KR102126159B1 - Scanning panoramic camera and scanning stereoscopic panoramic camera - Google Patents

Abstract

A rail end providing a camera rail formed in one direction perpendicular to a device rotation axis of a scanning stereoscopic omnidirectional camera and a pair of line scan camera units movable along the rail end are used. The pair of line scan camera units can individually rotate around an axis of rotation in a vertical direction and a nodal point of an imaging lens can be adjusted to be positioned on each axis of rotation.

Description

SCANNING PANORAMIC CAMERA AND SCANNING STEREOSCOPIC PANORAMIC CAMERA}

The present invention relates to a scanning omnidirectional camera or a scanning omnidirectional omnidirectional camera for obtaining omnidirectional images or stereoscopic omnidirectional images using one or two line scan cameras equipped with an imaging lens.

In 1788, British painter Robert Barker said that the scenery of Edinburgh, Scotland, was drawn inside the cylindrical wall, allowing the audience at the center to enjoy the 360° view of the city in all directions. Figure 1 shows the omnidirectional conversation of Robert Barker, who is in the Edinburgh University Library ([Special 1]). He is also a person who created the word panorama by combining'pan', meaning'all' in Greek, and'horama', meaning'view' ([Special 2] ~ [Special] 3]).

As a method of obtaining an omnidirectional image as a photograph rather than a painting, there is a method using a panoramic lens having a function of capturing an omnidirectional image on the lens itself, or a method using an omnidirectional camera. Here, the two cases will be referred to as omnidirectional imaging systems.

One of the easiest ways to obtain omnidirectional images is to use a catadioptric panoramic lens that combines a reflective lens with a refractive lens. It started in the early 20th century and is still actively studied ([Special 1] ~ [Special 8]), The history of theoretical research on reflective refractive lenses is not very long ([Special 4]-[Special 11]).

FIG. 2 shows an example of an omnidirectional imaging system using an omnidirectional mirror having a rectilinear projection scheme included in Reference [Non-Special 10], and the vertical angle of view of the omnidirectional mirror is the standard of a person. It was designed at 46° to match the vision.

FIG. 3 shows the unfolded omnidirectional image captured by the omnidirectional imaging system of FIG. 2, FIG. 4 shows the unfolded omnidirectional image obtained from the unfolded omnidirectional image of FIG. 3, and FIG. 5 shows the omnidirectional image of FIG. 4 Show some. Although only a simple trigonometric function transformation is used to obtain FIG. 3 to FIG. 4, it can be seen that the proportion in the vertical direction fits well, as can be seen in FIG. 5. This is because the omnidirectional mirror shown in FIG. 2 is designed to have a linear aberration correction projection method from the beginning.

On the other hand, a panoramic camera that captures a 360° view in one direction from a tourist attraction with a great view is an example of an omnidirectional video system. An omni-directional imaging system refers to an imaging system that captures all the scenery viewed when an observer turns around in one image. In contrast, a system that captures scenery in all directions that can be viewed from an observer's position on a single image is referred to as an omnidirectional imaging system. The omni-directional imaging system includes not only the observer's rotation in place, but also all the scenery that can be seen by tilting or leaning his head. Mathematically, it refers to a case in which the solid angle of an area that can be captured by an imaging system is 4π steradian.

An omni-directional imaging system or omni-directional imaging system, as well as traditional fields such as architecture, natural scenery, and astronomical imaging, charge-coupled device (CCD) or complementary metal-oxide-semiconductor (CMOS) complementary metal oxide films (Semiconductor semiconductor) Many researches and developments have been made to apply to security and surveillance systems using cameras, virtual tours of real estate, hotels, tourist destinations, or mobile robots and drones.

Omni-directional cameras have a long history and varied types, but can be classified into three types. The first is a rotating scanning panoramic camera such as Spinner 360 from Lomography. When the photographer holds the camera in one hand and pulls the string attached to the handle with the other hand, the camera rotates 360° and records omnidirectional images on a 35mm film. In principle, the rotating omnidirectional camera produces the most accurate omnidirectional image. However, since the camera-raised hand cannot be shaken during shooting, an accurate omnidirectional image is not actually obtained, and this product is close to a mysterious toy.

[Feature 9] is a US registered patent filed on November 27, 1978, which relates to a rotating scanning omnidirectional camera, which is called Globuscope by a company established by the inventors (Globuscope Inc., a Corp. of NY). It was sold under the trade name, but is now discontinued. 6 shows a state in which the cover of the omni-directional camera is removed. The camera uses a 35mm film and rotates 360° with the mainspring power, which requires the user to hold the Globusope by hand and keep the camera head still rotating for about a second. The patent claims to have solved the banding problem, which is a chronic problem of scanning omnidirectional cameras. It is said that the rotation speed is kept constant using thixotropic fluids such as corn starch. Meanwhile, FIG. 7 is a view of a Seitz Roundshot 35/35 Panoramic Film Camera.

[Special 10] is a US registered patent filed on June 28, 1983 and relates to a scanning panoramic television camera that uses a linecan sensor rather than a 35mm film. This camera is mainly developed for use as an endoscope camera (boroscope), a non-contact optical rotary joint (non-) to exchange the image signal and control signal between the rotating camera head (camera head) and the camera body (camera body) contacting optical rotary joint).

[Special 11] is a U.S. registered patent filed on August 8, 1996, which includes a fisheye lens and a relay lens for transmitting an image of the fisheye lens to the lower end of the rotating stage. The camera is disclosed. The relay lens serves to derotate the image to match the image of the rotating fish-eye lens with a linear sensor array fixed at the bottom of the rotating stage, and includes a mirror and a dove prism. It has a complicated structure. In principle, it is possible, but it is expected that it will be difficult to realize stable performance enough to be used outdoors, and it is presumed that it has never been produced.

There are also omni-directional cameras that monitor large areas, such as airports and ports, that can reach a few kilometers in width. These cameras are usually medium-infrared (MIR) medium to easily detect intruders regardless of day and night changes and bad weather. It operates in a wave-infrared area, and is characterized by extremely different angles of view in the horizontal direction and in the vertical direction [Non-Special 12]. For example, the Spynel series radar of the HGH Infrared System in France has an angle of view of 360° in the horizontal direction, but an angle of view in the vertical direction of 20°. In such a camera, a camera equipped with an infrared lens and a linear image sensor continuously rotates in the horizontal direction to update the omnidirectional image to show the omnidirectional image close to the video.

On the other hand, there are also omni-directional cameras in which only the lens is rotated instead of the entire camera rotating, and there are products such as Horizon, Noblex, and Widelux. The horizontal angle of view of such a camera is usually as small as 140°, and the film is wound on a cylindrical cylinder opposite the lens. Therefore, even if the lens rotates, the distance from the lens to the film is always kept constant. Such a camera is suitable for taking a landscape photo or a group photo, and when taking a picture, the lens should not move for 2-3 seconds while the lens rotates.

Moultrie's omni-directional camera, which is widely used for wildlife observation in national parks, also uses a method in which the lens rotates. When motion is detected by the motion sensor, the lens rotates to capture the omni-directional image.

These rotating omnidirectional cameras intuitively implement the concept of panorama, and in principle, it is possible to obtain an accurate omnidirectional image, but it is difficult to obtain a video. Anyone who accidentally moves a document while copying the document with a copier can easily guess what will happen when a moving object is photographed with a moving camera.

The second method is to obtain one omnidirectional image by pasting these images after obtaining several images. The stitching method is said to be similar to stitching video. You can do this by turning one camera to get multiple images, or you can use images from multiple cameras facing different directions from the beginning. The former is mainly used to obtain a still image, and the latter is mainly used to obtain a moving image.

In the heyday of a 35mm film camera, the camera was rotated horizontally, and after taking several photos, the overlapping part was cut with scissors so that the photos could be joined well. In order to obtain such omnidirectional images in a more professional manner, after mounting the camera on a tripod, a panoramic head that can move the camera horizontally so that the nodal point of the camera lens matches the center of the tripod ) Using a special aid. The nodal point of the camera is the point corresponding to the position of the needle hole when the camera is assumed to be an ideal pinhole camera, and the position of the nodal point in the actual lens can be calculated theoretically if there is a lens design. Or you can experiment with an actual camera. This method is called a Nodal Slide method.

With the advent of digital cameras, CCTVs, and smartphones, it has become much easier to produce omnidirectional images using the stitching method, and commercial software that facilitates stitching can be found ([Special 12] to [Special 13], [Special 13]) . Software such as PTGui and AutoPano are popular these days.

The third method is an image processing-based panoramic camera that produces an omnidirectional image through image processing after capturing an image with a wide-angle lens. An omnidirectional camera based on image processing and a fisheye lens are inseparable.

When a fish-eye lens with an angle of view of 180° is vertically directed to the sky, it is possible to capture a constellation from the sky to the horizon in a single image. For this reason, fisheye lenses are also referred to as all-sky lenses. In particular, a Nikon (6mm f/5.6 Fisheye-Nikkor) fisheye lens has an angle of view of 220°, so when mounted on the camera, the scenery behind the camera can be included in some images. In this way, omnidirectional images can be obtained by performing image processing on images obtained using a fisheye lens.

In References [Non-Special 14] to [Non-Special 15], a core technique for extracting an image having a different viewpoint or projection method from an image having a given viewpoint and projection scheme is proposed. Specifically, in the reference [Non-Special 15], a cube panorama is presented. Simply put, a cube panorama describes a landscape on all sides of the glass wall that is viewed from the center of the cube, as if the observer is at the center of the cube made of glass. However, there is a disadvantage in that the actual landscape obtained by using the optical lens is not used, but the virtual landscape is a distortion-free virtual lens, that is, an image captured by a needle hole camera.

In Reference [Non-Special 16], an algorithm for projecting an Omnimax image using a fish-eye lens on a semi-cylindrical screen is presented. In particular, a method of finding a position of a water spot on a film surface forming a store at a specific location on a screen is described in consideration of an error in the projection method of a fisheye lens mounted on a movie projector and an ideal equidistant projection method. Therefore, it is possible to know what the image recorded on the film should be in order to project a specific image on the screen, and such an image is produced using a computer. In particular, since the distortion of the lens is reflected in the image processing algorithm, the viewer adjacent to the projector can enjoy a satisfactory panoramic movie. However, in modeling the actual projection method of a fish-eye lens, it is inconvenient to use it by setting the angle of incidence of the incident light as a dependent variable and the image size on the film surface as an independent variable. Also, unnecessarily, the approximation was limited to the odd polynomial.

In another aspect, most animals and plants, including humans, are confined to the surface of the Earth by gravity, so most events requiring attention or attention occur near the horizon. Therefore, even if it is necessary to monitor all 360° directions around the horizon, there is less need to monitor not only the height in the vertical direction, that is, the zenith or nadir. However, distortion is inevitable in order to describe the landscape in all directions in a two-dimensional plane. The same difficulty exists in cartography for representing geography on Earth, the surface of a sphere, on a planar two-dimensional map.

All animals, plants, and inanimate objects on the earth are under the influence of gravity, and the direction of gravity becomes a straight line, that is, a vertical line. However, among all the distortions, the distortion that a person feels the most unnatural is a distortion in which a vertical line appears as a curve. Therefore, it is important to make sure that there are no other distortions. However, the ground is generally perpendicular to the direction of gravity, but of course it is not perpendicular to the slope. Therefore, in a strict sense, it should be based on a horizontal plane, and the vertical direction is a direction perpendicular to the horizontal plane.

Reference [Non-Special 17] describes equi-rectangular projection, Mercator projection and Cylindrical projection, which are well-known projection methods among various mapping methods. ] Summarizes the history of various projection methods. Of these, the orthogonal projection method is one of the most familiar mapping methods when we describe the celestial sphere to represent geography or constellations on Earth.

References [Special 14] and [Non-Special 19] describe an embodiment of a fish-eye lens having an angle of view of 190°, and reference [Special 15] includes various wide-angles including a flat-projection refracting type and a refracting type fish-eye lens. An embodiment of a lens is presented.

Reference [Special 16] describes various embodiments of obtaining omnidirectional images that follow a cylindrical projection method, an orthogonal projection method, and a mecator projection method from images obtained using a rotationally symmetric wide-angle lens that includes a fish-eye lens.

On the other hand, another example of a video system that can be attached to one wall surface of the room and monitor the entire room is a pan, tilt, or zoom camera. Such a camera is realized by mounting a CCTV equipped with an optically zoomable lens on a pan-tilt stage.

The pan action refers to a function capable of rotating by a predetermined angle in the horizontal direction, and the tilt action refers to a function capable of rotating by a predetermined angle in the vertical direction. In other words, when the camera is at the center of the celestial sphere describing the celestial body, the pan means the operation of changing the longitude, and the tilt means the operation of changing the latitude. Therefore, the theoretical range of the pan action is 360°, and the theoretical range of the tilt action is 180°.

The disadvantages of such a pan, tilt, and zoom camera include high price, large volume, and weight. Lenses with an optical zoom function are bulky, heavy, and expensive due to design difficulty and structural complexity. In addition, the pan/tilt stage is an expensive device comparable to a camera. Therefore, to install a pan/tilt/zoom camera, a significant cost has to be paid. In addition, the pan, tilt, and zoom cameras are bulky and heavy, which can be a significant obstacle depending on the application. This is the case, for example, when the weight of the payload is very important, such as an airplane, or when there are spatial restrictions to install the imaging system in a small space. Moreover, because the pan, tilt, and zoom actions are physical actions, it takes a lot of time to perform these actions. Therefore, depending on the application example, the mechanical response of such a camera may not be fast enough.

On the other hand, reference [Special 17] describes a video system that can function as a pan, tilt, rotate and zoom without physically moving parts. In the present invention, after acquiring an image using a camera equipped with a fisheye lens having an angle of view of 180° or more, when a user designates a principal direction of vision using an input device such as a joystick, the camera without distortion is in that direction. It is characterized in that it extracts an image when facing, that is, a linear aberration correction image. The difference between this invention and the prior art is the fact that the user generates a linear aberration correction image in a direction selected by various input devices such as a joystick or a computer mouse. These technologies are key technologies to replace virtual reality or mechanical pan/tilt/zoom cameras, and the keyword can be called "interactive picture". In these technologies, there is no physically moving part, so the system has a fast response speed and a low risk of mechanical failure.

In general, when installing an imaging system such as a surveillance camera, a vertical line perpendicular to the horizontal plane is displayed as a vertical line even in the acquired image. In such a state, even if a mechanical pan/tilt/zoom action is performed, the vertical line is continuously displayed as a vertical line in the image. However, in the invention of Reference [Special 17], in the image obtained by the software pan/tilt action, the vertical line is not generally displayed as a vertical line. In order to correct such an unnatural screen, it is necessary to additionally perform a rotation action that is not found in a mechanical pan/tilt camera. However, in the above invention, the rotation angle required for the vertical line to be displayed as a vertical line is not suggested. Therefore, in the above invention, there is a disadvantage in that an accurate rotation angle must be found by trial and error in order to obtain an image in which a vertical line is displayed as a vertical line.

