US20090040291A1 - Omniview motionless camera orientation system - Google Patents

Omniview motionless camera orientation system Download PDF

Info

Publication number
US20090040291A1
US20090040291A1 US12/102,699 US10269908A US2009040291A1 US 20090040291 A1 US20090040291 A1 US 20090040291A1 US 10269908 A US10269908 A US 10269908A US 2009040291 A1 US2009040291 A1 US 2009040291A1
Authority
US
United States
Prior art keywords
image
camera
approximately hemispherical
images
capturing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
US12/102,699
Inventor
Danny A. McCall
H. Lee Martin
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sony Corp
Original Assignee
Sony Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to US07/699,366 priority Critical patent/US5185667A/en
Priority to US08/014,508 priority patent/US5359363A/en
Priority to US08/189,585 priority patent/US5384588A/en
Priority to US33966394A priority
Priority to US38691295A priority
Priority to US08/863,584 priority patent/US6002430A/en
Priority to US09/315,962 priority patent/US7382399B1/en
Application filed by Sony Corp filed Critical Sony Corp
Priority to US12/102,699 priority patent/US20090040291A1/en
Publication of US20090040291A1 publication Critical patent/US20090040291A1/en
Application status is Abandoned legal-status Critical

Links

Classifications

    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00Details of television systems
    • H04N5/222Studio circuitry; Studio devices; Studio equipment ; Cameras comprising an electronic image sensor, e.g. digital cameras, video cameras, TV cameras, video cameras, camcorders, webcams, camera modules for embedding in other devices, e.g. mobile phones, computers or vehicles
    • H04N5/225Television cameras ; Cameras comprising an electronic image sensor, e.g. digital cameras, video cameras, camcorders, webcams, camera modules specially adapted for being embedded in other devices, e.g. mobile phones, computers or vehicles
    • H04N5/2251Constructional details
    • H04N5/2254Mounting of optical parts, e.g. lenses, shutters, filters or optical parts peculiar to the presence or use of an electronic image sensor
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00Details of television systems
    • H04N5/222Studio circuitry; Studio devices; Studio equipment ; Cameras comprising an electronic image sensor, e.g. digital cameras, video cameras, TV cameras, video cameras, camcorders, webcams, camera modules for embedding in other devices, e.g. mobile phones, computers or vehicles
    • H04N5/225Television cameras ; Cameras comprising an electronic image sensor, e.g. digital cameras, video cameras, camcorders, webcams, camera modules specially adapted for being embedded in other devices, e.g. mobile phones, computers or vehicles
    • H04N5/2259Means for changing the camera field of view without moving the camera body, e.g. nutating or panning optics or image-sensors

Abstract

A method and apparatus for capture of a spherical image is disclosed. The present invention includes at least one camera having a lens with at least a 180° field-of-view for capturing a hemispherical image. In a first embodiment, a second hemispherical image is created corresponding to a mirror image of the hemispherical image captured by the camera. In a second embodiment, two back-to-back cameras capture first and second hemispherical images, respectively. In both embodiments, a converter combines the two images along their outside edges to form a single, spherical image. Finally, the converter stores the complete spherical image for later retrieval and perspective corrected viewing.

Description

  • This application is a continuation-in-part of U.S. application Ser. No. 08/386,912 filed Feb. 8, 1995, which is a continuation of U.S. application Ser. No. 08/339,663 filed Nov. 11, 1994, which is a continuation of U.S. application Ser. No. 08/189,585 filed Jan. 31, 1994 (now U.S. Pat. No. 5,384,588), which is a continuation-in-part of U.S. application Ser. No. 08/014,508 filed Feb. 8, 1993 (now U.S. Pat. No. 5,359,363), which is a continuation-in-part of U.S. application Ser. No. 07/699,366 filed May 13, 1991 (now U.S. Pat. No. 5,185,667). This application is also a continuation-in-part of U.S. application Ser. No. 08/373,446 filed Jan. 17, 1995, which is a continuation-in-part of U.S. application Ser. No. 08/189,585 filed Jan. 31, 1994 (now U.S. Pat. No. 5,384,588).
