200827909 P53950082TW 22517twf.doc/e 九、發明說明： 【發明所屬之技術領域】 本發明是有關於一種全景取像技術，且特別是有關於 一種利用多個自由度來調整視野區域的全景取像技術^ ; 【先前技術】 全景取像系統具有超廣視野範圍之優點，因此常、 保全件事或機器人視覺領域中。然而，習知之全景取於 統對於局部區域或特定物體影像之解析度較差，無法”系 使用於影像品質要求較高的應用場合。 早獨 種 目前常見的廣角取像及特定影像區域變焦方式有許多 1.利用可動式反射面鏡搭配攝影機進行廣角麥 =以及狀目鄉像敝大。“，此綠並無法即時 獲得各方位之影像資訊。 、 2:採用凸面反射鏡搭配另一平面鏡進行二次反射取栌 ^角影像。但是此方法容易冑致視野受限，並且二次反= 容易造，影像變形與輸人光亮从等影像品質問題。 1用數位㈣、方式將目標區域的影像進行放大或壓 &後輸出。但是數位變赋大容㈣致運算量增加，因此 =像2形與失真率較高。尤其在辨識追縱的應用上，容易 產生誤判。 ’並沒有一個能夠有效 影像放大的要求。 從以上可知，在習知的技術中 地解決廣角影像擷取以及特定目標 【發明内容】 200827909 P53950082TW 22517twf.doc/e _因隹此2發明提供—種全景取縣置與方法，可以有 >太^尹日取像，亚且可以清晰地取得特定的目標影像。 ==提供-種全景取像錢，包括―廣肢反射面 其中’支架可關來固定廣角度反射面鏡， 二，在支$上配置多數個可調整平台。另外，在這些可調 j2則配置了一影像操取單元。此影像擷取單元對焦 、:f if ί射面鏡中所呈現的影像，以梅取-全景影像’ =且衫像擷取單元可以藉由調整平台而具有多數個自由度 的移動，以調整對全景影像之視野區域。 在本發明的-個實施例中，在影像擷取單元還配置一 光學聚焦透鏡上’其用來調整全景影像的清晰度。 另外，本發明所提供的全景取像裝置還可以包括一滑 軌，ΐ延伸方向朝向廣角度反射面鏡。而在滑軌上，配置 有南度调正平台，其用來使景多像擷取裝置在滑軌上滑 動調整影像擷取單元與廣角度反射面鏡之間的距離。 攸另角度來看，本發明提供一種全景取像方法，包 括擷取一全景影像，並且提供多數個自由度來調整對全景 影像之視野區域。 ’、 旦/本發明另外也提供-種全景取像方法，包括擷取一全 景影像，並且偵測在全景影像中是否出現一目標物。當在 全景影像中偵測到有目標物時，則利用多數個自由度i調 整對全景影像之視野，以追蹤目標物。 由於本發明提供了多個自由度使影像擷取單元能夠調 整對全景影像的影像視野，因此本發明可以有效地娜廣 200827909 P53950082TW 22517twf.doc/e 角影^並且可以清晰地取得蚊的目標影像。 祕上述和其他目的、特徵和優點能更明顯 明如下。寸牛祕實施例’並配合所關式，作詳細說 【實施方式】200827909 P53950082TW 22517twf.doc/e IX. Description of the Invention: [Technical Field] The present invention relates to a panoramic imaging technique, and more particularly to a panoramic imaging technique for adjusting a field of view using multiple degrees of freedom ^ [Prior Art] The panoramic image acquisition system has the advantage of a wide field of view, so it is often used in the field of security, or in the field of robot vision. However, the conventional panoramic view is not suitable for local areas or specific object images, and cannot be used in applications with high image quality requirements. Many 1. Using a movable reflecting mirror with a camera for wide-angle wheat = and the shape of the township is like a big. "This green can not instantly get the image information of all parties. 2: Use a convex mirror with another plane mirror for secondary reflection to take the angle image. However, this method is prone to limit the field of view, and the secondary inverse = easy to make, image distortion and loss of light from the image quality problems. 1 Use the digit (4) method to enlarge or press the image of the target area and output it. However, the digital variable is increased (4), resulting in an increase in the amount of computation, so = like 2 shape and distortion rate is higher. Especially in the application of identifying tracking, it is easy to produce false positives. There is no requirement for effective image enlargement. It can be seen from the above that the wide-angle image capture and the specific target are solved in the prior art. [Invention content] 200827909 P53950082TW 22517twf.doc/e _ Because the 2 invention provides a panoramic access method and method, there may be > Too ^ Yin Day image, Ya and can clearly obtain a specific target image. == Provide - a kind of panoramic image money, including "wide limb reflector" where the bracket can be closed to fix the wide-angle reflector, and second, the majority of the adjustable platform can be configured on the support $. In addition, an adjustable image capture unit is provided in these