In addition, in the above invention, the projection method of the fisheye lens is assumed to be an ideal equi-distance projection scheme. However, the actual fish-eye lens projection method usually exhibits a significant error from the ideal equidistant projection method. Since the invention does not reflect the distortion characteristics of the actual lens as described above, there is distortion even in an image processed by the image.

In reference [Special 18], reference [Special 17] proposes an image processing method that compensates for the disadvantage that the actual projection method of a fish-eye lens is not reflected. However, the disadvantage that the vertical line is not displayed as a vertical line in the image has not been solved.

Reference [Special 19] describes an imaging system that generates a distortion-free, linear aberration correction image by transmitting images captured by a fish-eye lens remotely. The biggest advantage of this system is a mechanical pan/tilt camera. Unlike this, there is no need to send a control signal from the receiving end to the transmitting end. In addition, there is an additional advantage that a plurality of receivers may generate separate linear aberration correction images for each transmitter.

There is virtually no surveillance blind spot if a camera with a 180° angle of view, a fisheye lens, or an omnidirectional camera with a horizontal angle of view of 180° is attached to a wall in the room. This is because the area that the camera cannot capture is a wall without the need for surveillance. However, the image by the fish-eye lens causes aesthetic discomfort due to the cylindrical distortion, and the distortion-free ultra-wide-angle linear aberration correction image does not naturally capture a subject that is far away from the optical axis even though it can be seen mostly in the room. . In addition, although the image by the omni-directional camera can naturally capture the entire room, there is a possibility that it is difficult to identify because a distant subject is captured too small. In this case, the most natural image is a linear aberration correction image viewed from the front facing the camera in the direction of the subject.

As described above, a physically capable camera is a camera equipped with a distortion-free linear aberration correction lens and mounted on a pan/tilt stage. The most satisfactory image can be obtained because the camera can be rotated so that the direction requiring attention is in front. In addition, when there is a moving object such as a cat or illegal chip particles, the image may be captured while following the motion of the subject. Reference [Special 20] discloses a method of tilting after panning in software and an image processing method of panning after tilting in order to implement such a function in software. However, different images are obtained according to the sequential relationship between the pan action and the tilt action. Therefore, a preferred image processing method should be used according to the installation state of the camera.

Reference [Special 20] provides a method for obtaining a distortion-free linear aberration correction image by performing mathematically accurate image processing on an image of a wide-angle lens that is rotationally symmetrical around an optical axis, and various imaging systems using the same. In particular, an image processing algorithm is proposed in which a vertical line is displayed as a vertical line while realizing a digital pan/tilt effect. However, the invention of the reference [Special 20] relates to an algorithm for extracting an image obtainable by a pan/tilt camera equipped with a linear aberration correction lens from an image acquired by a camera equipped with a fisheye lens, but the pan/tilt camera It does not provide an algorithm that takes into account all the different possibilities. For example, in the invention of Reference [Special 20], the linear aberration correction image to be obtained is a virtual straight line when the optical axis of the camera is parallel or perpendicular to the plane, or even if the optical axis of the camera has a predetermined angle with respect to the plane. An image processing method considering only the case where the optical axis of the aberration correction camera is parallel to the horizontal plane is proposed.

The physical pan/tilt camera used in practice is usually installed so that the optical axis of the camera is parallel to the ground plane when both the pan angle and the tilt angle are 0°. Therefore, the invention of Reference [Special 20] can realize the effect of a physical pan-tilt camera. However, if a digital pan/tilt effect is to be realized from an image obtained by a camera equipped with a fisheye lens, an effect beyond the range that can be realized by a physical pan/tilt camera can be obtained. The invention of Reference [Special 21] provides a mathematically rigorous image processing method and image system that realizes effects beyond the limitations of the physical pan/tilt camera. In particular, in the invention of Reference [Special 21], the most common image processing method that can be used even when the horizontal side of the image sensor surface is not parallel to the horizon is also provided.

On the other hand, when watching TV or a movie, the images seen in the left and right eyes are the same, so the screen feels flat rather than three-dimensional, and the immersion feeling is reduced. For that reason, the screens seen on TV or movies do not feel as vivid as those seen with the naked eye.

Meanwhile, various stereoscopic image technologies have been developed to allow stereoscopic images to be viewed on TVs, movies, and computer screens. The commonality of these technologies is that two images of the same specifications are obtained using a stereo camera facing the same direction side by side, as shown in FIG. 8, and then the two images are placed on the left and right eyes, respectively. To show. Of course, in this case as well, in the stereoscopic camera, the horizontal distance between the two lenses is set to be similar to the distance between the two eyes.

VR (Virtual Reality) is exploding with interest and the market is expanding day by day. Some areas similar to virtual reality include Artificial Reality (AR) and Augmented Reality (AR) or Mixed Reality (MR). However, in order to enjoy these images in virtual reality, artificial reality, and augmented reality as stereoscopic images, images with different viewpoints must be seen on the left and right eyes. It is a Head Mounted Display (HMD) device that can show different images to the eyes. 9 shows a Cardboard viewer made by Google, and FIG. 10 is an example of a screen corresponding to the left eye and a stereoscopic image corresponding to the right eye in the HMD device.

On the other hand, there are other types of stereoscopic glasses or 3D glasses capable of viewing stereoscopic images, of which the most inexpensive and effective glasses are anaglyph glasses. 11 shows inexpensive anaglyph glasses made of paper and celluloid film. The left and right sides of the anaglyph glasses have different colors, such as red and blue, or red and green. If you look at the anaglyph glasses produced by anaglyph glasses with anaglyph glasses, different images can be seen on the left and right eyes. , The brain synthesizes these images and recognizes them in three dimensions.

Another way is to have polarized glasses that use polarizing plates opposite to the left and right eyes, respectively. Since anaglyph glasses or polarized glasses do not require electric power to use, they correspond to passive 3D glasses.

A more complicated method is an active 3D glass of a shutter glass type, which alternately shows the images corresponding to the left eye and the right eye on the monitor, and the left eyeglass in synchronization with the monitor on the shutter glass. The right and left eyeglasses move between a transparent state and an opaque state, respectively. That is, in the active method, the monitor and 3D glasses are synchronized to alternately display the left image and the right image.

In order to actually generate a stereoscopic image, a stereoscopic camera from GoPro using two fisheye lenses can be used as shown in FIG. 12. However, even in this case, a stereoscopic image in front of the camera can be generated, but a stereoscopic effect in a diagonal direction other than the front side has poor stereoscopic effect.

13 is a conceptual diagram of stereoscopic image acquisition by image processing in a stereoscopic omnidirectional camera using two fisheye lenses. The origin O of the World Coordinate System is located in the middle of the node points N _L and N _R of the two fisheye lenses. Therefore, the node points N _L and N _R of the two fish-eye lenses are separated at the same distance from the origin. Further, the optical axes 1301L and 1301R of the two fish-eye lenses face the same direction, and the directions of the optical axes are perpendicular to the X-axis and parallel to the Z-axis. That is, the Z-axis of the world coordinate system passes through the origin and is parallel to the optical axis of the two fish-eye lenses. In FIG. 13, the principal direction of vision 1303L of the left linear aberration correction image and the viewing direction 1303R of the right linear aberration correction image on the right coincide with the optical axis directions 1301L and 1301R.

The nodes (N _L , N _R ) of the two fish-eye lenses are separated by a distance D ₀ . The distance D ₀ can be set to be similar to the distance between the average human two eyes, 6.35 cm. In this world coordinate system, the coordinates (X, Y, Z) of the nodule N _L of the left fisheye lens are (-D ₀ / 2, 0, 0), and the coordinates of the nodule N _R of the right fisheye lens are (+D _0/2 , 0, 0).

13, the angle of view of the left fish-eye lens and the angle of view of the right fish-eye lens are indicated by a semicircle. Accordingly, it is assumed that the angle of view of the fish-eye lens is 180°, but the angle of view of the fish-eye lens may have any value. In addition, the object surface 1331L and the image surface 1335L of the linear aberration correction image obtained by image processing from the left fisheye lens and the object surface 1331R and the image surface 1335R corresponding to the right fisheye lens are also displayed. .

In the stereoscopic camera shown in FIG. 13, since the nodes of the left fisheye lens and the right fisheye lens are separated by a distance D _{0 in} the direction perpendicular to the optical axis, the two linear aberration correction image planes 1335L, 1335R obtained through image processing are the distance D Having a parallax corresponding to ₀ , and displaying them on the screens of the HMD devices corresponding to the left and right eyes, respectively, the user wearing the HMD device can feel the three-dimensional feeling as if they were actually there.

Of course, the same applies to passive 3D glasses such as anaglyph glasses or polarized glasses or active 3D glasses using shutter glasses as well as HMD devices. In this case, the process of generating a linear aberration correction image corresponding to the left eye and the right eye is the same, but only the process of converting the pair of linear aberration correction images into a stereoscopic image according to the 3D method is different.

FIG. 14 shows that when such a stereoscopic omnidirectional camera attempts to obtain a pair of linear aberration correction images in which a pan action is performed to obtain a stereoscopic image in a direction different from the optical axis direction of the fisheye lens, the stereoscopic effect is reduced or disappeared. It is an illustrative drawing.

Referring to FIG. 14, in order to obtain a linear aberration correction image in which a fan acts by the optical axis directions 1401L and 1401R of the fish-eye lens and the angle β, two straight-line distances between the node points N _L and N _R of the fish-eye lenses When measured in a direction perpendicular to the gaze directions 1403L and 1403R of the aberration correction image, it is given as Equation 1.

Therefore, as the pan angle increases, the interval perpendicular to the gaze direction of the two nodes gradually decreases, and when the pan angle reaches 90°, the interval becomes 0, so that no stereoscopic effect can be expected. For this reason, a stereoscopic omnidirectional camera using two fisheye lenses shown in FIG. 12 cannot provide a stereoscopic image in an arbitrary direction.

FIG. 15 shows GoPro Odyssey, another stereoscopic omnidirectional camera from GoPro, and several cameras using a fisheye lens are arranged in a concentric circle outward. In this case, if the HMD user creates a linear aberration correction image from two cameras arranged in the directions closest to the direction that the user wants to see, and shows them to the left and right eyes, the effect of the stereoscopic image can be realized. . However, since this method requires a large number of cameras, it is not only expensive to produce, but also has a disadvantage of simultaneously transmitting or storing fisheye images from multiple cameras.

16 is another stereo omnidirectional camera, the GoPro 360 Hero, which is integrated so that multiple cameras having the same specifications are oriented in various directions. At this time, it is estimated that two cameras facing the direction that the observer wants to look at generate a stereoscopic image. However, it is clear that an accurate stereoscopic image cannot be provided.

In 1998, Prof. Yi-Ping Hung et al. released a stereoscopic omnidirectional camera using a pair of rotating cameras ([Non 20]). As shown in Fig. 17, the principle is that omnidirectional images corresponding to the left and right cameras are obtained by stitching images obtained from each camera after acquiring multiple photos while rotating two identical cameras facing the same direction horizontally. The camera used in the experiment has an angle of view of 30°, and it is said that the image was taken while rotating horizontally by 15°. Microsoft's H. Shum et al. also published results of similar concepts ([Non-21], [22]).

In principle, however, a better result is to rotate around the midpoint of the two cameras ([Non-22]-[Non-23]). 19 is a conceptual diagram of a stereoscopic 360° omnidirectional camera presented in reference [Non-Special 23]. In this structure, two cameras of the same specification are mounted on a rotating stage. The midpoint of the nodes of the two lenses is located on the axis of rotation of the rotating stage. Also, the distance between two lens node points is similar to that between a person's two eyes.

The camera disclosed in [Non-Special 23] is described as using a 35 mm roll film, and a narrow slit in the vertical direction is mounted in front of the lens. Therefore, when the camera is facing in one direction, a thin strip-shaped image in the vertical direction corresponding to the direction continues in pairs. When the rotating stage rotates to obtain a band-shaped image in all directions, and when it is all connected, a pair of omnidirectional images corresponding to the left eye and the right eye are obtained as shown in FIG. 19.

20 is a conceptual diagram illustrating a process of obtaining a linear aberration correction image from an obtained 360° omnidirectional image. In such a case, since the node point of the camera is not in place and continues to rotate, a mathematically accurate linear aberration correction image is not obtained, but it is sufficient to obtain a three-dimensional image satisfactory to the naked eye.

Meanwhile, FIG. 21 is a conceptual diagram of a system for obtaining a stereoscopic 360° omnidirectional image using only one rotating camera, not a pair of cameras. In such a system, the node point of the camera lens is separated by a certain distance from the rotation axis of the rotation stage. In addition, if two thin band-shaped images captured by diagonal lines are extracted from the image obtained when the camera is at one location, and all of them are extracted, the same effect as the omnidirectional image obtained by using two cameras can be realized.

In the stereoscopic omnidirectional imaging system disclosed in [Non-Special 20] to [Non-Special 23], a method of cutting a thin strip-shaped image in a vertical direction from an image facing one direction is used. However, when the stitching method is used, the stereoscopic omnidirectional image is inevitably incomplete.

However, an omnidirectional imaging system or a stereoscopic omnidirectional imaging system may be implemented using a line scan sensor having only one line of image sensors in the vertical direction. As described above, [Special 10] discloses an omnidirectional imaging system using a line scan sensor. In addition, [Special 11] discloses an omnidirectional camera and a stereoscopic omnidirectional camera using a line scan sensor. However, the invention of [Special 11] uses a derotator using a mirror and a dove prism, and it is judged that it is difficult to make a commercial product with such a structure.

[Special 23] discloses a three-dimensional omnidirectional camera using a fisheye lens and a line scan sensor, but includes elements that are not only unnecessary for the components of the invention but are virtually impossible to implement. Although the applicant still operates the all-around camera business of the stitching method to date, it is presumed that the invention disclosed in [Special 23] has never been produced.

[Special 24] discloses a method of obtaining a stereoscopic omnidirectional image by rotating the camera horizontally, but it is unclear whether the detailed description is insufficient and the desired result can be obtained, but it is fundamentally difficult to estimate what the technology invented by the applicant. For example, in panorama mode, panning horizontally while pressing the shutter, detecting overlapping parts in a series of photos, or performing various corrections are techniques already used in existing products, and what is “rotation correction”? There is no explanation for what it means, and it is not known what the process of obtaining a stereoscopic image rather than an omnidirectional image in an image obtained by panning horizontally.