  • BACKGROUND OF THE INVENTION
  • 1. Technical Field
  • This invention relates generally to an apparatus and method for capturing an image having a spherical field-of-view for subsequent viewing. Specifically, the present invention relates to a system involving a single camera having a lens with a field of view of at least 180° and associated method for capturing a first hemispherical image for subsequent combination into the spherical image. Alternatively, when the system comprises two cameras with such lenses mounted in a securely attached back-to-back arrangement, the system and method captures two distinct hemispherical images for subsequent combination into the spherical image. The preferred system includes a single-use, still image camera.
  • 2. Background Art
  • The discussion of the background art related to the invention described herein relates to two subjects: spherical image capture and subsequent captured image transformations.
  • Spherical Image Capture
  • The goal of imaging technology is to make the observer feel as though he or she is part of the image. Prior art systems have partially accomplished this goal. Unfortunately, the ability of prior art systems to make the user feel part of the captured images are proportional to the cost of the image capture system.
  • Relating to inexpensive image capturing systems, camera companies have introduced disposable cameras. A disposable camera generally refers to a single-use camera that includes film, a lens, and a camera body, all in a single compact shell. The film includes either a single frame of film or multiple frames of film. After the entire roll of film has been exposed, the entire camera is returned for film developing. All the photographer receives back are the developed prints or slides. The manufacturer then recycles the parts from the returned camera, adds film, and ships the camera to a retailer for sale again. Disposable cameras come in various types including regular magnification cameras, telephoto cameras, water resistant cameras, and panoramic cameras.
  • Images captured by panoramic cameras provide wide angle horizontal images (left to right) but lack wide angle vertical images (up and down). Accordingly, while capturing a wide field-of-view on one plane (horizontal), the photographer loses the wide field-of-view on the other plane (vertical). Rotating the camera only alters the wide angle direction. The following example illustrates this shortcoming. Suppose a photographer desires to capture the grandeur of a dense forest from within the forest. While an image captured by a panoramic camera would include a sweeping cross section of trees (left to right), it would only include, at most, the middle portions of the nearest trees. To capture the forest floor and canopy, the photographer would have to take multiple panoramic photographs from looking almost straight down to looking straight up. The final image of the forest would then only be realized with the laborious task of manually cutting and pasting the different images together. Unfortunately, the left and right ends of the final image become distorted and cannot be easily resolved. The distortions created are similar to those encountered in map-making where one tries to represent a round earth on a flat map. Specifically, objects and relative distances near the extremes of the wide angle image become distorted. Additionally, this approach wastes film.
  • A slightly more complex panoramic camera employs a scanning drive mechanism which selectively exposes vertical strips of film as the camera scans from extreme to extreme. However, scanning panoramic cameras invariably introduce noise into captured images through vibrations generated from their scanning motions as well as take a relatively long period of time to capture the image.
  • Other wide-angle image capturing systems exist. For example, IMAX and 70 mm films provide high definition images on a large screen. However, these screens are flat. While a viewer can feel part of the scene when staring straight ahead, this feeling dissipates where the screen ends.
  • Another imaging system includes the OMNIMAX camera and projection system where an image was recorded and later projected on a spherical screen to produce an image 180 degrees wide, 100 degrees up from the horizon and 20 degrees below. While this system offers significant improvements over a flat screen projection system, the viewer's absorption into the displayed images is limited by the edges of the displayed image.
  • Another image capture and display system is U.S. Pat. No. 5,023,725 to McCutchen. McCutchen discloses a dodecahedral imaging system which breaks a sphere into 12 discrete polyhedrons. Each section has its own dedicated CCD camera. The images are captured and displayed on the walls of a hemispherical room. This system offers increased resolution through increasing the number of cameras used. However, as the number of cameras increase, the bulk of the imaging system likewise increases. Additionally, each camera has to be perfectly aligned with respect to the other cameras to adequately capture a spherical image. Using McCutcheon's system, increased resolution requires more bulk and more expense. Furthermore, the images of each camera are not integrated together. Accordingly, the system fails to account for the seams between the displayed images. While quickly moving images may mask these edge effects, the edge effects may be more noticeable with slow moving images.