adjustable j2. The image capture unit focuses on the image displayed in the :f if ί mirror, and the image capture unit can be adjusted by adjusting the platform to have a majority of degrees of freedom. The field of view of the panoramic image. In an embodiment of the invention, the image capture unit is further provided with an optical focus lens for adjusting the sharpness of the panoramic image. In addition, the panoramic image capturing device provided by the present invention may further comprise a slide rail extending in a direction toward the wide angle reflecting mirror. On the slide rail, a south degree alignment platform is arranged, which is used to slide the scene multi-view device on the slide rail to adjust the distance between the image capturing unit and the wide-angle reflecting mirror. From another perspective, the present invention provides a panoramic image capture method that includes capturing a panoramic image and providing a plurality of degrees of freedom to adjust the field of view of the panoramic image. Further, the present invention also provides a panoramic image capturing method including capturing a panoramic image and detecting whether a target appears in the panoramic image. When a target object is detected in the panoramic image, the majority of the degrees of freedom i are used to adjust the field of view of the panoramic image to track the object. Since the present invention provides a plurality of degrees of freedom to enable the image capturing unit to adjust the image field of view of the panoramic image, the present invention can effectively image the image of the mosquitoes and can clearly obtain the target image of the mosquitoes. . The above and other objects, features and advantages will be more apparent. In detail, the embodiment of the cow is used in conjunction with the closed type.
2會對各針對圖式有詳細的制。而在每個圖式 中、、有相同或類似編號的構件，則具有相同的功能，而 以下敘述中將不會特別強調。 圖1緣示為依照本發明之_較佳實施例的一種全景取 像裝置的結構圖。請參照圖i，本發 取 裝置⑽，可以包括底座102、支㈣4和殼體= 反射面鏡108。其卜支架104可以立於底座1〇2上，而 廣角度反射面鏡108可以由支架1〇4所固定。 ^在本實施例中，廣角度反射面鏡108可以是凸面鏡或 疋圓椎狀的反射面鏡。而在支架1〇4上，配置多數個可調 整平台，例如112和114。另外，在調整平台11;2和114 中，還配置一影像擷取單元(如圖2的影像擷取單元22〇)， 例如電耦合裝置(CCD)攝影機，其對焦於廣角度反射面鏡 108，以擷取一全景影像。 在另外一些選擇實施例中，全景取像裝置1〇〇還可以 包括一殼體106，其配置於底座1〇2上，並且由支架ι〇4 所固定。而廣角度反射面鏡1〇8可以配置於殼體1〇6的了貝 端。 、 圖2繪示為依照本發明之一較佳實施例的一種支架輿 7 200827909 P53950082TW 22517twf.doc/e 可調整平台之結翻。請參關2，在本實施例中敕 平台112和114 ’分別包括驅動單元202和204，以及固2 木212、214和216。其中，影像擷取單元22 定架212、214和216之間。 在固 在本實施例中’驅動單元搬和綱可以是步進 其可以分雜健_取單元22(ηχχ㈣如旋轉—達’2 will have a detailed system for each schema. In each drawing, the same or similar numbered components have the same function, and will not be particularly emphasized in the following description. BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a block diagram showing a configuration of a panoramic image pickup apparatus in accordance with a preferred embodiment of the present invention. Referring to Figure i, the present device (10) may include a base 102, a support 4, and a housing = reflective mirror 108. The bracket 104 can stand on the base 1〇2, and the wide-angle reflecting mirror 108 can be fixed by the bracket 1〇4. In the present embodiment, the wide-angle reflecting mirror 108 may be a convex mirror or a dome-shaped reflecting mirror. On the bracket 1〇4, a plurality of adjustable platforms, such as 112 and 