1328137 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，因此常見於 保全件事或機器人視覺領域中。然而，習知之全景取像系 統對於局部區域或特定物體影像之解析度較差，無法單獨 使用於影像品質要求較高的應用場合。 目削常見的廣角取像及特定影像區域變焦方式有許多 種： 1. 利用可動式反射面鏡搭配攝影機進行廣角影像擷 取，以及特定目標影像的放大。然而，此方法並無法即時 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得 廣角影像。但是此方法容易導致視野受限，並且二次反射 容易造成影像變形與輸入光亮不足等影像品質問題。 3. 採用數位變焦方式將目標區域的影像進行放大或壓 縮後輸出。但是數位變焦放大容易導致運算量增加，因此 影像變形與失真率較高。尤其在辨識追蹤的應用上，容易 產生誤判。 從以上可知，在習知的技術中，並沒有一個能夠有效 地解決廣角影像擷取以及特定目標影像放大的要求。 【發明内容】 5 1328137 P53950082TW 22517twf.doc/e 因此，本發明提供一種全景取像裝置與方法，可以有 效地進行廣角取像’並且可以清晰地取得特定的目標影像。 本發明提供一種全景取像裝置，包括一廣角度反射面 鏡和一支架。其中，支架可以用來固定廣角度反射面鏡， 並且在支架上配置多數個可調整平台。另外，在這些可調 整平台中則配置了一影像擷取單元。此影像擷取單元對焦 於廣角度反射面鏡令所呈現的影像，以擷取一全景影像了 並且影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。 在本發明的一個實施例中，在影像擷取單元還配置— 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，其延伸方向朝向廣角度反射面鏡。而在滑轨上，配^ 有一高度調整平台，其用來使影像擷取裝置在滑軌上滑 動，以調整影像擷取單元與廣角度反射面鏡之間的距離= 從另一角度來看，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 影像之視野區域。 々 旦本發明另外也提供—種全景取像方法，包括揭取一全 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& 整對全景影像之視野，以追縱目標物。 由於本發明提供了多個自由度使影像擷取單元能夠 整對全景影像的影像視野，因此本發明可以有效地揭取廣 6 1328137 P53950082TW 22517twf.doc/e 可調整平台之結構圖。請參照圖2，在本實施例中，調整 平台112和114,分別包括驅動單元202和204,以及固定 架212、214和216。其中，影像擷取單元22〇則配置在固 定架212、214和216之間。 在本實施例中’驅動單元202和204可以是步進馬達， 其可以分別控制影像擷取單元220以X軸為轴心旋轉一角 度，或是以Y軸為軸心旋轉一角度，以調整影像擷取單元 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1〇〇還包括光學聚焦 單元116’用來調整影像擷取單元所擷取之全景影像的清 晰度。在此領域具有通常知識者應當可知，雖然在圖中並 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100中，還可以配置一滑執 118 ’其延伸方向是朝著廣角度反射面鏡。另外，在滑執 118上還配置有一高度調整平台12〇。 圖3綠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。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在滑軌118上平移，以調整影像擷取單元22〇與廣 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Y軸的延伸方向互相垂直。藉此，本發 8 1328137 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22〇。 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則纟會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。請合併參照 圖4和圖5，本發明所提供之全景取像的原理如下：^ 擷取單元402可以聚焦於廣角度反射面鏡4〇4上，以=步1328137 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 capturing system has the advantage of an ultra-wide field of view, so it is often used in security or robot vision. However, the conventional panoramic image capturing system has a poor resolution for local areas or specific object images, and cannot be used alone in applications with high image quality requirements. There are many types of wide-angle image capture and zooming in a specific image area: 1. Use a movable mirror to match the camera for wide-angle image capture and zooming of specific target images. However, this method does not immediately obtain image information of all parties. 2. Use a convex mirror with another plane mirror for secondary reflection to obtain a wide-angle image. However, this method is liable to cause a limited field of view, and secondary reflection is liable to cause image quality problems such as image distortion and insufficient input brightness. 3. Use the digital zoom method to enlarge or compress the image of the target area and output it. However, the digital zoom magnification tends to increase the amount of calculation, so the image distortion and distortion rate are high. Especially in the application of identification tracking, it is easy to produce false positives. From the above, it is known that none of the conventional techniques can effectively solve the requirements of wide-angle image capture and specific target image enlargement. SUMMARY OF THE INVENTION 5 1328137 P53950082TW 22517twf.doc/e Accordingly, the present invention provides a panoramic image capturing apparatus and method that can efficiently perform wide-angle image capturing and can clearly obtain a specific target image. The present invention provides a panoramic image capturing device comprising a wide angle reflecting mirror and a bracket. Among them, the bracket can be used to fix the wide-angle reflecting mirror, and a plurality of adjustable platforms are arranged on the bracket. In addition, an image capture unit is provided in these adjustable platforms. The image capturing unit