  • Captured Image Transformations
  • Camera viewing systems are used in abundance for surveillance, inspection, security, and remote sensing. Remote viewing is critical, for example, for robotic manipulation tasks. Close viewing is necessary for detailed manipulation tasks while wide-angle viewing aids positioning of the robotic system to avoid collisions with the work space. Most of these systems use either a fixed-mount camera with a limited viewing field to reduce distortion, or they utilize mechanical pan-and-tilt platforms and mechanized zoom lenses to orient the camera and magnify its image. In the application where orientation of the camera and magnification of its image are required, the mechanical solution is large in size and can subtend a significant volume making the viewing system difficult to conceal or use in close quarters. Several cameras are usually necessary to provide wide-angle viewing of the work space.
  • In order to provide a maximum amount of viewing coverage or subtended angle, mechanical pan/tilt mechanisms usually use motorized drives and gear mechanisms to manipulate the vertical and horizontal orientation. An example of such a device is shown in U.S. Pat. No. 4,728,839 issued to J. B. Coughlan, et al, on Mar. 1, 1988. Collisions with the working environment caused by these mechanical pan/tilt orientation mechanisms can damage both the camera and the work space and impede the remote handling operation. Simultaneously, viewing in said remote environments is extremely important to the performance of inspection and manipulation activities.
  • Camera viewing systems that use internal optics to provide wide viewing angles have also been developed in order to minimize the size and volume of the camera and the intrusion into the viewing area. These systems rely on the movement of either a mirror or prism to change the tilt-angle of orientation and provide mechanical rotation of the entire camera to change the pan angle of orientation. Additional lenses are used to minimize distortion. Using this means, the size of the camera orientation system can be minimized, but “blind spots” in the center of the view result. Also, these systems typically have no means of magnifying the image and or producing multiple images from a single camera.
  • Further, references that may be relevant to the evaluation of the captured image transformations as described herein include U.S. Pat. Nos. 4,772,942 issued to M. J. Tuck on Sep. 20, 1988; 5,067,019 issued to R. D. Juday on Nov. 19, 1991; and 5,068,735 issued to K. Tuchiya, et al on Nov. 26, 1991.
  • OBJECTS OF THE INVENTION
  • Accordingly, it is an object of the present invention to provide an apparatus that captures at least one hemispherical image for later manipulation.
  • Another object of the invention is to provide an apparatus which captures a spherical image from two images produced by two cameras.
  • Another object of the invention is to form a single spherical image from the captured image or images.
  • It is a further object of the invention to provide a spherical image capture system and method without the bulk of a large number of cameras and the necessity of multiple camera alignment.
  • Another object of the invention is to reduce the number of seams in a formed image.
  • Another object of the invention is to accomplish the above objectives using a single-use, disposable camera.
  • Another object of the invention is to provide a system for displaying a complete spherical image with perspective correction and without edge effects and image distortion.
  • Another object of the invention is to enable interaction with any portion of the spherical image with the selected portion being perspective corrected.
  • It is another object of the present invention to provide horizontal orientation (pan), vertical orientation (tilt) and rotational orientation (rotation) of the viewing direction with no moving mechanisms.
  • It is another object of the present invention to provide the ability to magnify or scale the image (zoom in and out) electronically.
  • It is another object of the present invention to provide electronic control of the image intensity (iris level).
  • It is another object of the present invention to be able to accomplish pan, tilt, zoom, rotation, and iris adjustment with simple inputs made by a lay person from a joystick, keyboard controller, or computer controlled means.
  • It is also an object of the present invention to provide accurate control of the absolute viewing direction and orientations using said input devices.
  • A further object of the present invention is to provide the ability to produce multiple images with different orientations and magnifications simultaneously from a single input image.
  • Another object of the present invention is to be able to provide these images at real-time video rate, e.g. thirty transformed images per second, and to support various display format standards such as the National Television Standards Committee RS-170 signal format and/or higher resolution formats currently under development and to provide the images to a computer display performing perspective correction transforms on a personal computer system.