[Special 25] also discloses a method of obtaining a stereoscopic omnidirectional image using a single rotating camera, but almost all examples of a method of image stitching except for the part of up-sampling the image.

[Special 26] and [Special 27] disclose a method of obtaining a linear aberration correction image from a cylindrical omnidirectional image.

[Special 28] discloses a camera device for acquiring a 3D stereoscopic image using two cameras, in which two cameras are directed in opposite directions so as to control the viewing angle according to a change in the distance of an object. It is equipped with a means to rotate.

[Feature 29] discloses a method and apparatus for generating omnidirectional stereoscopic images using two line scan cameras and GPS spaced apart by a certain distance. In the present invention, when two line scan cameras rotate, the position data of the line scan cameras are collected using a GPS receiver and a laser reflector.

[Feature 30] discloses a technique for estimating an external expression element including posture data of the line scan camera using a plurality of object reference points selected in acquiring an omnidirectional image of the room using a rotating line scan camera have.

[Special 31] discloses a horizontally movable stereoscopic camera device having two cameras arranged in parallel on the same plane. Specifically, the two cameras have a lens-exchangeable structure in which the lens and the image sensor unit can be separated, the horizontal distance between the two cameras can be adjusted, and the vertical optical axis can be adjusted so that the optical axes of the two cameras are parallel to each other. It is equipped with means.

[Feature 32] discloses a system for obtaining stereoscopic omnidirectional images using two rotating line scan cameras. 22 is a plan view of a stereo omnidirectional image acquisition device (stereo omnidirectional camera) according to an embodiment of the present invention. Preferably, two cameras of the same specification composed of the fisheye lenses 2212L, 2212R having an angle of view of 180° or more and the camera bodies 2214L, 2214R having the line scan sensors 2213L, 2213R therein are provided to the rotating portion 2222. It is mounted, and this rotating part 2222 is connected to the lower base part 2224 and the rotating shaft 2226. The rotating part rotates horizontally around the origin C on the rotating part, which is located at the center point of the node points N _L and N _R of the two fish-eye lenses 2212L and 2212R. The distance D between the nodes of the two fisheye lenses is preferably 6.35 cm, which is the average distance between the human eyes. Further, the optical axes 2201L and 2201R of the two fish-eye lenses rotate together when the rotating part rotates.

The direction passing through the origin C and parallel to the optical axes (2201L, 2201R) of the two fish-eye lenses is the Z'-axis of the camera coordinate system, and the direction passing through the origin C and the nodal points (N _L , N _R ) of the two fish-eye lenses is the camera coordinate system. Is the X'-axis direction, and the direction passing through the origin C and parallel to the rotation axis is the Y'-axis direction of the camera coordinate system. The camera coordinate system is a right-handed coordinate system.

On the other hand, when the 3D omnidirectional camera is in the initial zero position, the directions of the optical axes 2201L and 2201R of the two fish-eye lenses are in the Z-axis direction of the world coordinate system, and the origin of the world coordinate system is the origin C of the camera coordinate system. Matches. The Y-axis of the world coordinate system coincides with the Y'-axis of the camera coordinate system. The world coordinate system is also a right-handed coordinate system.

In this coordinate system, the node points of the two fish-eye lenses are always located in the X-Z plane and the X'-Z' plane. Also, the line scan sensors 2213L and 2213R of the two cameras are always parallel to the Y-axis of the world coordinate system and the Y'-axis of the camera coordinate system. When the rotating part rotates at a constant speed and acquires the images with two cameras, the two rotating parts are generated every time the rotating part rotates one time.

23 is a conceptual diagram of a stereoscopic omnidirectional camera according to an embodiment of the prior art. The rotating portion 2322 can rotate infinitely with respect to the bottom portion 2324 of the lower portion, and the rotating portion is equipped with two asymmetric fisheye lenses 2312L, 2312R and two camera bodies.

FIG. 24 illustrates a shape in which the optical axes 2401L and 2401R of the left lens 2412L and the right lens 2412R are inclined toward the Z'-axis of the camera coordinate system when focusing on a subject at a short distance. Of course, without operating as described above, the optical axes 2401L and 2401R of the two cameras may always be kept parallel to the Z'-axis of the camera coordinate system regardless of the distance of the subject.

The invention disclosed in [Special 32] also provides a method for obtaining omnidirectional images and stereoscopic omnidirectional images using two rotating line scan cameras, and a method for obtaining linear aberration correction images from apparatus and omnidirectional images. However, the conceptual diagram of the stereoscopic omnidirectional camera illustrated in [Special 32] is in principle insufficient to obtain a perfect stereoscopic omnidirectional image.

25 is a plan view of a stereoscopic omnidirectional camera according to an embodiment of the prior art illustrated in FIG. 23. The first camera body 2514L mounted on the rotating portion 2522 may rotate horizontally based on the first rotation point C _L , and is mounted on the same horizontal surface (X'-Z' plane) as the first camera. The second camera body 2514R is rotatable horizontally based on the second rotation point _CR .

Here, the X-Z plane is a horizontal plane fixed to the world coordinate system, and the X'-Z' plane is a horizontal plane fixed to the camera coordinate system. Therefore, both the Y-axis of the world coordinate system and the Y'-axis of the camera coordinate system coincide with the vertical line. In addition, both the origin O of the world coordinate system and the origin O'of the camera coordinate system coincide with the rotation center C of the rotating part.

The line scan sensor 2513L inside the first camera body 2514L and the line scan sensor 2513R inside the second camera body 2514R are both installed in a direction parallel to the Y'-axis. Also, the first camera lens 2512L is fastened to the first camera body 2514L, and the second camera lens 2512R is fastened to the second camera body 2514R. The optical axis 2501L of the first camera lens and the optical axis 2501R of the second camera lens are both included in the horizontal plane (X'-Z' plane).

In FIG. 25, the nodal point N _L of the first camera lens 2512L and the nodal point N _R of the second camera lens 2512R are located on a straight line passing through the origin C coinciding with the rotation center of the rotating part The distance from the origin to the two nodes is the same.

In FIG. 25, the optical axis 2501L of the first camera and the optical axis 2501R of the second camera are shown in parallel. When the optical axes of the two cameras are parallel as shown in FIG. 25, it corresponds to a case where a view point is set to an object at an infinite distance, such as when we look at a distant mountain.

As described above, when a rotating omnidirectional image is obtained while the rotating unit rotates while the centers of the two nodes N _L and N _R coincide with the rotation axis C of the rotating unit 2522, an accurate stereoscopic omnidirectional image is obtained in principle. .

However, when capturing omnidirectional images or stereoscopic omnidirectional images indoors, virtually all subjects will be within a few meters or less. In this case, it is desirable that the gaze is gathered as if we are looking at a subject at a close distance. 26 illustrates the case where the optical axes 2601L and 2601R of the two cameras are inclined with an angle θ inward.

However, as can be clearly seen in FIG. 26, a stereoscopic omnidirectional camera according to a conceptual diagram of an embodiment of the prior art results in movement of a node point in which an operation for changing a viewpoint is undesirable. As can be seen in FIG. 26, the distance between the two node points was reduced from D to D', and it can be seen that a straight line connecting the two node points does not pass the rotation center C of the rotating part.

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The present invention is in principle to provide a scanning stereoscopic omnidirectional camera that can obtain the most accurate stereoscopic omnidirectional image.

A camera rail formed in one direction perpendicular to the rotational axis of the scanning stereoscopic omnidirectional camera and a pair of line scan camera units movable along the camera rail are used. Each of the pair of line scan camera units may rotate around a vertical rotation axis, but the node of the imaging lens may be adjusted to be positioned on each rotation axis.

In principle, not only can the most complete mono and stereo omnidirectional images be obtained, but also the stereoscopic and viewpoint of the stereo omnidirectional images can be adjusted.

1 is an omnidirectional painting by Robert Barker.
2 is an embodiment of an image system using an omni-directional mirror having a linear aberration correction projection method.
3 is an example of an indoor view captured by the omnidirectional imaging system of FIG. 2.
4 is an example of an unfolded omnidirectional image in which the unfolded omnidirectional image of FIG. 3 is unfolded.
5 is a part of the unfolded omnidirectional image of FIG. 4.
6 is a view of removing the cover of the Globuscope.
7 is a Seitz Roundshot 35/35.
8 is a stereoscopic omnidirectional camera of Kodak.
9 is a cardboard viewer of Google.
10 is an example of a stereoscopic image shown by a head mounted display.
Fig. 11 is Anaglyph glass, which is one of 3D glasses.
12 is a GoPro 3D camera equipped with two fisheye lenses.
13 is a conceptual diagram of stereoscopic image acquisition by image processing in a 3D camera using two fisheye lenses.
14 is a conceptual diagram illustrating that a 3D camera shown in FIG. 12 cannot view a stereoscopic image in an arbitrary direction.
15 is an embodiment of an omnidirectional camera of GoPro.
16 is an embodiment of another 3D omnidirectional camera of GoPro.
17 is a conceptual diagram of a three-dimensional omnidirectional camera using a pair of rotating cameras of Professor Hung.
18 is a conceptual diagram of a stereoscopic 360° omnidirectional camera using a pair of rotating cameras.
19 is an example of an omnidirectional image captured by the stereoscopic 360° omnidirectional camera illustrated in FIG. 18.
20 is a conceptual diagram of generating a stereoscopic image from a pair of 360° omnidirectional images corresponding to the left eye and the right eye.
21 is a conceptual diagram of a technology for generating a 360° stereoscopic omnidirectional image from a single rotating camera.
22 is a plan view of a stereoscopic omnidirectional image acquisition device according to an embodiment of the prior art.
23 is a conceptual diagram showing a state in which a stereoscopic omnidirectional camera according to an embodiment of the present invention focuses on a subject at an infinite distance.
24 is a conceptual view showing a state in which a stereoscopic omnidirectional camera according to an embodiment of the present invention focuses on a subject at a short distance.
25 is a plan view showing the structure of a stereo omnidirectional camera corresponding to a conceptual diagram of a stereo omnidirectional camera of the prior art illustrated in FIG. 23;
26 is a conceptual view showing a state in which a viewpoint is moved to a finite distance in a conceptual view of a stereoscopic omnidirectional camera of the prior art illustrated in FIG. 24;
27 is a conceptual diagram of a scanning omnidirectional camera body of the first embodiment of the present invention.
28 is a perspective view of a panoramic head portion of the camera body of the first embodiment of the present invention.
Figure 29 is an embodiment of a ball head (ball head) using an Arca-Swiss plate.
30 is a diagram showing the main configuration of the camera body of the first embodiment of the present invention.
31 is a perspective view of a camera body in the first embodiment of the present invention.
32 is a conceptual diagram of a power and signal exchange unit of the camera body according to the first embodiment of the present invention.
33 is a side view of a scanning omnidirectional camera in the second embodiment of the present invention.
34 is a plan view of a scanning omnidirectional camera in the second embodiment of the present invention.
35 is an example of a line scan camera body converted to a Canon EF mount.
36 is a conceptual view showing a state where a node point of an imaging lens is positioned at a central point.
37 is a conceptual view showing a state in which a node point of a telephoto lens having a small angle of view and a large size is positioned at a center point;
38 is a conceptual view showing a state where a node of a wide-angle lens is positioned at a central point.
39 is a conceptual view showing a state where a node point of a fisheye lens having an angle of view of 180° is positioned at a center point.
40 is a conceptual diagram of a state in which the line scan camera body is rotated relative to a rail end.
41 is an embodiment of a lens-exchangeable line scan camera unit.
42 is an embodiment of a camera mount.
Fig. 43 is a conceptual diagram showing a state in which the node point of the imaging lens and the rail mount rotation axis are adjusted to be on the same axis.
44 is a plan view showing a state where the node point of the imaging lens and the rail-mounted rotation axis are adjusted to exist on the same axis.
45 is a view showing a lens having a short length attached to a line-exchangeable line scan camera unit according to a second embodiment of the present invention.
46 is a view showing a long lens mounted in the interchangeable line scan camera unit of the second embodiment of the present invention.
47 and 48 are a state in which the interchangeable line scan camera unit of the second embodiment of the present invention is attached to the main body of the scan-type omnidirectional camera.
49 is a sectional view of a line scan camera unit of a third embodiment of the present invention.
50 is a conceptual view showing a state in which a rail mount is added to the line scan camera unit of the third embodiment of the present invention.
51 is a conceptual view showing a state in which a tilt mount and a rail mount are added to the line scan camera unit of the third embodiment of the present invention.
52 and 53 are photographs of the line scan camera unit of the third embodiment of the present invention.
54 is a conceptual diagram of a scanning omnidirectional camera according to a fourth embodiment of the present invention.
55 is a conceptual diagram of a scanning omnidirectional camera according to a fifth embodiment of the present invention.
56 is a photograph of a scanning omnidirectional camera according to a fifth embodiment of the present invention.
57 and 58 are examples of omnidirectional images obtained with a scanning omnidirectional camera.
59 is a conceptual diagram showing the principle of acquiring stereoscopic omnidirectional images by a parallel method.
60 is a conceptual diagram showing the principle of acquiring stereoscopic omnidirectional images by a cross method.
FIG. 61 is a conceptual view showing a method of increasing a three-dimensional effect by increasing a distance between nodes of two line scan camera units when acquiring a stereoscopic omnidirectional image by a parallel method.
FIG. 62 is a conceptual diagram showing a method of increasing stereoscopic effect by increasing a distance between nodes of a right-line scan camera unit when acquiring stereoscopic omnidirectional images by a parallel method.
63 is a conceptual diagram of a scanning stereoscopic omnidirectional camera in the sixth embodiment of the present invention.
Fig. 64 is a photograph of first and second line scan camera units mounted in a parallel manner to the panoramic head.
65 is a photograph showing a case where the distance between two line scan camera units is increased in order to increase a three-dimensional effect.
FIG. 66 is a photograph showing a first line scan camera unit and a second line scan camera unit mounted in an intersecting manner by increasing the distance between two line scan camera units.
67 is a photograph of a scanning stereoscopic omnidirectional camera of the sixth embodiment of the present invention.
68 is a stereoscopic omnidirectional image sample obtained with the scanning stereoscopic omnidirectional camera of the sixth embodiment of the present invention.
69 is a stereoscopic omnidirectional image sample converted for viewing with anaglyph glasses.

Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to FIGS. 27 to 69.

[Example 1]

27 is a conceptual diagram for understanding the structure of a scanning panoramic camera main body in the first embodiment of the present invention. Hereinafter, for convenience of discussion, the main body of the scan-type omnidirectional camera will be abbreviated as'camera main body'. The camera body includes a panoramic head assembly 2730, a drive assembly 2740, and an electrical power and signal exchange assembly 2750, and a sensor assembly. (2770) may be further provided.