focuses on the image displayed by the wide-angle reflecting mirror to capture a panoramic image and the image capturing unit can adjust the platform to have a plurality of degrees of freedom to adjust the panoramic image. Field of view. In one embodiment of the invention, the image capture unit is further configured with an optical focus lens for adjusting the sharpness of the panoramic image. In addition, the panoramic image capturing apparatus provided by the present invention may further include a slide rail extending in a direction toward the wide angle reflecting mirror. On the slide rail, there is a height adjustment platform for sliding the image capturing device on the slide rail to adjust the distance between the image capturing unit and the wide-angle reflecting mirror = from another angle 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 image. The present invention additionally provides a panoramic image capture method that includes extracting a panoramic image and detecting whether a target appears in the panoramic image. When a target object is detected in the panoramic image, the target of the panoramic image is used for most of the degrees of freedom & Since the present invention provides a plurality of degrees of freedom for the image capturing unit to image the field of view of the panoramic image, the present invention can effectively uncover the structure of the adjustable platform of the wide 1 1328137 P53950082TW 22517twf.doc/e. Referring to Figure 2, in the present embodiment, the adjustment platforms 112 and 114 include drive units 202 and 204, and mounts 212, 214 and 216, respectively. The image capturing unit 22 is disposed between the fixing frames 212, 214 and 216. In the present embodiment, the driving units 202 and 204 may be stepping motors, which may respectively control the image capturing unit 220 to rotate an angle with the X axis as an axis, or rotate the angle with the Y axis as an axis to adjust The field of view area of the panoramic image captured by the image capturing 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. Referring to FIG. 1, the panoramic image capturing device 1A further includes an optical focusing unit 116' for adjusting the sharpness of the panoramic image captured by the image capturing unit. It will be apparent to those of ordinary skill in the art that although not shown in the drawings, however, 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 capturing apparatus 100, it is also possible to configure a slider 118' which extends in a direction toward a wide angle reflecting mirror. In addition, a height adjustment platform 12 is further disposed on the slipper 118. Figure 3 is a block diagram showing a structure of a slip and 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, which can drive the fixing frame 304 to drive the image capturing unit 220 to translate on the sliding rail 118 to adjust the distance between the image capturing unit 22 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 Y axes in FIG. Thus, the present invention provides a three degree space of freedom to adjust the image capturing unit 22A. FIG. 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 a step of a panoramic image capturing method according to a preferred embodiment of the present invention. Figure. Referring to FIG. 4 and FIG. 5 together, the principle of panoramic image acquisition provided by the present invention is as follows: ^ The capturing unit 402 can focus on the wide-angle reflecting mirror 4〇4, with = step
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，偵测有無目標物。在本實 施例中，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”），則可以 重複執行步驟S501。As shown in step S501, a panoramic image is captured. 4〇6 is the focus of the image capturing unit 402 on the wide-angle reflecting mirror 404. Next, as described in step S503, it is detected whether or not there is an object. In this embodiment, the condition of the target may be 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 (i.e., "NO" indicated in step S503), step S501 can be repeatedly executed.