  • It is also an object of the present invention to provide a system than can be used for automatic or manual surveillance of selected environments, with optical views of these environments corrected electronically to remove distortion so as to facilitate this surveillance.
  • It is another object of this invention to provide a means for directly addressing each picture element of an analog image captured with an imaging device having a field-of-view, the picture elements being addressed in a non-linear sequence determined in a manner similar to that described by U.S. Pat. No. 5,185,667 to provide a distortion-corrected image without requiring the use of filters and memory holding buffers.
  • Another object of the present invention is to provide a means for directly addressing each picture element of an image (still or video) captured using an imaging device having a two-dimensional field-of-view.
  • SUMMARY OF THE INVENTION
  • According to the principles of the present invention, at least one camera with a 180° or greater field-of-view lens captures a spherical image. When the system employs two cameras with such lenses, the cameras and lenses are mounted in a back-to-back arrangement. When used in this disclosure and attached claims, “back-to-back” means two cameras clasped together such that the image planes of the lenses fall between each of the lenses and both lenses' optical axes are collinear with a single line which passes through each lens and camera. An imaging element or elements capture the images produced by the lenses. When used herein and in the claims, an “imaging element” or “imaging elements” refer to both film and linear scanning devices and alternatives thereof upon which an image is focused and captured. The captured images from each camera are stored and combined to form a single, spherical image (a final, formed image). When used herein and in the claims, “stored” not only means to digitally store an image in a retrievable form but also means to capture the image on film. To form the spherical image, the system includes a converter which identifies, joins, and smooths the edges (also referred to as the “seams”) of each hemispherical image. When used herein and in the claims, a “converter” refers to not only a manual system (splicing by hand and airbrush image altering techniques) but also an automatic image processing system (digital processing by a computer where images are altered automatically) for combining the two images together. Where a partial overlap exists between the two hemispherical images, the converter processes the partial overlap to remove the overlap and any distortion and create a single, complete, formed spherical image. Finally, a selected planar portion of the spherical image may be displayed on a personal computer using perspective correction software or hardware.
  • A method for capturing a spherical image includes the steps of capturing a first hemispherical image with a first camera including a first 180° or greater field-of-view lens; receiving a second hemispherical image either by capturing the second hemispherical image by means of a second camera including a second oppositely directed 180° or greater field-of-view lens or by creating a mirror image of the first hemispherical image; and, combining the first and second oppositely directed hemispherical images to create a spherical image.
  • An apparatus capturing a spherical image includes a first camera equipped with a 180° or greater field-of-view lens, the first camera and the lens directed in a first direction, the first camera capturing a first image; a second device either forming a second image corresponding to a mirror image of the first image or including a second camera equipped with a 180° or greater field-of-view lens, directed in a second direction opposite to the first direction, the second camera capturing the second image; and, a combining system for combining the first and second images into a formed spherical image.
  • The cameras disclosed above capture high resolution images. Various cameras may be used including still cameras, video cameras, and CCD, CID, or CMOS APS cameras. With high resolution (crystal clear) images as a goal, the system employs a still camera capturing a high resolution image on a fine grain film. Film generally composes a layer of silver halide crystals. Upon exposure to light, this silver halide layer picks up the image exposed to it. The greater the number of separate halide crystals, the greater the resolution of the film. Thus, a finer grain size refers to an increase in number of silver halide crystals per unit area of film which in turn refers to an increase in the potential resolution of the film medium.
  • When capturing a spherical image with two single-use cameras, the cameras include additional features allowing for dual image capture. Where “single-use camera” is referred to herein and in the claims, it refers to a disposable camera or other alternative. The additional features which aid in spherical image capture include attachment devices which attach the backs of the cameras to each other. When used herein, “attachment devices” refer to locking pins, locking clasps, lever and hook systems, and alternatives thereof. Also, each camera's shutter release may be controlled by a single button (common shutter release control) with either a mechanical or electrical servo linkage releasing each camera's shutter. Additionally, to allow a photographer to avoid his or her image from being captured by the spherical image capture system, the dual camera system includes a shutter auto timer or a remote shutter activation control controlling the common shutter release control. The remote shutter control may be an IR transmitter or remote shutter release cable. Further, the dual camera system may include two different shutters operable independently or sequentially. The sequential shutter operations allow the photographer to walk around to the other side of the dual camera system so as not to become part of the captured spherical image.