When a line scan camera assembly (not shown) and an image processing means or an image processing part 2780 are added to the camera body, a scan-type omnidirectional camera capable of obtaining omnidirectional images ( The minimum configuration of the scanning panoramic camera) is completed. The image processing unit may be a laptop equipped with a dedicated SW, as illustrated in FIG. 27.

The scanning omnidirectional camera accumulates the image signals acquired in the horizontal direction by rotating the horizontally around the vertical line passing vertically through the nodal point of the line scan camera, which is not shown in FIG. You must create panoramic images or panoramic image planes. The image processing means integrates line images obtained from the line scan camera unit in a horizontal direction to generate omnidirectional images.

In FIG. 27, identification number 2712 is a reference point or center point fixed relative to the camera body. The terms reference point and center point are used to describe different aspects of the same point. And, relatively fixed means that the center point does not necessarily correspond to any one physical part of the camera body, but it is at a certain direction and distance from a specific part of the camera body, and thus, when the camera body is moved, the center point moves accordingly. .

The center point 2712 is the origin of the world coordinate system. The world coordinate system is a coordinate system that describes subjects captured by a scanning omnidirectional camera, and is fixed relative to the ground surface. The three orthogonal axes of the world coordinate system are the X-axis, the Y-axis, and the Z-axis, in particular the Y-axis is the axis 2714 that passes vertically through the origin, ie the center point. On the other hand, it is convenient to match the Z-axis of the world coordinate system with the Earth's orientation, for example the north direction indicated by the compass. The world coordinate system is a right-handed coordinate system (RHS). Therefore, if the positive Y-axis points to the zenith, and the positive Z-axis points to the North, the positive X-axis points to the West.

The center point 2712 is also the origin of the camera coordinate system. The camera coordinate system is a fixed coordinate system relative to the scan omnidirectional camera, and when the scan omnidirectional camera rotates horizontally, the camera coordinate system also rotates horizontally. The three orthogonal axes of the camera coordinate system are the X'-axis, the Y'-axis, and the Z'-axis, and the camera coordinate system is also a right-hand coordinate system.

The omnidirectional image contains 360° images in all directions, so it is important to level the omnidirectional camera before obtaining the omnidirectional image. When the omnidirectional camera is correctly leveled, the Y'-axis of the camera coordinate system coincides with the Y-axis of the world coordinate system. That is, the Y'-axis is an axis that vertically passes the reference point (center point). Therefore, the Y-axis and Y'-axis always match when the omnidirectional camera is level. In addition, the Z'-axis and the X'-axis are two horizontal axes that horizontally pass the reference point.

In the camera coordinate system, the vertical line passing through the reference point is the Y'-axis, and one axis in the horizontal direction passing through the reference point and perpendicular to the Y'-axis is the X'-axis, and perpendicular to both the Y'-axis and the X'-axis. The other one is the Z'-axis. When the scanning omnidirectional camera rotates, the X'-axis has a rotation angle that varies continuously from 0° to 360° about the X-axis.

The driving unit 2740 has a rotating symmetric center hole about the Y'-axis and a rotatable rotating end 2742, and a hollow 2645 having the Y'-axis as a rotational symmetric axis. It includes a stationary end (2744) provided, and a driving means (2746) capable of rotating the rotating end at a uniform angular velocity.

The panoramic head portion 2730 includes a hollow 2732 having the Y'-axis as a rotationally symmetrical axis at the lower portion thereof, and a fastening end 2732 engaged with the rotating end 2742, and a device rotating shaft 2714 on the upper part. It includes rail ends having a camera rail 2735 formed in one direction perpendicular to ). The axis passing through the center point 2712 and facing in the same direction as the camera rail is referred to as an X'-axis or a rail axis.

Here, the rail refers to a structure in which a counterpart mounted on a rail is capable of sliding in one direction, and has an I-shaped, triangular or rhombic, or dove tail-shaped cross section and extends in one direction depending on the application. Say things. Korea University's Korean Dictionary has said that rails are "long and long steel materials laid in two rows on the ground so that the wheels of trains and tanks can travel." I commented.

The camera rail in the present invention means a rail used in the field of cameras, and is used to move a camera or lens in one direction. The shape of the cross section can have any shape, but the cross section of the dovetail shape is most widely used. This is to ensure that the camera can be mounted in any direction up, down, left, or right, unlike a train, so that the camera can slide without leaving the rail regardless of the direction.

Therefore, most of the cross-section of the camera rail has the shape of a dovetail. And its size comes in several sizes. The most commonly used method is a dovetail-shaped rail with an inclined surface at an angle of 45°. The Swiss-Arca system is 38mm wide. However, when using larger equipment, such as broadcast cameras, dovetail-shaped rails are often used.

In FIG. 27, the rotating head 2742 of the panoramic head portion 2730 and the driving portion 2740 rotates about the Y'-axis. Therefore, the Y'-axis will be referred to as a device rotation axis. In addition, it is convenient to make the intersection 2712 where the rail surface of the camera rail 2735 on the rail end 2734 meets the device rotation axis 2714 as a center point. As described above, the X'-axis is in a direction parallel to the camera rail, and the Z'-axis is an axis perpendicular to both the X'-axis and the Y'-axis. In this sense, the X'-axis is referred to as a rail axis, and the Z'-axis is referred to as a cross axis. If the scanning omnidirectional camera is maintained horizontally, the X'-axis and Z'-axis are horizontal axes, and the Y'-axis is vertical axes.

The power and signal exchange unit 2750 is coupled to a rotor 2732 that is coupled to a hollow 2732 inside the fastening end 2732, and a hollow 2645 inside the fixed end 2744. A stator (2754), camera-side electrical power and signal wires (2756) drawn upward from the rotor, and a power and signal wire from the stator drawn toward the lower side of the stator ( driver-side electrical power and signal wires) 2758.

The rail end 2734 may further include a balancer 2736 coupled to the camera rail 2735. The counterweight is for matching the center of rotation and the center of gravity when the camera body equipped with the line scan camera rotates about the Y'-axis. If the center of rotation and the center of gravity do not coincide, the scanning omnidirectional camera may shake when rotated, leading to distortion of the image. If the balance adjustment weight can be moved in the rail axis 2716 direction, that is, in the X'-axis direction, it is possible to precisely adjust the center of gravity.

The camera body may further include a sensor unit 2770 mounted on the panoramic head unit 2730. The sensor unit includes one or more of a water level, a digital level meter, a compass, a digital compass, and a GPS receiver. When a power and signal line are required for a digital protractometer or GPS receiver, it is also necessary to connect to the driving unit through the power and signal exchange unit 2750.

In addition, a tripod mounting end 2726 is provided at the bottom of the camera body. When obtaining a scanning omnidirectional image, it is necessary that the height of an imaging lens mounted on the line scan camera unit is similar to that of a human eye. Therefore, there is a need to adjust the height using a tripod, etc., so it is preferable to have a tripod mounting end at the bottom of the driving unit. The tripod mounting end is formed in the form of a 1/4-inch female thread or a 3/8-inch female thread.

28 is a projection view of a panoramic head portion of a first embodiment of the present invention. The fastening end 2832 is in the shape of a disk with a hollow 2833, and has a plurality of fastening holes 2836a for mounting on the rotating end. In addition, a fastening hole 2836c for fixing the rotor 2752 of the power and signal exchange part 2750 is formed on the side surface of the fastening end.

The rail end 2834 fastened to the upper end of the fastening end 2832 has a sufficient thickness to suppress vibration, and a dovetail-shaped camera rail 2835 is formed on the upper end.

As mentioned above, the most widely used camera rail in the photography industry was developed in the 1990s by a Swiss company called Arca-Swiss. It was developed as a method for attaching a super telephoto lens that is heavier than a normal camera to a tripod, and such an accessory is called an Arca-Swiss Quick Release Plate. 29 shows that the Arca-Swiss Quick Release Plate is applied to the ball-head for a tripod.

The Arca-Swiss system consists of two sets of one. The part called a plate is a part mounted on a lens or a camera, and has a 1/4-inch male thread in the center, and both ends are formed at a 45° angle with a width of 38mm. It has a dovetail shape, and the length of the plate is manufactured in various ways. On the other hand, the part called the base is a part mounted on a tripod, and the gap between the dove tail and the interlocking parts can be adjusted using a knob to secure the plate securely.

To mount the camera or lens, first attach the plate to the camera or lens, place the dovetail portion of the plate on the interlocking portion of the base, and turn the knob to lock it. Arca-Swiss plates are called Arca-Swiss Quick Release Plates because they allow quick release of lenses or cameras.

It was originally developed by a company, but now many camera component manufacturers adopt and use this standard. Many companies do not follow the Arca-Swiss system, but you can still find the largest number of compatible products.

On the other hand, a fastening hole 2836b for fastening to the fastening end 2832 from the upper end to the lower end of the rail end 2834 is formed, and on one side, the camera side power and signal lines not fastened to the line scan camera unit are panoramic. Two sets of dummy lan ports 2839 for the signal lines and dummy terminals 2838 for the power lines are provided to process the head portion so as not to interfere with rotation.

A water level 2872 is mounted on one side of the fastening end 2832 and can be used to level the scanning omnidirectional camera. Although only the level is shown in FIG. 28, if a plurality of sensors including a compass and a GPS receiver are mounted, it will be easy to check the location and orientation of the omnidirectional image.

The fastening end 2832 and the rail end 2834 shown in FIG. 28 are fastened using eight bolts. Since the fastening end and the rail end are connected only by bolts, the rail end is easily separated from the fastening end when the bolts are removed. Therefore, if necessary, it can be replaced with rail ends having various lengths. This is because the preferred rail end length may vary depending on the angle of view of the imaging lens mounted on the line scan camera body.

30 is a view showing the main configuration of the main body of the scan-type omnidirectional camera of the first embodiment of the present invention. The rail end 3034 is a symmetrical shape based on the Y'-Z' plane of the camera coordinate system, and a camera rail 3035 having a dovetail shape is formed on the rail end. The X'-axis is parallel to the camera rail, and the center point 3012 is located at the top of the camera rail.

Eight fastening holes 3036b are formed on the rail end from the top to the bottom, and eight bolts are inserted into the fastening holes to be fixed with the fastening end 3032. The fastening end 3032 and the rotating end 3042 are again connected by six bolts. The hollow 3033 of the fastening end 3032 has a cylindrical shape slightly larger than the size of the rotor 3052 of the power and signal exchange part, and four bolts fastened in the direction perpendicular to the Y'-axis on the side of the fastening end Through the fastening end and the rotor is fixed firmly. Therefore, when the fastening end rotates, the rotor also rotates. The lower end of the rail end 3034 facing the hollow 3033 of the fastening end is formed with a drawing hole 3037 through which power and signal lines toward the camera can be drawn out.

The main part of the drive is a hollow rotary table. The rotary table of the reducer forms a rotating end 3042, and the body portion of the reducer forms an upper end of the fixed end 3044. Both the rotary table and the body portion of the reducer have cylindrical hollows larger than the diameter of the stator 3054 of the power and signal exchange section.

The driving means 3046 is connected to a reduction gear to rotate the rotating end 3042, and it is preferable to use a brushless DC motor as the driving means so that the rotation speed can be easily changed.

31 is a perspective view of a main body of a scanning omnidirectional camera according to a first embodiment of the present invention. The fastening end 3132 and the rotating end 3142 have a disk shape, and the fixed end 3144 has a substantially rectangular parallelepiped shape, and a controller 3145 for controlling a driving means on one side of the fixed end is provided. It is mounted, and there are three height adjustment legs 3146 at the bottom of the fixed end. Each height-adjustable leg can be easily adjusted so that the height of the camera body can be adjusted by adjusting the height-adjusting leg with reference to level 3317. In addition, a tripod mounting end is also formed at the center of the lower surface of the fixed end.

As described above, the rail end 3134 is located above the fastening end 3132, and the camera rail 3135 formed on the rail end is parallel to the X'-axis. At the rail end, one or more fastening holes 3136 for coupling with the fastening end 3132 in the direction from the top to the bottom are formed, and a dummy terminal 3138 and a dummy LAN port 3139 are formed on one side of the rail end. It is provided, and the withdrawal hole 3137 is formed at the lower center of the rail end.

FIG. 31 shows a bundle of wires equipped with two sets of lan cables and 15 pin D-sub terminals. The D-sub terminal is needed to control or supply power to the line scan camera, and a LAN line is required to bring in the image signals obtained from the line scan camera. The dummy terminals formed at the rail end are two 15 pin D-sub female connectors and an RJ45 female connector, respectively.

32 is a conceptual diagram of a power and signal exchange unit of the first embodiment of the present invention. The most important component in the power and signal exchange unit of the first embodiment of the present invention is a Gigabit Ethernet Slipring. Slip rings are electrical/mechanical parts, also called rotary joints, rotary connectors, etc., which are used to supply or receive signals without twisting wires to rotating equipment. Both the rotor 3322 and the stator 3254 of the slip ring have a cylindrical shape, and the rotor can rotate indefinitely with respect to the stator.

The camera-side power and signal line 3256 may be connected to one or more line scan camera units 3260L and 3260R and additionally a sensor unit 3270. Of the driving unit side power and signal lines 3258, the power line is connected to a power supply 3259, and the power supply is again connected to a power cord 3255 that is drawn out of the scanning omnidirectional camera body 3200. do. The power line is branched to supply power to both the power supply 3259 and the driver 3246.

Among the power and signal lines 3258 on the driver side, the signal line is preferably a lan cable of category 6 or higher. These LAN lines are connected to an Ethernet switch 3251, and the switch is connected to the image processing device 3280 outside the camera body by a third LAN line.

If there is no sensor part or if only a mechanical level or compass is mounted as illustrated in FIG. 31, power and signal exchange lines for the sensor part are not required. However, at least two line scan camera units are required to acquire a stereoscopic omnidirectional image. Therefore, the gigabit Ethernet slip ring used in the present invention is preferably at least two channels.

[Example 2]

33 is a conceptual diagram for understanding the structure of a linescan camera assembly 3360 of a scanning panoramic camera according to a second embodiment of the present invention, and FIG. 34 is a plan view. The line scan camera unit 3360 includes a line scan camera body 3336, 3462, imaging lenses 3368, 3468, and a rail mount below the line scan camera bodies 3622, 3462. mount) (3367, 3467). The line scan camera body has a line scan sensor 3346 or a linear sensor installed in parallel with the device rotation axis 3314 inside, and an imaging lens 3368, 3468 at the front. It is provided with a lens fastening portion (3365) to be fastened. The main body of the scanning type omnidirectional camera and the image processing units 3380 and 3480 are connected to the signal lines of the power and signal lines 3358 and 3468 toward the driving unit.