相對地，當一目標物ΟΒ出現時，會經由入射線414 而f廣角度反射面鏡404中呈現一虛像0Β，，並且影像擷 取單元402會經由反射線418，而從反射面鏡404中偵測 到目標物OB ^其中，414為一切線反射面。當影像擷取單 元402從廣角度反射面鏡404中偵測到目標物時(也就 是步驟S503所標示的“是”），則在本發明的實施例中， 可以進行步驟S505，就是判斷是否對目標物〇B進行動態 追蹤。若是不欲對目標物0B進行動態追蹤(也就是步驟 S505所標示的“否”），則重複S5〇1等步驟。 §本發明判斷需要追蹤目標物OB時，則如步驟S507 所述’利用多個自由度來調整影像擷取單元4〇2所擷取之 9 1328137 P53950082TW 22517twf.doc/e 全景影像的視野區域。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蹤目標物之作動示意圖。請人 併參照圖5和圖6,當影像擷取單元402偵測到目標物H 時，可以利用上述圖1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406移至602,而動態追蹤目標物 OB。另外，在較佳的實施例中，影像擷取單元4〇2還可以 藉由圖1中之光學聚焦單元，而進行步驟S5〇9，就 全景影像的清晰度。 。 雖然上述提供了一種全景取像的步驟流程，然而在此 領域具有通常知識者應當可知，圖5中的步驟S5〇5依昭 不同的需求’是可以被省略的。也就是說，影像#員取單g 402可以被σ又疋成當發現目標物時， S507二以對目標物進行動態追蹤。 仃乂驟 综上所述’由於本發明對影像操取單元提供了三产* 像擷取單元能夠任意調整對全景茲 對任一目標物進行動態追蹤。 卫 限定發:'已以較佳實施例揭露如上，然其並非用以 和範圍二當在不脫離本發明之精神 範圍當視後附之，因此本發明之保護 【圖式簡單朗Γ _界定者為準。 像裝。依照本發明之一較佳實施例的-種全景取 P53950082TW 22517twf.doc/( P53950082TW 22517twf.doc/( 之一較佳實施例的一種支架與 高度調整平台之結構圖。 圖4给元氣你R2 A ~In contrast, when a target object appears, a virtual image is displayed in the wide angle reflecting mirror 404 via the incident ray 414, and the image capturing unit 402 passes through the reflecting line 418 from the reflecting mirror 404. The target object OB ^ is detected, and 414 is the reflection surface of all lines. When the image capturing unit 402 detects the target object from the wide-angle reflecting mirror 404 (that is, YES indicated in step S503), in the embodiment of the present invention, step S505 may be performed, that is, whether Dynamic tracking of the target 〇B. If it is not desired to dynamically track the object 0B (i.e., "No" indicated in step S505), the steps of S5〇1 and the like are repeated. § When the present invention determines that the target object OB needs to be tracked, the field of view of the 9 1328137 P53950082TW 22517twf.doc/e panoramic image captured by the image capturing unit 4〇2 is adjusted by using multiple degrees of freedom as described in step S507. FIG. 6 is a schematic diagram of an operation of tracking an object by an image capturing unit according to a preferred embodiment of the present invention. Referring to FIG. 5 and FIG. 6, when the image capturing unit 402 detects the target object H, the panoramic image capturing device 1 of the above FIG. 1 can be used to rotate or translate 'to shift the focus from the original 406. To 602, the target OB is dynamically tracked. In addition, in the preferred embodiment, the image capturing unit 4〇2 can also perform the step S5〇9 on the sharpness of the panoramic image by the optical focusing unit in FIG. . While the above provides a flow of steps for panoramic image capture, it will be appreciated by those of ordinary skill in the art that step S5 〇 5 of Figure 5 can be omitted. That is to say, the image #人取单 g 402 can be smashed into σ and then when the target is found, S507 two is to dynamically track the target. In summary, the present invention provides a three-product* image capturing unit capable of arbitrarily adjusting the dynamic tracking of any object to the panorama. The present invention has been disclosed in the above preferred embodiments, and is not intended to be used in the scope of Subject to it. Like loading. According to a preferred embodiment of the present invention, a panoramic view P53950082TW 22517twf.doc/ (P53950082TW 22517twf.doc/ (a preferred embodiment of a bracket and height adjustment platform structure diagram. Figure 4 gives you the energy R2 A ~
圖2繪示為依照本發明 可調整平台之結構圖。 圖3繪示為依照本發明 之—較佳實施例的一種滑執與 π圖、6㈣為朗本發明之—較佳實侧的—種影像擷 取單70追蹤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 P53950082TW 22517twf.doc/e 412 :入射線 414 :切線反射面 418 :反射線 1328137 S501、S503、S505、S507、S509 :全景取像方法之步 驟流程 0B :目標物 OB’ ：目標物虛像2 is a block diagram of an adjustable platform in accordance with the present invention. 3 is a schematic diagram showing the operation of a sliding target and a π map according to a preferred embodiment of the present invention, and FIG. 6(4) is a preferred image of the image capturing unit 70 of the 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 P53950082TW 22517twf.doc / e 412: incoming ray 414: tangent reflective surface 418: Reflection line 1328137 S501, S503, S505, S507, S509: Step of panoramic image capture method Flow 0B: Target object OB': target virtual image
1212