  • According to the present invention, when using a still image recorded on film, after developing the film, a high resolution digital scanner scans and digitizes the image contained in the developed film and stores the digitized image in a retrievable medium. The retrievable medium includes, inter alia, CD-ROMs, magnetic disks and tapes, semiconductor devices, and magneto-optical disks.
  • As referred to above, the second image may be created from the first image. This may be accomplished by at least one of two methods: first, manually, by forming the second image by hand and, second, automatically, by means of a computer running image processing software. As to manually creating the image, the film developing and printing steps generate the second image. For example, after printing or scanning the first hemispherical image, a technician or device flips or likewise reverses the film storing the at least hemispherical image (from left to right orientation to right to left orientation) and scans or prints the film again.
  • The automatic printing or scanning technique creates the second hemispherical image (also known as a mirror image of the first image) through appropriate software. Alternatively, image processing software or hardware may reverse the scanned image without the need to manually flip a developed piece of film.
  • The converter (automatic or manual) seams the two hemispherical images together and stores a generated, complete spherical image in a storage medium including CD-ROMs, magnetic disks and tapes, semiconductor devices and magneto-optical disks. This converting may be accomplished by sending the camera and/or film to a processing center which sends back the spherical image stored in one of the above storage mediums.
  • Finally, using the perspective correction and manipulation system as disclosed in U.S. Pat. No. 5,185,667 and its progeny including U.S. Pat. Nos. 5,359,363 and 5,313,306 and Ser. Nos. 08/189,585, 08/339,663, and 08/373,446, the formed, seamless, spherical image may be explored. These patents and applications and others herein are expressly incorporated by reference.
  • Preferably, a personal computer system runs the perspective correction software or hardware. These computers may be directly linked to the image capturing system (allowing viewing of the spherical image as captured by the hemispherical camera or cameras and manipulated by the perspective correction system) or may remain completely separate (photographing an image, sending the film to a processing center which creates a spherical image from the photograph or photographs, and returning the spherical image stored in a retrievable form for display on a personal computer).
  • BRIEF DESCRIPTION OF THE DRAWINGS
  • The above mentioned features of the invention will become more clearly understood from the following detailed description of the invention read together with the drawings in which:
  • FIG. 1 is a diagram of the fields of view for 180° and greater than 180° fields of view lenses as mounted to a single camera body.
  • FIG. 2 shows two back-to-back cameras each capturing more than 180° fields of view images.
  • FIG. 3 shows two back-to-back cameras each capturing 180° fields of view images.
  • FIG. 4 shows an alternated embodiment of the spherical capture system of the present invention.
  • FIGS. 5A and 5B relate to the elements used to capture a spherical image. FIG. 5A shows two hemispherical lenses capturing complementary hemispherical images and feeding them to remote cameras. FIG. 5B shows a hemispherical lens capturing a hemispherical image and a mirror image converter for converting the first hemispherical image into a second hemispherical image.
  • FIG. 6A shows two hemispherical lenses similar to that of FIG. 5A passing images to local cameras through reflective and refractive optics. FIG. 6B shows two hemispherical lenses conveying images to a single camera.
  • FIGS. 7A and 7B represent two hemispherical images combined into a single spherical image.
  • FIG. 8 shows a storage/display option of the instant invention.
  • FIGS. 9A and 9B show a schematic block diagram of the signal processing portion of the present invention illustrating the major components thereof. FIG. 9A shows the perspective correction process implemented in hardware. FIG. 9B shows the perspective correction process implemented in software, operating inside a personal computer.
  • FIG. 10 is an exemplary drawing of an at least hemispherical image used as input by the present invention. Lenses having other field-of-view values will produce images with similar distortion, particularly when the field-of-view is about eighty degrees or greater.
  • FIG. 11 is an exemplary drawing of the output image after correction for a desired image or orientation and magnification within the original image.
  • FIG. 12 is a schematic diagram of the fundamental geometry that the present invention embodies to accomplish the image transformation.