A clear image is obtained when the line scan sensor 3346 is included in an image plane of the imaging lens. The image plane refers to a plane in which an image is formed by an imaging lens. Therefore, the optical axis of the imaging lens should be perpendicular to the Y'-axis. Realistically, the optical axis 3313 of the imaging lens is fastened to the camera bodies 3262 and 3462 in a horizontal direction so as to be perpendicular to the Y'-axis. In general, the optical axis 3313 and the rail axis 3316 of the imaging lenses 3368 and 3468 do not coincide. Therefore, the node N of the imaging lens is the origin, the optical axis of the imaging lens is the Z"-axis, the horizontal line perpendicular to the Z"-axis is the X"-axis, and the X"-axis is passed through the origin. And a third coordinate system with an axis perpendicular to both the Z"-axis and the Y"-axis. If the scan-type omnidirectional camera is level, the Y"-axis also becomes a vertical line. By definition, the optical axis passes through the node, or origin.

As described above, the panoramic head portion 3330 may further include balance adjusting weights 3336 and 3436 coupled to the rail ends 334 and 3434. 33 and 34, when the node N of the imaging lenses 3368 and 3468 is located on the device rotation axis 3314, the line scan camera unit is shifted to one side around the Y'-axis ( 3360, 3460). Therefore, in general, the center of gravity is not located on the axis of rotation of the device. When the panoramic head is rotated around the device rotation axis 3314 in this state, the scanning omnidirectional camera that does not fit the center of gravity may vibrate, and thus the horizontal line may not be captured as an accurate horizontal line even in the omnidirectional image. There is this. Therefore, a balance adjustment weight is needed to ensure that the center of gravity is on the axis of rotation of the device.

As described above, the counterweights 3336 and 3436 are also coupled to the rail ends 3340 and 3434. The counterweight can be coupled to the camera rail 3335 in a manner similar to the rail mounts 3351 and 3467 under the line scan camera body, and the weight of the imaging lenses 3368 and 3468 and the line scan camera bodies 3622 and 3462. It may have a weight similar to the sum. Therefore, after the node point N of the line scan camera unit 3360 is positioned on the same vertical line 3314 as the center point 3312, 3412, that is, the device rotation axis 3314, the balance adjustment weight is moved again to move the panorama head unit 3330. And the line scan camera unit 3360, the entire center of gravity can be positioned on the rotation axis.

The rail mounts 3367 and 3467 at the bottom of the line scan camera body are equipped with a rail mount movement locking device 3367a capable of increasing friction so as not to move relative to the camera rail 3335. Therefore, after the rail mount is loosened by adjusting the rail mount movement locking device, the line scan camera unit 3360 can be moved along the camera rail in the X'-axis direction, and when the line scan camera unit is positioned at a desired position, the rail mount movement By adjusting the lock again, the line scan camera unit can be secured against movement.

However, the preferred angle of view of the lens varies depending on the landscape to be captured. For example, when subjects are concentrated only near the horizon or the horizon, such as a meadow, a beach, or the vast ocean, if the angle of view is too large, the part without any other topographic features such as the sky or the sea occupies most of the screen, and the image becomes very boring. . Therefore, in this case, it is preferable to shoot with a lens having a small angle of view, such as a telephoto lens. On the other hand, when photographing the inside of a palace or a museum full of sculptures or paintings on both walls and ceilings, it is desirable to capture both the ceiling and the floor because the angle of view of the lens exceeds 180°. On the other hand, if pedestrians or buildings are visible up to a considerable height, such as a street scene, it may be desirable to have a similar angle of view of the lens.

In order to acquire omnidirectional images in various environments as described above, it is necessary to exchange lenses having various angles of view. In the early days of the development of the film camera, a screw-type camera mount such as the m42 mount was used, but these days, the bayonet mount has a high mechanical stability. For example, Nikon cameras use self-developed F-mounts, Canon uses EF-mounts for overkill, and the latest products use RF-mounts. 35 shows a line scan camera body converted to a Canon EF mount and a commercial fisheye lens made of an EF mount. That is, the line scan camera body disclosed in FIG. 35 is manufactured by interchangeable lenses, and it is possible to photograph omnidirectional images while replacing lenses.

36 shows that the line scan camera unit 3660 is mounted at the correct position of the main body of the scan-type omnidirectional camera. 36 shows a line scan camera unit 3660 equipped with an imaging lens 3668 having a general angle of view 3696 or a standard angle of view, and the optical axis of the imaging lens 3668 is a rail axis 3616, that is, X'- It is aligned with the axis.

The node N of the imaging lens 3668 fastened to the line scan camera body 3662 as shown in FIG. 36 is located on the device rotation axis 3614. Therefore, the node point N of the imaging lens is located above the center point 3612, and the line scan sensor 3664 is parallel to the device rotation axis 3614. 36 also shows a field of view (FOV) 369 of the imaging lens 3668.

As described above, the rail mount 3671 is movable along the camera rail 3635 above the rail end 3634, and also has a rail mount movement locking device 3667a so that the node of the imaging lens is on the device axis of rotation. If the rail mount movement lock is locked after positioning it, the line scan camera unit 3660 does not deviate from the fixed position even if the scan-type omnidirectional camera rotates.

In addition, as illustrated in FIG. 36, when the line scan camera unit 3660 moves closer to the device rotation axis 3614, the balance adjustment weight must also move closer to the device rotation axis to correspond to the line scan camera unit 3660 and the panoramic head 3630 as a whole. The center of gravity can be positioned on the device axis of rotation 3614. The counterweight is also equipped with a locking device to fix the position after it is located in the correct position. As shown in Fig. 36, it is generally preferred that the length of the rail end 3634 in the rail axis direction is larger than the diameter of the rotating end 3632.

As described above, it is preferable to use a telephoto lens having a small angle of view when taking omnidirectional images on a meadow or a beach. However, telephoto lenses are often large. Some telephoto lenses, which are used for sports shooting in baseball fields and golf courses, are expensive enough to cost a car, and because of their size, they are also nicknamed cannons. 37 is a conceptual diagram showing such a case. The camera body 3762 or rail mount 3767 is the same as in FIG. 36, but the mounted imaging lens 3768 is very large and long, and the angle of view 3769 is very small.

Even when an omnidirectional image is obtained using such a telephoto lens, it is preferable that the node point of the telephoto lens is located on the same device rotation axis 3714 as the center point 3712. Therefore, as shown in FIG. 37, the line scan camera unit 3760 should be moved away from the rotation axis of the device, and in order for the center of gravity of the scan-type omnidirectional camera to be positioned on the rotation axis of the device 3714, the counterweight must also be moved away from the rotation axis. .

A long camera rail may be required for the line scan camera unit 3760 to be sufficiently separated from the device rotation axis 3714 so that the node N of the large telephoto lens is positioned on the same device rotation axis as the center point 3712. As in the first embodiment of the present invention, if the rail end 3734 and the fastening end 3732 of the panoramic head portion 3730 are detachable, the rail end 3734 having a long camera rail is used when a telephoto lens is used. Can be replaced.

It is also possible to use a method of separating the panoramic head 3730 itself from the rotating end 3742 of the driving part, but the fastening end 3732 is required to perfectly match the concentricity with the rotating end 3742 of the driving part, so that the detachment is repeated. It is not desirable. In addition, the rotating end and the fastening end can be fastened by using a mold pin or the like.

And in the case of telephoto lenses, there are cases that are bigger and heavier than DSLR cameras. In this case, the camera itself is often mounted on a tripod instead of a camera, and the lens is provided with a tripod mounting end. In this case, the rail end 3734 may not need to be replaced.

However, the reason why the long rail end 3734 cannot be always used is that the long rail end 3834 obscures the angle of view of the imaging lens when using the imaging lens 3868 having a large angle of view as shown in FIG. 38. Therefore, it is preferable to use a rail end having a different length depending on whether a wide-angle lens or a telephoto lens is used, and it is most preferable that the rail end can be easily detached from the fastening end 3822 of the panoramic head. Other identification numbers in FIG. 38 have the same meaning as in FIG. 36 or FIG. 37.

On the other hand, when a fisheye lens is mounted, the angle of view may be 180° or more. 39 shows a case in which the fisheye lens 3968 having an angle of view 3969 is 180° is mounted. In this case, even if the rail end 3934 having a short length is used, the rail end covers a significant portion of the angle of view of the fisheye lens. In this case, it may be more preferable if the optical axis 4013 of the line scan camera unit is perpendicular to the rail axis 4016 as shown in FIG. 40.

40, the line scan camera body 4062 is rotated 90° relative to the rail mount 4067. The rail mount 4067 is movable along the camera rail above the rail end 4034, so that the rail mount is above the center point 4012, and then rotate the line scan camera body 4062 90° to fisheye lens 4068. It is possible to prevent the rail end 4034 from being included in the angle of view. However, since the fastening end 4032 of the panoramic head portion has a disc shape, the fastening end 4032 is always included in the angle of view of the fisheye lens 4068 regardless of the direction of the line scan camera unit. However, if it is parallel to the camera rail, it will be much less than the rail end covers.

However, a principle problem exists in a scanning omnidirectional camera having a structure as shown in FIG. 40. That is, the node N of the imaging lens 4068 does not exist on the same device rotation axis as the center point 4012. It's practically no problem if you're shooting outdoors and all your subjects are far away. The near and far reference is relative, for example, if the distance between the node N of the lens and the Z'-axis direction of the center point 4012 in FIG. 40 is 10 cm, and the distance to the nearest subject is 1 m or more, about 10 times larger, it is relatively It can be said to be far. However, if you shoot in a very narrow room, it may be a problem. In this case, omnidirectional images may be captured slightly unnaturally.

41 shows a line scan camera unit for solving this problem. The line scan camera unit includes a line scan camera body 4162, an imaging lens 4168, a camera mount 4163, and a rail mount 4167.

The line scan camera body 4162 has a lens fastening part 4165 on which an imaging lens 4168 is fastened on the front surface, and a line scan sensor 4164 installed therein from the top to the bottom of the line scan camera body. , The lower portion is provided with a mounting portion (4162a). The imaging lens 4168 is mounted on the lens fastening portion 4165 with the optical axis 4113 perpendicular to the longitudinal direction of the line scan sensor 4164. This line scan camera unit is a lens interchangeable line scan camera unit that can replace lenses.

In order to understand the structure of the interchangeable line scan camera unit, it is convenient to introduce a third coordinate system fixed relative to the imaging lens. In the third coordinate system, the node N of the imaging lens 4168 is the origin, and the optical axis 4113 of the imaging lens is the Z"-axis. Also, the horizontal axis perpendicular to the Z"-axis passing through the origin is X" The axis is the axis, and the axis perpendicular to both the Z"-axis and the X"-axis is the Y"-axis.

The mounting portion 4162a under the line scan camera body 4162 has a shape of a dovetail formed in the Z"-axis direction.

The rail mount 4167 is composed of an upper rail mount rotating end (4167a) and a lower rail mount fastening end (4167b). The fastening end is a rail-mounted movement locking device that adjusts a separation distance between a pair of pressing members (4167c) and a pair of pressing members fastened with a camera rail (4135) formed on a rail end (4134) of a scanning omnidirectional camera body ( 4167e). When the rail mount movement lock is loosened, the rail mount 4167 is movable along the fastened camera rail, and when tightened, the rail mount 4169 is fixed to the camera rail 4135. The rail mount fastening point (4167g) between the rail mount (4167) and the rail end (4134) can be considered as a point where the rail mount rotating shaft (4167f) and the camera rail (4135) meet.

The rail-mounted rotating end 4167a further includes a rail-mounted rotation locking device 4167d. When the rail mount rotation locking device is loosened, the rail mount rotation end 4167a is rotatable relative to the rail mount fastening end 4167b about the rail mount rotation shaft 4167f. The rail mount axis of rotation 4171f is parallel to the device axis of rotation 4114.

One side of the camera mount 4163 is fastened to the upper portion of the rail mount rotating end (4167a). The fastening point 4163c between the camera mount 4163 and the rail mount 4167 can also be considered as a point where the camera mount 4163 meets the rail mount rotating shaft 4167f. The Z"-axis length of the camera mount is longer than the Z"-axis length of the mounting portion 4162a.

The camera mount 4163 further includes a line scan camera body movement lock 4416b engaged with a mounting portion 4162a under the line scan camera body 4162. When the line scan camera body movement lock is loosened, the line scan camera body can move along the camera mount in the Z"-axis direction. For convenience, the center of the mounting area is the fastening point where the line scan camera body is fastened to the camera mount ( 4162b).

As described above, the mounting portion 4162a under the line scan camera body 4162 is detachably fixed between the two pressing members 4163a of the camera mount 4163. In this embodiment, first, the line scan camera body 4162 may be moved so that the node N of the imaging lens 4168 is on the same axis as the device rotation axis 4164.

42 is a diagram for understanding the structure of the camera mount 4163 of the second embodiment of the present invention. A lens fastening part 4265 is provided on the front of the line scan camera body 4242, and a line scan sensor 4264 is installed from the top to the bottom of the line scan camera body. The Y"-axis of the third coordinate system and the longitudinal direction of the line scan sensor 4264 are parallel to each other.

A lower portion of the line scan camera body 4242 is provided with a mounting portion 4422a having a dovetail shape. The camera mount includes a pair of pressing members 4263a1 and 4263a2 and a line scan camera body movement locking device 4263b. The line scan camera body movement locking device may be configured as the most simple bolt as shown in FIG. 42, or may have a more complicated structure with convenience such as a handle and a spring.

When the line scan camera body movement locking device 443b is firmly fixed, the pair of pressing members 4263a1 and 4263a2 strongly press the two 45° inclined surfaces of the mounting portion 4422a. Therefore, the line scan camera body 4242 and the camera mount 4203 are fixed to each other. The fixed reference point, that is, the mounting point 4162b and 4262b of the line scan camera body may be regarded as the center of the contact surface where the lower end of the mounting portion 4422a meets the camera mount.

On the other hand, if the line scan camera body movement locks 4416b and 4263b are loosened, the line scan camera body can move in the Z"-axis direction along the camera mount. The line scan camera bodies 4162 and 4262 are structured. Even if it moves along the camera mount 4163, the direction of the optical axis 4113 does not change.