114, are arranged. In addition, in the adjustment platforms 11; 2 and 114, an image capturing unit (such as the image capturing unit 22 of FIG. 2), such as an electric coupling device (CCD) camera, is focused on the wide-angle reflecting mirror 108. To capture a panoramic image. In still other alternative embodiments, the panoramic image capture device 1A may further include a housing 106 disposed on the base 1〇2 and secured by the bracket ι4. The wide-angle reflecting mirror 1〇8 can be disposed at the distal end of the housing 1〇6. 2 is a bracket 舆 7 200827909 P53950082TW 22517twf.doc/e adjustable platform splicing according to a preferred embodiment of the present invention. Referring to Figure 2, in the present embodiment, the platforms 112 and 114' include drive units 202 and 204, respectively, and solid blocks 212, 214 and 216. The image capturing unit 22 is disposed between the frames 212, 214 and 216. In the present embodiment, the driving unit can be stepped, and the unit can be divided into two groups: ηχχ(四)如旋转—达’
度，或是以Y軸為轴心旋轉—角度，以調整影像操取單^ 220所擷取之全景影像的視野區域。在本發明的實施例 中’ X軸的延伸方向與γ軸的延伸方向二者互相垂直。 —請繼續參照圖1 ’全景取像裝置UK)還包括光學聚隹 單兀η6’絲難影像擷取單元所娜之全景影像的= 晰^。在此領域具有通常知識者應當可知，雖然在圖中: 未繪示出來，然而在光學聚焦單元116内，還配置了多片 光學鏡片，其用來調整影像擷取單元的焦距。 另外，在全景取像裝置1〇〇中，還可以配置—滑軌 118，其延伸方向是朝著廣角度反射面鏡。另外，在滑轨 118上還配置有一高度調整平台12〇。 圖3繪示為依照本發明之一較佳實施例的一種滑轨與 高度調整平台之結構圖。請參照圖3，高度調整平台12〇 包括驅動單元302和固定架304。其中，驅動單元3〇2也 包括一步進馬達，其可以驅動固定架304帶動影像擷取單 元220在滑執118上平移，以調整影像擷取單元220與廣 角度反射面鏡之間的距離。其中，滑執118的延伸方向， 可以與圖2中X與γ轴的延伸方向互相垂直。藉此，本發 8 200827909 P53950082TW 22517twf.doc/e 明提供了三度空間的自由度來調整影像擷取單元22Q。 圖4繪示為依照本發明之一較佳實施例的一種擷取全 景影像之原理示意圖，而圖5則繪示為依照本發明之—較 佳實施例的一種全景取像方法之步驟流程圖。請合併參^ 圖4和圖5，本發明所提供之全景取像的原理如下：影像 擷取單元402可以聚焦於廣角度反射面鏡4〇4上，以=步 驟S501所述，擷取一全景影像。其中，4〇6為影像擷取單 ( 元402在廣角度反射面鏡404上的焦點。 接著，如步驟S503所述，偵測有無目標物。在本實 軛例中，目標物的條件可以是一移動的物體，或是移動的 速度需要達到一預設值以上的物體。在本發明中，若是沒 有發現目標物(也就是步驟S503所標示的“否”），則可= 重序旻執行步驟S501。 相對地，當一目標物0B出現時，會經由入射線414 而，廣角度反射面鏡404中呈現一虛像0B，，並且影像擷 取早元402會經由反射線418，而從反射面鏡4〇4中偵測 到目標物OB。其中，414為一切線反射面。當影像擷取單 =4〇2從廣角度反射面鏡4〇4中偵測到目標物〇B時(也就 =步驟S503所標示的“是”），則在本發明的實施例中， 進!!步驟S505，就是判斷是否對目標物〇B進行動態 ^從右疋不欲對目標物〇B進行動態追蹤(也就是步驟 斤標示的“否，，），則重複S501等步驟。 戶、，當本發明判斷需要追蹤目標物OB時，則如步驟S507 ^利用多個自由度來調整影像擷取單元402所擷取之 9 200827909 P53950082TW 22517twf.doc/e 全京影像的視野區域。圖6繪示為依照本發明之一較佳實 施例的一種影像擷取單元追縱目標物之作動示意圖。請合 併參照圖5和圖6,當影像擷取單元4〇2偵測到目標物 時，可以利用上述圖丨的全景取像裝置1〇〇進行旋轉或平 移’以將焦點由原來的傷移至6〇2，而動態追縱目標物 0—B另外，在較佳的實施例中，影像擷取單元4⑽還可以 藉由圖1十之光學聚焦單元，而進行步驟S509，就是調整 全景影像的清晰度。 " 雖然上述提供了—種全景取像的步職程，然而在此 賴具^通常知識者應當可知，圖5巾的倾S5()5依照 =1=而求被省略的。也就是說， 當發現目標物3夺，則直接進行= 7以對目軚物進行動態追蹤。 L: 門的Γίΐ述’由於本發崎影像擷取單元提供了三度空 的視野區；:::影===夠任意調整對全景影像 對任一目標物進行動態=爾效地操取全景影像，並 限_3上===揭離非用以 和範圍内，當可作騎者在稀縣發明之精神 範圍當視後附之申:動與潤部’因此本發明之保護 【圖式簡單二4利關所界定者為準。Degree, or rotate the angle with the Y axis as the axis to adjust the field of view of the panoramic image captured by the image manipulation unit 220. In the embodiment of the present invention, both the extending direction of the X-axis and the extending direction of the γ-axis are perpendicular to each other. - Please continue to refer to Figure 1 'The panoramic image capture device UK') also includes the optical image of the panoramic image of the single image of the 兀6' wire-difficult image capturing unit. It will be appreciated by those of ordinary skill in the art that although not shown in the drawings, in the optical focusing unit 116, a plurality of optical lenses are provided for adjusting the focal length of the image capturing unit. Further, in the panoramic image taking device 1A, a slide rail 118 may be disposed, which extends in a direction toward a wide angle reflecting mirror. In addition, a height adjustment platform 12 is disposed on the slide rail 118. 