatic process, according to which the sphere is cut into facets, the center of each of these facets is calculated, an optical recording device is used fixed on a recording system making it possible to making visual spheres as previously described, the device is positioned in each of the positions corresponding to the center of the facets and each image is recorded, these images are projected with a device making it possible to find the orientations which were used for the recording. This device can either be mechanical (of the same type as the recording system) or use a calculation system.

In an operation to reconstitute visual spheres, a spherical image can be constituted from twenty images taken from the same point of view. These twenty images are obtained by orienting the recording apparatus along two axes, one horizontal measured in degrees, on a 360 ° scale, the other vertical on a 180 ° scale. The shooting coordinates are calculated from a reference point O. The horizontal and vertical coordinates of the twenty images referenced a to t are as follows: HORIZONTAL VERTICAL REFERENCE a 0 A b 72 A c 144 A d 216 A e 288 A f 0 B g 72 B h 144 B i 216 B j 288 B k 36 -B

1,108 -B m 180 -B n 252 -B o 324 -B p 36 -A VERTICAL HORIZONTAL REFERENCE q 108 -A r 180 -A s 252 -A t 324 -A

With A = 52.622632 and B = 10.812318.

Once these images have been obtained, taken with any recording device, the optics making it possible to record in all directions (minimum 75 °), it is necessary to mask the images thus obtained.

The image masking operation can be performed as follows:

An equilateral triangle is centered in each image, the coordinates of which are as follows: distance between the center of the triangle and the vertex 37.377368 °, i.e. for example an optic of 15 mm focal length, a distance of: (7, 1 in 14.4) x (height of the image thus obtained). This triangle thus obtained will serve as a mask, the surface of the triangle being the useful surface of each image. The triangle centered in each image (i.e. in such a way that the center of the image defined by the crossing of the two diagonals and the center of the triangle defined by the crossing of the heights or medians must overlap) be oriented in two different ways: 1) A vertex is oriented upwards, in the axis defined by a vertical line in the image, this line passing through the center of the image, this orientation will be used by the triangles whose the references are: a, b, c, d, e, k, l, m, n, o. 2) A vertex is oriented at the bottom in the axis defined by a vertical line in the image, this line passing through the center of the image: this orientation will be used for the triangles whose references are f, g, h, i, g, p, q, r, s, t. The result of this masking will be the obtaining, as represented in FIG. 2, of twenty equilateral triangular images which will be assembled respecting the following continuities (we mean by continuity the fact that two triangles have a common side) a and f, b and g, c and h, d and i, e and j, f and k, k and g, g and l, l and h, h and m, m and i, i and n, n and j, j and o, o and f, k and p, l and q, m and r, n and s, o and t, a and b, b and c, c and d, d and e, a and e, p and q, q and r, r and s, s and t, p and t. Once these continuities have been established, it will be possible to make different uses of them: - By software regularization of these continuities and software constitution of this spherical image.

- By manual regularization of these continuities from material images on paper, film, screen or other media. These images will then have to be assembled either by folding or by other techniques making it possible to constitute a sphere. It should be noted that each image can be broken up into several smaller images if one wishes to obtain more information or use a longer focal length optic.

Once a visual sphere has been recorded and reconstructed, the image base thus obtained can be used to make different objects, machines, spaces, or others. For the realization of spaces or illusory bodies, that is to say representing from a point of view a spherical landscape, we proceed as follows:

- we measure the different sides of the volume on which the spherical image must be projected;

- we choose a point in this volume, this point being the center of the projection;

- the reference point 0, O is fixed on the volume;

- we look for each point of the volume which is the corresponding point in the image base, this point can be defined by its angular coordinates (latitude and longitude).

- this point is reproduced on the volume by a printing, photography, electronic or other process;

- one can apply to the starting images any graphic, photographic or electronic processing, just as one can mix several spherical images, partially or completely, use one image to filter another and the like.

Claims

1. A method of taking pictures making it possible to record visual spheres, characterized in that a surface of revolution, for example a sphere, is fragmented into zones which are liable to be replaced by plane or faceted surfaces, which l 'we take from a first point of the space called "first point of view" as many views as facets using appropriate optical or video-optical means by determining the orientation of each view according to the latitude and longitude, that we record the images corresponding to the facets respectively and that we reuse the images thus recorded to project them on any spatial support of any volume located around a point in the chosen space says "second point of view".

2. Method according to claim 1, characterized in that the first point of view is spatially identical or different from the second point of view.

3. Device for implementing the method according to one of claims 1 and 2, characterized in that it comprises a first fixing support (3) in the form of a U on which the optical means (5) are fixed, this support being fixed by two axes 6, in the extension of one of the aisle, bearing on the right of the legs 3a of the U and pivotally mounted in bearings 7 provided on the legs 9a of a second fixing support 9 in U-shaped, fixed centrally on a vertical axis 10 and pivoting in a bearing 11 provided in the upper face of a base 14 comprising on the face opposite to that carrying the bearing 11 fixing means 15 of the entire device on appropriate support means, thus allowing the optical recording means to be moved along the two perpendicular axes defined by the respective extensions of the aforementioned axes so as to be able to rotate in all directions around the defined focal point through the intersection at the point of the focal point o defined by the intersection of the extensions (x, x ', y, y ") of said axes (6; 10).

4. Device according to claim 3, characterized in that the optical means (5) consist of any optical or video-optical device capable of recording views and of restoring them on supports capable of being used subsequently.

5. Device according to any one of claims 1 and 2, characterized in that the optical means

(5) are actuated by motor-reducing means (20a, 21a; 20b; 21b).

6. Device according to claim 5, characterized in that the fixing support 3 is driven by the motor means (20a, 21a) via its axis (6) in engagement, direct or indirect, with the reducer (20a ), while the support (9) is driven by the gearmotor means (20b, 21b), via the axis (10) n taken directly to the indirect with the reducer (20b).

7. Device according to claim 6, characterized in that the geared motor means (20a, 21a; 20b, 21b) are controlled by electronic data processing means (2).