Fig. 43 shows a case where both the Y"-axis and the rail-mounted rotating shaft 4368f passing vertically through the node N of the imaging lens 4368 are aligned with the device rotating shaft 4314. To this end, the rail-mounted moving locking device ( Loosen the 4367e) and move the rail mount 4368 along the rail axis 4316 so that the rail mount rotation axis 4368f matches the device rotation axis 4314 of the scanning omnidirectional camera. After confirming that it matches the rotating shaft 4314, the rail mount movement locking device 4367e is fixed again so that the rail mount does not deviate from the correct position.

Next, after loosening the line scan camera body movement lock 4436b to lower the pressure that the pair of pressing members 4436a exerts on the mounting portion 4322a at the bottom of the line scan camera body, the line scan camera body is optical axis Z. -Axis) so that the node N of the imaging lens 4368 is located on the device rotation axis 4314. The mounting point 4632b between the line scan camera body 4342 and the camera mount 4403 is the correct position. When it comes to, the line scan camera body movement lock device 4436b can be locked again to prevent the line scan camera body from moving.In this state, even if the rail mount rotating end is rotated horizontally, the node point of the imaging lens 4368 N is always located on the device axis of rotation 4314.

44 is a plan view showing a state where the node N of the imaging lens 4468 is adjusted to exist on the rotation axis of the device. As described above, the rail mount movement lock is loosened so that the rail mount rotation axis and the device rotation axis coincide, and then the rail mount movement lock is locked. Next, after loosening the rail mount rotation lock 4467d, rotate the rail mount so that the optical axis of the imaging lens 4068 is perpendicular to the rail axis 4416, and then again lock the rail mount rotation lock 4467d. .

Next, after checking the position of the node N of the imaging lens 4468, the line scan camera body 4462 is moved with respect to the camera mount 4403 so that the node N of the imaging lens coincides with the rotation axis of the device. , Lock the line scan camera body movement lock 4446b.

FIG. 45 shows a state in which a lens having a short length is attached to the interchangeable lens line scan camera of the second embodiment of the present invention, and FIG. 46 shows a state in which a long lens is mounted. In addition, FIGS. 47 and 48 show a state in which the interchangeable line scan camera unit is mounted on the main body of the scanning stereoscopic omnidirectional camera.

[Example 3]

49 is a cross-sectional view of the line scan camera unit that does not need to locate the node of the imaging lens. The line scan camera unit of the third embodiment of the present invention includes a line scan camera body 4922, an imaging lens 4906, a camera mount 4639, and a rail mount. In Fig. 49, the rail mount is omitted.

The line scan camera body 4962 has a lens fastening portion 4925 on the front side, and a line scan sensor 4964 installed from the top to the bottom of the line scan camera body inside. The lens fastening portion may have a simple shape such as an m42 mount, or may have a bayonet mount such as an EF mount as shown in FIG. 35. The imaging lens 4906 is mounted on the lens fastening portion 4925 with the optical axis 4913 perpendicular to the longitudinal direction of the line scan sensor 4964.

When shooting omnidirectional images using a commercial lens whose internal structure is unknown, a nodal point can be found using the Nodal Slide method, and a desired omnidirectional image is utilized by utilizing the position of the nodal point. Can get

On the other hand, if there is a blueprint of the lens, it is possible to more accurately calculate the position of the node using the blueprint. In FIG. 49, a neck portion having a small diameter is provided at the front portion of the fish-eye lens. The intersection of the vertical line passing through the center of the fish-eye lens and the optical axis of the fish-eye lens is a node of the fish-eye lens. It is common sense to think that the lens stop is the node position, but it is not. It can be seen from FIG. 49 that the node is far ahead of the aperture position.

As described above, it is convenient to introduce a third coordinate system to understand the structure of the line scan camera unit of the third embodiment of the present invention. In the third coordinate system, the node N of the imaging lens 4946 is the origin, the optical axis 4913 of the imaging lens is the Z"-axis, and the horizontal line passing through the origin and perpendicular to the Z"-axis is the X"-axis. And the axis passing through the origin perpendicular to both the X"-axis and the Z"-axis is the Y"-axis.

The imaging lens 4906 has a rotationally symmetrical shape around the Z"-axis, and has a support portion 4906b centering on the origin. The support portion has a neck having a smaller radius than the front and back sides in the Z"-axis direction ( neck) part. The imaging lens shown in FIG. 49 is a fish-eye lens having an angle of view of 190° with 11 lens elements and an infrared cut filter, and is custom designed for a line scan sensor. Therefore, when the fisheye lens is mounted on the body of a line scan camera, the vertical angle of view becomes 180°, so that the entire room can be captured.

The camera mount 4639 includes a support 4949a, a bottom plate 4949b, and a camera mount mount 4949c. The upper portion of the support (4963a) has a ring or necklace shape having the same radius and thickness as the support portion (4968b) of the imaging lens (4968), and can be separated into two parts. Therefore, if you wrap it around the support like a necklace and then fasten it with a bolt, the imaging lens is not detached from the support, but cannot be moved in the Z"-axis direction, and can only be rotated around the Z"-axis.

Figure 49 shows a state in which the support (4963a) is fastened to this support (4968b). And the lower portion of the support is bolted to the bottom plate (4963b). On the other hand, the line scan camera body 4922 is supported by the bottom plate 4639b, but is not fixed. That is, rather than the fish-eye lens is fastened to the camera body, the camera body is fastened to the fish-eye lens, and the fastening to the rail end is not the bottom of the camera body, but the fish-eye lens.

If the lens fastening portion 4925 of the line scan camera body 4922 is in the shape of nuts like the m45 mount, and the portion of the corresponding imaging lens is in the form of bolts, the imaging lens 4946 ) Is rotated into the line scan camera body. However, since the support portion 4906b of the imaging lens is fixed by the support 4949a, when the imaging lens is rotated, the imaging lens rotates in place. On the other hand, the imaging lens and the lens fastening part are composed of bolts and nuts, so when the imaging lens is rotated, the imaging lens is in place and the line scan camera body moves in the Z"-axis direction. Therefore, focusing is performed by rotating the imaging lens. You can focus accurately.

The bottom surface of the base plate 4639b is provided with a camera mount mounting portion 4639c to be mounted on another device such as a rail mount, and may have a shape of a dovetail.

50 shows a line scan camera unit including a rail mount 5067 mounted on a rail end 5034. As in the second embodiment of the present invention, the rail mount 5067 is composed of a lower rail mount fastening end 5067b and an upper rail mount rotating end 5067a. The camera mount mounting portion 5063c under the camera mount 5063 is fixed by a pair of pressing members formed on the top of the rail mount rotating end 5067a, and the center of the support 5062a and the rail mount rotating end 5067a The center, that is, the rail mount axis of rotation 5067f is fixed to coincide. Therefore, as can be seen in FIG. 50, the Y"-axis passing through the node point of the imaging lens 5068 coincides with the rail-mounted rotation axis 5067f.

The rail mount fastening end 5067b is provided with a rail mounting movement locking device 5067e that adjusts a separation distance between a pair of pressing members and a pair of pressing members fastened with the camera rail 5035 formed on the rail ends 5034. Have more. When the rail mount movement lock is loosened, the rail mount can move along the fastened camera rail. Therefore, the rail mount can be moved so that the rail mount axis of rotation 5067f coincides with the axis of rotation of the device passing through the center point 5012 of the scanning omnidirectional camera body.

The rail mount rotating end is provided with a rail mount rotation locking device 5067d. When the rail mount rotation lock is loosened, the rail mount rotation end can rotate relative to the rail mount fastening end about the rail mount rotation axis.

By using the line scan camera unit shown in FIG. 50, the node N of the imaging lens can be placed on the rotation axis of the device of the scanning omnidirectional camera, and the rail mount rotating end is rotated to change the direction indicated by the optical axis 5013 of the imaging lens. Even if the node does not deviate from the axis of rotation of the device.

51 shows a line scan camera unit including a line scan camera body 5152, an imaging lens 5168, a camera mount 5163, a tilt mount 5166, and a rail mount 5167. The imaging lens 5168 and the line scan camera body 5162 are mounted on the camera mount 5163, the camera mount 5163 is mounted on the tilt mount 5166, and the tilt mount is mounted on the rail mount 5171. The rail mount may be mounted on the camera rail 5135 formed on the rail end 5134.

The tilt mount 5166 includes an upper tilting ends 5166a, a lower tilt mount fastening end 5166c and a tilt adjusting device 5166b. The camera mount mounting portion 5163c at the bottom of the camera mount 5163 is fixed by a pair of pressing members provided at an upper portion of the tilting end. In addition, if the tilt adjustment device is used, the tilt angle can be finely adjusted. Using the tilt mount, the optical axis 5113 of the imaging lens 5168 can rotate in the Y"-Z" plane, and can also be used to accurately level the optical axis of the imaging lens. 52 and 53 show photographs of the line scan camera unit of the third embodiment of the present invention.

[Example 4]

54 shows a scanning omnidirectional camera of the fourth embodiment of the present invention. The scanning omnidirectional camera includes a line scan camera unit 5460, a panoramic head unit 5430, a driving unit 5440, a power and signal exchange unit 5450, and an image processing unit 5480.

In Fig. 54, identification number 5412 is a center point fixed relative to the scanning omnidirectional camera. The center point is the origin of the world coordinate system and the origin of the camera coordinate system. And the axis passing vertically through the center point is the Y-axis. On the other hand, the camera coordinate system is a fixed coordinate system relative to the scanning omnidirectional camera, and when the scanning omnidirectional camera rotates horizontally, the camera coordinate system also rotates horizontally. The three orthogonal axes of the camera coordinate system are the X'-axis, the Y'-axis, and the Z'-axis.

The Y'-axis of the camera coordinate system coincides with the Y-axis of the world coordinate system, and is also the device rotation axis 5414 of the scanning omnidirectional camera. The driving unit has a hollow having a rotating axis of rotation as the axis of rotation of the device 5414, and a rotating stage 5442 capable of rotating around the rotating axis of the device, and a fixed end 5544 having a hollow having the rotating axis of the device as the axis of rotational symmetry. , Driving means (5446) capable of rotating the device rotating end at a uniform angular velocity.

The panoramic head portion 5430 includes a rail end 5344 including a camera rail 5435 formed in one direction 5416 perpendicular to the device rotation axis 5414 at the top, and the device rotation axis at the bottom as a rotational symmetry axis. It includes a fastening end (5432) having a hollow to be fastened to the rotating end (5442). The direction that the camera rail 5435 of the rail end faces is the X'-axis, and is referred to as a rail axis. Therefore, the center point 5212 or origin of the world coordinate system is the intersection of the rail surface of the camera rail 5435 and the device rotation axis 5414 as shown in FIG. 54.

The line scan camera unit 5460 includes a line scan camera body 5542, an imaging lens 5468, a camera mount 5503, and a rail mount 5468. The line scan camera body 5502 has a lens fastening portion 5545 on the front surface, a line scan sensor 5546 installed in a top-to-bottom direction of the line scan camera body, and a mounting portion at the bottom. The imaging lens 5468 has an optical axis 5313 mounted on the lens fastening part perpendicular to the longitudinal direction of the line scan sensor 5546.

The rail mount 5467 includes a lower rail mount fastening end and an upper rail mount rotating end. The rail mount fastening end includes a pair of pressing members fastened to the camera rail 5435 of the rail end 5344 and a rail-mounted movement locking device that adjusts a separation distance between the pair of pressing members. Therefore, when the rail mount locking device is loosened, the line scan camera unit 5460 can move along the camera rail 5435 at the rail end.

The rotating end of the rail mount is provided with a rail mount rotation lock. When the rail mount rotation lock is loosened, the rail mount rotation end can rotate relative to the rail mount fastening end about the rail mount rotation shaft 5467f. The rail mount axis of rotation 5467f is parallel to the device axis of rotation 5414.

One side of the camera mount 5503 is fastened to the top of the rail mount rotating end, and the mounting portion of the bottom of the line scan camera body is fastened to the top of the camera mount. The position where the mounting portion is fastened to the upper portion of the camera mount is movable in the direction of the optical axis 5313 of the imaging lens 5468.

In the third coordinate system, the node N of the imaging lens 5468 is the origin, the optical axis 5113 of the imaging lens is the Z"-axis, and the horizontal line passing through the origin and perpendicular to the Z"-axis is the X"-axis. And the axis passing through the origin perpendicular to both the X"-axis and the Z"-axis is the Y"-axis. The optical axis, by definition, naturally passes the node, and the Z"-axis is perpendicular to the longitudinal direction of the line scan sensor 5546.

Therefore, the Y-axis and the Y'-axis always coincide, but the Y"-axis is generally not a vertical line. Also, the Z-axis and the Z'-axis and the Z"-axis do not generally coincide. The Z-axis is fixed, the Z'-axis rotates as the line scan camera rotates, and the Z"-axis changes accordingly by changing the direction the line scan camera part faces even if the line scan camera does not rotate. That is, the optical axis of the imaging lens ( The Z"-axis defined by 5413) is independent of the rail axis 5416, which is determined in the direction of the camera rail.

The power and signal exchange unit 5450 is coupled to the rotor 5542 coupled to the hollow inside the fastening end 5302 of the panoramic head part 5430 and the hollow inside the fixed end 5544 of the driving unit 5440 The stator 5542 to be drawn, the camera side power and signal line 5456 drawn upward from the rotor and connected to the line scan camera body, and the driving side connected to a power source and an image processing unit respectively drawn downward from the fixed end Power and signal lines 5458. The image processing unit 5480 generates an omnidirectional image by integrating the image signal transmitted from the line scan camera unit 5460 in the horizontal direction.

GPS (Global Positioning Unit) is a technology developed for military use, and it is a device that informs the exact position on the earth by using signals from three or more satellites located on the Earth's orbit. Is becoming. Although the accuracy of a typical GPS reaches several meters, some modern equipment has a precision of several centimeters (cm).

In order to match the omnidirectional image acquired by the scanning omnidirectional camera with the actual geographic location, it is necessary to know the exact location of the scanning omnidirectional camera, and it is clear that the exact location of the scanning omnidirectional camera should be the location of the center point 5212. Therefore, if a GPS sensor is attached to measure the position of the scanning omnidirectional camera, the position should be as close to the center point as possible, and above all, it should be clearly located on the rotation axis. Therefore, the GPS sensor is mounted on the fastening end 5302 of the panoramic head portion 5430, but it is preferable to install it in a position close to the rotation axis of the device as much as possible.

Also, in order to match the omnidirectional image with the actual landscape, the orientation must be known from the omnidirectional image. To this end, a digital compass must also be mounted on the fastening end to know the direction the optical axis of the imaging lens is facing when the line scan camera rotates. Therefore, after monitoring the direction in which the optical axis of the imaging lens is directed using a digital compass installed as close as possible to the reference point, it may be desirable to record corresponding pixel information when the optical axis is directed in a specific direction.