3 is a structural diagram of a slide rail and a height adjustment platform in accordance with a preferred embodiment of the present invention. Referring to FIG. 3, the height adjustment platform 12A includes a driving unit 302 and a fixing frame 304. The driving unit 3〇2 also includes a stepping motor that can drive the fixing frame 304 to drive the image capturing unit 220 to translate on the sliding handle 118 to adjust the distance between the image capturing unit 220 and the wide-angle reflecting mirror. Wherein, the extending direction of the slider 118 may be perpendicular to the extending direction of the X and γ axes in FIG. 2 . Accordingly, the present invention provides a degree of freedom of three degrees of space to adjust the image capturing unit 22Q. 4 is a schematic diagram showing the principle of capturing a panoramic image according to a preferred embodiment of the present invention, and FIG. 5 is a flow chart showing the steps of a panoramic image capturing method according to a preferred embodiment of the present invention. . 4 and FIG. 5, the principle of the panoramic image acquisition provided by the present invention is as follows: the image capturing unit 402 can focus on the wide-angle reflecting mirror 4〇4, as described in step S501, Panoramic image. Wherein, 4〇6 is an image capturing sheet (the focus of the element 402 on the wide-angle reflecting mirror 404. Next, as described in step S503, the presence or absence of the object is detected. In the example of the real yoke, the condition of the object can be It is a moving object, or an object whose moving speed needs to reach a predetermined value or more. In the present invention, if the target object is not found (that is, "No" indicated in step S503), then = reordering Step S501 is performed. In contrast, when a target object OB appears, a virtual image OB is presented in the wide-angle reflecting mirror 404 via the incident ray 414, and the image capturing early element 402 is transmitted via the reflective line 418. The target object OB is detected in the reflecting mirror 4〇4, where 414 is the reflection surface of all the lines. When the image capturing single=4〇2 is detected from the wide-angle reflecting mirror 4〇4, the target object 〇B is detected. (that is, YES indicated in step S503), in the embodiment of the present invention, step S505, it is judged whether or not the target object 〇B is dynamically moved from the right side to the target object 〇B Dynamic tracking (that is, "No," in the step of the step, repeat S501, etc. Steps: When the present invention determines that the target object OB needs to be tracked, the image capture unit 402 is adjusted by using a plurality of degrees of freedom as shown in step S507. 9 200827909 P53950082TW 22517twf.doc/e Figure 6 is a schematic diagram showing the operation of the image capturing unit to track the target object according to a preferred embodiment of the present invention. Referring to Figure 5 and Figure 6, when the image capturing unit 4〇2 detects In the case of the target, the panoramic image capturing device 1〇〇 of the above figure can be used to rotate or translate 'to shift the focus from the original injury to 6〇2, and to dynamically track the target 0-B. In the embodiment, the image capturing unit 4 (10) can also perform the step S509 by adjusting the optical image of FIG. 10 to adjust the sharpness of the panoramic image. "Although the above provides a step of panoramic image capturing, However, it should be known to those skilled in the art that the inclination S5()5 of Fig. 5 is omitted according to =1=. That is to say, when the target is found to be 3, it is directly performed = 7 to Dynamic tracking of stolen goods. L: Γί statement of the door Because the Osaki image capturing unit provides a three-degree view field;:::shadow===Adjustable to adjust the panoramic image to any target dynamically = ergonomically manipulate the panoramic image, and limit _3 On ===Uncovering the non-use and scope, when the rider can be used in the spiritual scope of the invention of the Xianxian County, it is attached to the application: the movement and the Run Department's protection of the invention [the simple figure of the second The definition is final.
圖1緣示為依昭太^RR 像裝置的結構圖。、、'之一較佳實施例的一種全景取 200827909 P53950082TW 22517twf.doc/e 圖2繪示為依照本發明之一較佳實施例的一種支架與 可調整平台之結構圖。 圖3繪示為依照本發明之一較佳實施例的一種滑執與 高度調整平台之結構圖。 圖4繪示為依照本發明之一較佳實施例的一種擷取全 景影像之原理示意圖。 圖5繪示為依照本發明之一較佳實施例的一種全景取 像方法之步驟流程圖。 圖6繪示為依照本發明之一較佳實施例的一種影像擷 取單元追縱目標物之作動示意圖。 【主要元件符號說明】 100 :全景取像裝置 102 :底座 104 :支架 106 :殼體 108、404 :廣角度反射面鏡 112、114 :可調整平台 116 :光學聚焦單元 118 :滑執 120 :高度調整平台 202、204、302 :驅動單元 212、214、216、304 :固定架 220、402 ··影像擷取單元 406、602 :焦點 11 200827909 P53950082TW 22517twf.doc/e 412 :入射線 414 :切線反射面 418 :反射線 S501、S503、S505、S507、S509 ··全景取像方法之步 驟流程 OB :目標物 OB’ ：目標物虛像Fig. 1 is a structural view of the device of the Yituto RR image device. A panoramic view of a preferred embodiment 200827909 P53950082TW 22517twf.doc/e FIG. 2 is a block diagram of a bracket and an adjustable platform in accordance with a preferred embodiment of the present invention. 3 is a block diagram of a sliding and height adjustment platform in accordance with a preferred embodiment of the present invention. FIG. 4 is a schematic diagram showing the principle of capturing a panoramic image according to a preferred embodiment of the present invention. FIG. 5 is a flow chart showing the steps of a panoramic image capturing method in accordance with a preferred embodiment of the present invention. FIG. 6 is a schematic diagram showing the operation of an image capturing unit to track a target according to a preferred embodiment of the present invention. [Main component symbol description] 100: panoramic image capturing device 102: base 104: bracket 106: housing 108, 404: wide-angle reflecting mirror 112, 114: adjustable platform 116: optical focusing unit 118: sliding 120: height Adjustment platform 202, 204, 302: drive unit 212, 214, 216, 304: mount 220, 402 · image capture unit 406, 602: focus 11 200827909 P53950082TW 22517twf.doc / e 412: into the ray 414: tangent reflection Face 418: Reflection lines S501, S503, S505, S507, S509 · Steps of the panoramic image capturing method Flow OB: Target object OB': Target virtual image
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