For example, in the image signal obtained when the optical axis of the imaging lens is accurately pointing to the north, the information of the horizontal pixel, that is, the position (column number, row number) on the omnidirectional image plane and the rotation direction of the omnidirectional camera (i.e., the clock Direction, or counter-clockwise), it is possible to map the omnidirectional image and the direction in the actual landscape, and thus it is possible to link with the actual map. Therefore, it is preferable to have a sensor unit having a digital compass and GPS on the camera body or the panoramic head.

For this reason, it is preferable that the image processing unit adds the orientation information collected from the digital compass included in the sensor unit and the location information collected from the GPS to the omnidirectional image surface in the form of meta data. Meta data refers to the place or time the photo or video was taken, the size of the photo, the aperture exposure level, the photographer's personal information, etc., in the header of a digital picture (still picture) or video (movie file). .

If the sensor unit includes a digital compass and GPS, the orientation information and location information may be collected by the image processing unit and added to the omnidirectional image in the form of meta data. In addition, an accurate image capturing time can be known using a clock embedded in the image processing unit. If this time information is added in the form of metadata, it is possible to grasp both the location where the omnidirectional image was taken and the time and direction of a specific subject of the omnidirectional image, and such information can be used for various purposes.

[Example 5]

Example 4 is an embodiment in which the interchangeable line scan camera unit is attached to the main body of the scan-type omnidirectional camera. Meanwhile, Example 5 is an example in which the line scan camera unit of Example 3 is mounted on the main body of the scan-type omnidirectional camera.

The panoramic head part 5530, the driver part 5540, the power and signal exchange part 5550, the image processing part 5580, and the center point 5212 of the world coordinate system, etc., except for the line scan camera part 5560, are all used in Example 4 and same. The driving unit is rotatable about the device axis of rotation 5514 and has a rotating end 5542 having a hollow having a rotating axis of rotation as the rotating axis of the device, and a fixed end (5544) having a hollow having a rotating axis of rotation as the rotating axis of the device. , A driving means (5546) for rotating the rotating end at a uniform angular velocity.

The panoramic head part 5530 has a rail end 5534 including a camera rail 5535 formed in one direction 5516 perpendicular to the device rotation axis 5514 on the upper part, and a rotational symmetry axis for the device rotation axis at the lower part. It has a hollow and includes a fastening end (5532) fastened to the rotating end. The direction in which the camera rail 5535 of the rail end faces is the X'-axis direction, and is also referred to as a rail axis.

The line scan camera unit 5560 includes a line scan camera body 5562, an imaging lens 5568, a camera mount 5603, and a rail mount 5671. The line scan camera body includes a line scan sensor 5564 installed therein from the top to the bottom of the line scan camera body. The imaging lens 5682 is mounted on the front of the line scan camera body with the optical axis 5513 perpendicular to the longitudinal direction of the line scan sensor, and the lens fastening part 5655 is provided on the front of the line scan camera body, and the line A dovetail-shaped mounting portion is provided below the scan camera body 5602.

As described above, the node N of the imaging lens 5682 is the origin of the third coordinate system, the optical axis 5513 is the Z"-axis of the third coordinate system, and the horizontal line passing through the origin and perpendicular to the Z"-axis is X"- It is an axis, and the axis perpendicular to both the Z"-axis and the X"-axis is the Y"-axis. The imaging lens 5468 has a rotationally symmetrical shape around the Z"-axis, and has a support portion with a center as its origin, and the support portion is a neck portion having a smaller radius than the front or rear side in the Z"-axis direction. To form.

The camera mount 5603 includes a support, a bottom plate, and a camera mount mount, and an upper portion of the support supports the support of the imaging lens. The imaging lens can be rotated about the Z"-axis while mounted on the support, and cannot be moved in the Z"-axis direction. The bottom of the support is fixed to the bottom plate. The line scan camera body is supported by the bottom plate without being fixed.

The rail mount 5567 is composed of a lower rail mount fastening end and an upper rail mount rotating end. The lower portion of the rail mount fastening end further includes a pair of pressing members fastened to the camera rails of the rail ends and a rail-mounted movement locking device that adjusts a separation distance between the pair of pressing members. The rail mount rotating end is provided with a rail mount rotation lock. When the rail mount rotation lock is loosened, the rail mount rotation end is rotatable relative to the rail mount fastening end about the rail mount rotation shaft 5567f. The rail mount axis of rotation 5567f is parallel to the device axis of rotation 5514. The tilt mount fastening end is fastened to the top of the rail mount rotating end, and the camera mount mounting part is fastened to the upper part of the tilting end.

In the most preferred state, both the device axis of rotation 5514 and the rail mount axis of rotation 5567f and the Y"-axis passing through the node of the imaging lens 5568f coincide.

The line scan camera unit may further include a tilt mount. The tilt mount includes an upper tilting end and a lower tilt mount fastening end and a tilt adjusting device. The tilting end can be rotated in the Y"-Z" plane.

The power and signal exchange unit 5550 includes a rotor 552 coupled to the hollow inside the fastening end of the panoramic head part, a stator 5544 coupled to the hollow inside the fixed end of the driving part, and an upper part of the rotor It includes power and signal lines (5558) to be drawn out and connected to the line scan camera body, and power and signal lines (5558) to the driving part, which are drawn downwardly from the fixed end and connected to a power source and an image processing unit, respectively. The image processing unit 5580 generates an omnidirectional image by integrating the image signal transmitted from the line scan camera in the horizontal direction.

56 is a photograph of a scanning omnidirectional camera according to a fifth embodiment of the present invention, and FIGS. 57 and 58 are examples of omnidirectional images acquired by the scanning omnidirectional camera. In FIG. 56, the line scan camera unit is equipped with a fisheye lens having an angle of view of 190°, but the angle of view of an image captured by the line scan camera by design is 180°.

It can be seen from FIG. 57 or FIG. 58 that the landscape below was not captured. The reason is that the camera rail covers the angle of view of the fisheye lens. The angle of view of this fish-eye lens is 190°, and the rails under the lens cover the angle of view of the fish-eye lens, so images near the floor cannot be captured.

[Example 6]

59 is a conceptual diagram for understanding the structure of a scanning stereoscopic omnidirectional camera of the sixth embodiment of the present invention, and a line scan camera including an imaging lens and a camera body only has optical axes 5913L, 5913R and nodes (N _L , N _R ). The node points N _L and N _R of the two cameras are separated by a distance D, and the middle of the two points coincides with the center point 5912.

When the line scan camera unit of the second embodiment or the line scan camera unit of the third embodiment of the present invention is used, the node point of the imaging lens can be exactly on the rail axis 5916. Further, even if the direction of the optical axis of the imaging lens is changed using the rail mount, the position of the node of the imaging lens can be prevented from moving. This is a state in which a perfect stereoscopic omnidirectional image can be obtained.

59, the optical axes 5913L and 5913R of the two line scan camera units are parallel to each other, and in FIG. 59, the optical axes of the two line scan cameras are all directed to the Z'-axis direction. The Z'-axis direction is the front direction of the stereoscopic omnidirectional camera. As described above, a method of obtaining a stereoscopic omnidirectional image when the optical axes of two cameras are parallel to each other is referred to as a parallel method. In addition, in order to feel a three-dimensional effect similar to that seen by a human eye, the distance D between the node points N _L and N _R of the two line scan cameras should be similar to the distance between the two eyes of a person. When a stereoscopic omnidirectional image is captured by the parallel method, it corresponds to a case where the viewpoint is fixed at an infinite distance, so that all objects at a finite distance appear to protrude forward.

FIG. 60 shows a case where the viewpoint P is moved from the center point 6012 to a point at a distance of a radius L. The optical axes (6013L, 6013R) of the imaging lens mounted on the two line scan cameras are inclined with an angle θ toward the front (Z'-axis) while the node points (N _L , N _R ) of the two line scan cameras are unchanged. Illustrate the case. Since the scanning stereoscopic omni-directional camera rotates around the Y'-axis, a circle with a radius of L from the center point becomes the reference, and all objects closer to it appear to be protruding, and objects outside the circle appear to have entered the back. It becomes visible. The method in which the optical axes of the two cameras intersect each other is referred to as a cross method.

61 shows a case in which the distance between the node points of the two line scan camera units is changed from D to D'. As described above, the distance between the two eyes of a person is about 6.35 cm. Therefore, when the distance between the node points of the two line scan camera units is about 6.35 cm in the scanning stereoscopic omnidirectional camera, it is possible to obtain a stereoscopic image showing a stereoscopic feeling similar to that seen by a human eye.

However, if the distance to the subject is much larger than the distance between the node points of the two line scan cameras when taking an omnidirectional image outdoors, where most subjects are at a considerable distance, the stereoscopic effect may be weak or virtually absent. Therefore, if the average distance of the subjects is considerably large, a three-dimensional effect can be increased by opening a gap between two nodes. FIG. 61 is a conceptual diagram showing a state in which a stereoscopic omnidirectional image is obtained in a parallel method by increasing the distance between two node points from D to D'.

Meanwhile, FIG. 62 is a conceptual diagram illustrating a case in which the distance between the node points of two line scan camera units is changed from D to D'in the crossing method of FIG. 60. In FIGS. 60 and 62, the angle 2θ between the optical axes 6213L and 6213R of the two line scan camera units is the same. On the other hand, the spacing between the two nodes increased from D to D'. Therefore, the intersection of the two optical axes was also changed from P to P', and the radius drawn by the starting point or intersection at the center point 6212 was also increased from L to L'.

In this way, the distance between the node points of the two line scan camera units and the angle between the optical axes of the two line scan camera units can be independently changed. In other words. The angle between the optical axes can be changed without changing the distance between the nodes, and the distance between the two nodes can be changed without changing the angle between the optical axes. And in any case, the centers of the two nodes are located on the axis of rotation of the device.

63 is a plan view of a scanning stereoscopic omnidirectional camera of the sixth embodiment of the present invention. The vertical axis of the world coordinate system is the Y-axis, and the two horizontal axes are the Z-axis and the X-axis. On the other hand, the vertical axis in the camera coordinate system is the Y'-axis, and the two horizontal axes are the Z'-axis and the X'-axis. The origin of the world coordinate system and the origin of the camera coordinate system are the same and are located at a center point 6312 in FIG. 63. The Y-axis and Y'-axis are also device rotation axes.

A rail end 6340 is installed in a horizontal direction on the upper end of the fastening end 632 of the panoramic head portion, and a camera rail is formed on the upper end of the rail end. The direction that the rail end faces is referred to as the X'-axis, and the X'-axis is also referred to as a rail axis. That is, the X'-axis is the rail axis, and the Y'-axis is the device rotation axis. Also, the Z'-axis perpendicular to the X'-axis and Y'-axis will be referred to as a cross axis. The center point will be the center of the rail surface of the camera rail. Therefore, the center point, which is the origin of the coordinate system, is the intersection of the device rotation axis rotating about the Y'-axis and the rail surface of the camera rail.

The first line scan camera unit 6360L includes a first line scan camera body 6636L, a first imaging lens 6368L, and a first rail mount 6367L, and a second line scan camera unit 6360R is It includes a 2 line scan camera body 6636R, a second imaging lens 6368R, and a second rail mount 6263R. Inside the first line scan camera body 6636L and inside the second line scan camera body 6636R, the first line scan sensor 6264L and the second line scan sensor installed from the top to the bottom of the line scan camera body, respectively. (6364R).

The first imaging lens 6368L is mounted on the front surface of the first line scan camera body 6636L, and the optical axis 6313L of the first imaging lens is perpendicular to the longitudinal direction of the first line scan sensor 6264L. Further, the second imaging lens 6368R is mounted on the front of the second line scan camera body 6636R, and the optical axis 6313R of the second imaging lens is perpendicular to the longitudinal direction of the second line scan sensor 6264R. .

The first rail mount (6367L) is rotated about a first rail mount rotation axis parallel to the device rotation axis with respect to the first rail mount fastening end and the first rail mount fastening end coupled to the camera rail of the rail end (6334). It consists of a first rail-mounted rotating end of the possible top. Likewise, the second rail mount 6367R provides a second rail mount rotation axis parallel to the device rotation axis with respect to the lower second rail mount fastening end and the lower second rail mount fastening end fastened to the camera rail of the rail end 6344. It consists of a second rail-mounted rotating end that can be rotated to the center.

The first rail mount (6367L) is fastened to the camera rail of the rail end (6334) to move in the X'-axis direction, and the second rail mount (6367R) is also fastened to the rail end in the X'-axis direction It is possible to move.

When the rail mount is fastened to the rail end 6344 by the structure of the rail mount, the first rail mount rotation axis and the second rail mount rotation axis exist in the X'-Y' plane determined by the device rotation axis and the rail axis. Therefore, the first rail mount axis of rotation and the second rail mount axis of rotation are always parallel to the device axis of rotation, and when the rail mount is moved such that the center of the rail mount is above the center point 6312, the rail mount axis of rotation and the device axis of rotation coincide.

In addition, by using the line scan camera unit of the second embodiment, it is possible to make the node of the imaging lens come on the rail mount axis of rotation, and when using the line scan camera part of the third embodiment, the node of the imaging lens is always on the rail mount axis of rotation. can do.

Therefore, in the most preferable state, the direction of the first optical axis 6313L of the first imaging lens 6368L can be changed to a horizontal direction, and the position of the node of the first imaging lens is the first rail regardless of the direction of the first optical axis It is on the mount axis of rotation and is always on the X'-Y' plane. Similarly, the direction of the second optical axis 6313R of the second imaging lens 6368R can be changed horizontally, and the position of the node point of the second imaging lens is on the second rail-mounted rotation axis regardless of the direction of the second optical axis. , Also always on the X'-Y' plane.

As shown in FIG. 63, the first imaging lens and the first line scan camera body may rotate integrally around the first rail mount rotation axis. Likewise, the second imaging lens and the second line scan camera body can be rotated integrally about the second rail mount rotation axis.

In FIG. 63, the node points N _L and N _R of the two line scan camera units 6360L and 6360R are both located on the X'-axis, and the distance between the two node points is D. In order to obtain a three-dimensional effect similar to what a human eye sees, the rail mount movement lock of the first rail mount 6367L and the second rail mount 6367R can be changed between the nodes of the two line scan cameras. After loosening, move in the X'-axis direction, and after reaching the desired position, the rail mount movement locks can be locked to secure the rail mounts 6367L, 6367R to the rail ends 6340.

In addition, separately from this, the first line scan camera part 6360L can be rotated about the first rail mount rotation axis, and the second line scan camera part 6360R can also be symmetrically rotated around the second rail mount rotation axis. In this case, this corresponds to a case where a stereoscopic omnidirectional image is acquired by an intersection method. In FIG. 63, the angle between the optical axis 6313L of the first imaging lens 6368L and the optical axis 6313R of the second imaging lens 6368R with the Z'-axis is θ, in this case, the distance L from the central point 6312 This is the case when the focus is on the object point P in.

Whether the distance D between the node points of the two line scan camera units is adjusted or the direction of the optical axis of the two line scan camera units is adjusted, it is necessary to always move symmetrically to obtain a desirable stereoscopic omnidirectional image. In this case, the optical axes 6313L and 6313R of the two line scan camera units always intersect in the Z'-axis. When shooting in parallel, the optical axes of the two line scan cameras are parallel, so they do not intersect on the Z'-axis, but in this case, it can be considered to intersect mathematically at an infinite distance. Therefore, in the preferred scanning stereoscopic omnidirectional camera, the midpoint of the node point of the two line scanning cameras is located on the device rotation axis of the scanning stereoscopic omnidirectional camera, and the optical axes of the two line scanning cameras always intersect in the Z'-axis.

The scanning stereoscopic omnidirectional camera of the sixth embodiment of the present invention includes a first line scan camera unit, a second line scan camera unit, a panoramic head unit, a driving unit, and an image processing unit. When a point fixed relative to the scanning stereoscopic omnidirectional camera is called a center point, and a vertical line passing through the center point is called a device rotation axis, the panoramic head portion has a rail end having a camera rail formed in one direction perpendicular to the device rotation axis on the upper part. Including, the driving unit includes a driving means for rotating the panoramic head unit at a uniform angular velocity around the rotation axis of the device.

The first line scan camera unit includes a first line scan camera body, a first imaging lens fastened to the front of the first line scan camera, and a first rail mount under the first line scan camera body. The first line scan camera body includes a first line scan sensor installed therein from the top to the bottom of the line scan camera body, and the first imaging lens has a first optical axis perpendicular to the longitudinal direction of the first line scan sensor. It is mounted on the front of the line scan camera body.

The first rail mount includes a first rail mount fastening end at a lower portion that is fastened to a camera rail at a rail end, and an upper part that can be rotated around a first rail mount rotation axis that is parallel to the rotation axis of the device with respect to the first rail mount fastening end. It consists of one rail-mounted swivel end. Further, the structure of the second line scan camera unit is the same as that of the first line scan camera unit.

The image processing unit generates a stereoscopic omnidirectional image by integrating the image signals transmitted from the first line scan camera unit and the second line scan camera in the horizontal direction.

FIG. 64 is a photograph of the first and second line scan camera units set in a parallel method, FIG. 65 is a photograph showing a case where the distance between the two line scan camera units is increased in order to increase a three-dimensional effect, and FIG. 66 is between the two line scan camera units Increase the interval of, and show the first line scan camera unit and the second line scan camera unit set by the intersection method. Meanwhile, FIG. 67 shows a state in which two line scan camera units are mounted on the main body of the scan-type omnidirectional camera.

FIG. 68 shows the original stereoscopic omnidirectional image obtained by the parallel method, and FIG. 69 is a stereoscopic omnidirectional image sample obtained by converting the stereoscopic omnidirectional image of FIG. 68 for viewing with anaglyph glasses. In other words, if you look at this screen while wearing anaglyph glasses, you can feel a three-dimensional effect. Of course, you can also watch stereoscopic images in different ways, such as polarized glasses or HMD.

Such a scanning stereoscopic omnidirectional camera may be used to generate a high-resolution omnidirectional image or a 3D omnidirectional image of a tourist attraction, a building, a stadium, or a performance hall. The user can extract a linear aberration correction image in an arbitrary direction from the transmitted omnidirectional image and watch a stereoscopic image with a device such as an HMD.

6332: fastening end
6334: rail stage
6360L, 6360R: First and second line scan camera units
6367L, 6367R: First and second rail mounts
6368L, 6368R: First and second imaging lenses
6362L, 6362R: First and second line scan camera bodies
N _L , N _R : 1st and 2nd node point
6313L, 6313R: 1st and 2nd optical axis
6364L, 6364R: First and second line scan sensors

Claims (33)

delete delete In the main body of the scanning type omnidirectional camera including a panoramic head portion and a driving portion and a power and signal exchange unit,
When a point fixed relative to the main body of the scanning type omnidirectional camera is called a center point, and a vertical line passing through the center point is called a device rotation axis,
The driving unit has a hollow having the rotation axis of the device as a rotational symmetry axis, and a rotation end capable of rotating around the rotation axis of the device,
And a fixed end having a hollow having a rotation axis of the axis of rotation of the device axis,
It includes a driving means capable of rotating the rotating end at a uniform angular speed,
The panoramic head portion has a rail end having a camera rail formed in one direction perpendicular to the rotation axis of the device,
A hollow having a rotating axis of rotation as the axis of rotation of the device at a lower portion, and a fastening end fastened to the rotating end,
The power and signal exchange unit is a rotor coupled to the hollow inside the fastening end,
The stator coupled to the hollow inside the fixed end,
Power and signal lines toward the camera withdrawn above the rotor;
And a power and signal line toward the driving part drawn out below the stator,
The panoramic head portion includes a counterweight that is mounted on the camera rail,
The counterweight is a scanning omnidirectional camera body, characterized in that it can be moved along the camera rail.
According to claim 3,
The counterweight is a scan-type omnidirectional camera body further comprising a pair of compression members engaged with the camera rail and a counterweight movement lock for adjusting the separation distance of the pair of compression members.
delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete In the scanning stereoscopic omnidirectional camera including a first line scan camera unit, a second line scan camera unit, a panoramic head unit, a driving unit and an image processing unit,
When a point fixed relative to a scanning stereoscopic omnidirectional camera is called a center point, and a vertical line passing through the center point is called a device rotation axis,
The panoramic head portion includes a rail end having a camera rail formed in one direction perpendicular to the rotation axis of the device,
The driving unit includes driving means capable of rotating the panoramic head unit at a uniform angular velocity around the rotation axis of the device.
The first line scan camera unit includes a first line scan camera body, a first imaging lens fastened to the front of the first line scan camera body, and a first rail mount under the first line scan camera body,
The first line scan camera body includes a first line scan sensor installed therein from the top to the bottom of the first line scan camera body,
The first imaging lens is mounted on the front of the body of the first line scan camera so that the optical axis is perpendicular to the longitudinal direction of the first line scan sensor,
The first rail mount is a first portion of an upper portion that is rotatable about a first rail mount rotation axis parallel to the rotation axis of the device with respect to a first rail mount fastening end and a first rail mount fastening end that are fastened to a camera rail of the rail end. It consists of a rail mount swivel stage,
The second line scan camera unit includes a second line scan camera body, a second imaging lens fastened to the front of the second line scan camera body, and a second rail mount under the second line scan camera body,
The second line scan camera body includes a second line scan sensor installed therein from the top to the bottom of the second line scan camera body,
The second imaging lens is mounted on the front surface of the body of the second line scan camera so that the optical axis is perpendicular to the longitudinal direction of the second line scan sensor,
The second rail mount is a second upper portion that is rotatable about a second rail mount rotation axis parallel to the rotation axis of the device with respect to a second rail mount fastening end and a second rail mount fastening end that are fastened to the camera rail of the rail end. It consists of a rail mount swivel stage,
The image processing unit generates a stereoscopic omnidirectional image by integrating the image signals transmitted from the first line scan camera unit and the second line scan camera in the horizontal direction,
The first rail mount fastening end includes a pair of pressing members fastened to the camera rail of the rail ends and a first rail-mounted moving lock for adjusting the separation distance between the pair of pressing members,
The first rail-mounted rotating end includes a first rail-mounted rotary lock,
When the first rail mount rotation lock is loosened, the first rail mount rotation end is rotatable relative to the first rail mount fastening end about the first rail mount rotation axis,
The first line scan camera unit includes a first camera mount,
One side of the first camera mount is fastened to the upper portion of the first rail mount rotating end,
The first line scan camera body has a dovetail-shaped mounting portion at the bottom,
The mounting portion is fastened to the top of the first camera mount,
The position where the mounting portion is fastened to the upper portion of the first camera mount is movable in the optical axis direction of the first imaging lens,
The second rail mount fastening end includes a pair of pressing members fastened to the camera rail of the rail ends and a second rail-mounted moving lock for adjusting the separation distance between the pair of pressing members,
The second rail-mounted rotating end is provided with a second rail-mounted rotary lock,
When the second rail mount rotation lock is loosened, the second rail mount rotation end can rotate relative to the second rail mount fastening end about the second rail mount rotation axis,
The second line scan camera unit includes a second camera mount,
One side of the second camera mount is fastened to the upper portion of the second rail mount rotating end,
The second line scan camera body has a dovetail-shaped mounting portion at the bottom,
The mounting portion is fastened to the top of the second camera mount,
The position in which the mounting portion is fastened to the upper portion of the second camera mount is a scanning stereoscopic omnidirectional camera, characterized in that it can be moved in the optical axis direction of the second imaging lens.
delete In the scanning stereoscopic omnidirectional camera including a first line scan camera unit, a second line scan camera unit, a panoramic head unit, a driving unit and an image processing unit,
When a point fixed relative to a scanning stereoscopic omnidirectional camera is called a center point, and a vertical line passing through the center point is called a device rotation axis,
The panoramic head portion includes a rail end having a camera rail formed in one direction perpendicular to the rotation axis of the device,
The driving unit includes driving means capable of rotating the panoramic head unit at a uniform angular velocity around the rotation axis of the device.
The first line scan camera unit includes a first line scan camera body, a first imaging lens fastened to the front of the first line scan camera body, and a first rail mount under the first line scan camera body,
The first line scan camera body includes a first line scan sensor installed therein from the top to the bottom of the first line scan camera body,
The first imaging lens is mounted on the front of the body of the first line scan camera so that the optical axis is perpendicular to the longitudinal direction of the first line scan sensor,
The first rail mount is a first portion of an upper portion that is rotatable about a first rail mount rotation axis parallel to the rotation axis of the device with respect to a first rail mount fastening end and a first rail mount fastening end that are fastened to a camera rail of the rail end. It consists of a rail mount swivel stage,
The second line scan camera unit includes a second line scan camera body, a second imaging lens fastened to the front of the second line scan camera body, and a second rail mount under the second line scan camera body,
The second line scan camera body includes a second line scan sensor installed therein from the top to the bottom of the second line scan camera body,
The second imaging lens is mounted on the front surface of the body of the second line scan camera so that the optical axis is perpendicular to the longitudinal direction of the second line scan sensor,
The second rail mount is a second upper portion that is rotatable about a second rail mount rotation axis parallel to the rotation axis of the device with respect to a second rail mount fastening end and a second rail mount fastening end that are fastened to the camera rail of the rail end. It consists of a rail mount swivel stage,
The image processing unit generates a stereoscopic omnidirectional image by integrating the image signals transmitted from the first line scan camera unit and the second line scan camera in the horizontal direction,
The first line scan camera unit includes a first camera mount having a first support, a first bottom plate, and a first mounting unit,
The first imaging lens has a rotationally symmetrical shape around the optical axis of the first imaging lens, hereinafter referred to as the first optical axis,
A first support portion centered on a node point of the first imaging lens, hereinafter referred to as a first node point,
The first support portion forms a neck portion having a smaller radius than the front or rear side around the first node,
The upper portion of the first support supports the first support,
The first imaging lens is rotatable about the first optical axis while mounted on the first support,
The bottom of the first support is fixed to the first bottom plate,
The first line scan camera body is supported by the first bottom plate without being fixed,
The first mounting portion has a shape of a dovetail at a lower side of the first bottom plate,
The second line scan camera unit includes a second camera mount having a second support, a second bottom plate, and a second mounting unit,
The second imaging lens has a rotationally symmetrical shape around the optical axis of the second imaging lens, hereinafter referred to as the second optical axis,
A second support portion centered on a node point of the second imaging lens, hereinafter referred to as a second node point,
The second support portion forms a neck portion having a smaller radius than the front or rear side around the second node,
The upper portion of the second support supports the second support,
The second imaging lens is rotatable about the second optical axis while mounted on the second support,
The bottom of the second support is fixed to the second bottom plate,
The body of the second line scan camera is supported by the second bottom plate without being fixed,
The second mounting portion has a shape of a dovetail at a lower side of the second bottom plate,
The first line scan camera unit further includes a first tilt mount and a first rail mount,
The first tilt mount includes an upper first tilting end and a lower first tilt mount fastening end and a first tilt adjusting device,
The first tilting end is rotatable in a plane determined by a vertical line passing through the first optical axis and the first node point,
The first rail mount includes a lower first rail mount fastening end and an upper first rail mount rotating end,
A lower portion of the first rail mount fastening end further includes a pair of pressing members fastened to the camera rails of the rail ends and a first rail-mounted moving lock for adjusting the separation distance between the pair of pressing members,
The first rail-mounted rotating end includes a first rail-mounted rotary lock,
When the first rail mount rotation lock is loosened, the first rail mount rotation end can be rotated relative to the first rail mount fastening end about the first rail mount rotation axis.
The first rail mount axis of rotation is parallel to the axis of rotation of the device,
The first tilt mount fastening end is fastened to the upper portion of the first rail mount rotating end,
The first mounting portion is fastened to the first tilting end,
The second line scan camera unit further includes a second tilt mount and a second rail mount,
The second tilt mount includes an upper second tilting end and a lower second tilt mount fastening end and a second tilt adjusting device,
The second tilting end can be rotated in a plane determined by a vertical line passing through the second optical axis and the second node point,
The second rail mount includes a lower second rail mount fastening end and an upper second rail mount rotating end,
A lower portion of the second rail mount fastening end further includes a pair of pressing members fastened to the camera rails of the rail ends and a second rail-mounted moving lock for adjusting the separation distance between the pair of pressing members,
The second rail-mounted rotating end is provided with a second rail-mounted rotary lock,
When the second rail mount rotation lock is loosened, the second rail mount rotation end can rotate relative to the second rail mount fastening end about the second rail mount rotation axis.
The second rail mount axis of rotation is parallel to the axis of rotation of the device,
The second tilt mount fastening end is fastened to the upper portion of the second rail mount rotating end,
Scanning stereoscopic omnidirectional camera, characterized in that the second mounting portion is fastened to the second tilting end.
The method of claim 30,
An upper portion of the first tilt mount includes a pair of pressing members fastened with the first mounting portion and a camera mount locking device for adjusting a separation distance between the pair of pressing members,
A scanning stereoscopic omnidirectional camera comprising an upper portion of the second tilt mount and a pair of pressing members fastened with a second mounting portion and a camera mount locking device for adjusting a separation distance between the pair of pressing members.
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