  • FIG. 13 is a schematic diagram demonstrating the projection of the object plane and position vector into image plane coordinates.
  • DETAILED DESCRIPTION OF THE INVENTION Spherical Image Capture
  • The disclosed Spherical Image Capture system employs the components disclosed in FIGS. 1-8 to capture hemispherical images and form spherical images. The image transform engine as disclosed in FIGS. 9-13 operates to transform selected portions of the formed spherical images into planar, perspective corrected portions.
  • Referring to FIG. 1, camera 601 includes lens 602 with optical axis A, image plane I, and a field-of-view of 180° or greater. If lens 602 has a 180° field-of-view it captures at most the image from hemisphere 603. On the other hand, if lens 602 has a field-of-view greater than 180°, then it captures the image from sector 604 (shown by dotted lines) as well as that of hemisphere 603.
  • FIG. 2 shows a camera body 701 (which may include two cameras) connected to lenses 702 and 703 (with image planes I702 and I703, respectively). Each of lenses 702 and 703 have fields of view greater than 180°. Placed in a back-to-back arrangement where the lenses are mounted such that the image planes I702 and I703 from the lenses fall between each of the lenses and both lenses' optical axes A coincide in a single line which passes through each lens and camera, they capture the spherical image surrounding the camera body 701. It should be noted, however, that the thickness of the camera body 701 plays a role in how much of the spherical image surrounding the camera is captured. Specifically, the objects on the sides of the camera may or may not be completely photographed depending on their distances from the camera body 701. For example, if objects are within boundary 704, some of the objects may fall into the camera's blind spots 707 and not be completely photographed. On the other hand, because of the converging angles of lenses' greater than 180° fields of view, objects within sectors 705 will be photographed twice: first, by means of the image captured by lens 702 and, second, by means of the image captured by lens 703. Decreasing the distances between the lenses reduces blind spots 707 of the spherical capture system. In this example, reducing the distance between the lenses means reducing the thickness of the camera body 701. Reducing the camera body thickness can be accomplished, for example, by using smaller imaging and recording elements such as a CCD, CID, or CMOS APS camera as disclosed in U.S. Ser. No. 08/373,446, expressly incorporated herein by reference. Additionally, the distance between image planes I702 and I703 of lenses 702 and 703, respectively, may be reduced to the point where the image planes coincide, further reducing the thickness of the camera body.
  • FIG. 3 discloses camera body 801, similar to that of camera body 701, and lenses 802 and 803 with image planes I802 and I803, respectively, each having a field-of-view of exactly 180°. Lens 802 receives the image of hemisphere 804 and lens 803 receives the image of hemisphere 805. Similar to FIG. 2 above, the lenses attach to camera body 801 in a back-to-back arrangement where the lenses are mounted such that the image planes I802 and I803 from the lenses fall between each of the lenses and both lenses' optical axes A coincide in a single line which passes through each lens and camera. As discussed with reference to FIG. 2 above, because camera body 801 has a thickness (i.e., the distance between lenses 802 and 803 is greater than zero), the image capture system 800 has blind spots 806 on the sides of the camera body 801. These blind spots may be reduced by decreasing the distance between lenses 802 and 803. Here, this means reducing the thickness of camera body 801. This may be accomplished, inter alia, by reducing the size of the imaging and recording components as discussed above in reference to FIG. 2.
  • Referring now to FIG. 4, two cameras 201 and 202 equipped with lenses 203, 204, each having a field-of-view (FOV) greater than 180°, are disclosed in a back-to-back arrangement (the image planes (not shown) falling between each of the lenses and the optical axes of the lenses 203 and 204 are collinear as designated by line A). Because each camera 201, 202 has a lens (203, 204) which has a field-of-view (FOV) greater than 180°, each captures more than the image of a complete hemisphere. By employing two cameras in this arrangement, the camera system captures a complete spherical image. The types of cameras employed are chosen from the group comprising of at least still cameras with loaded film or digital image capture, motion picture cameras with loaded film or digital image capture, the KODAK digital image capture system, video, and linear scanning CID, CCD, or CMOS APS camera arrays. The outputs of cameras 201 and 202 connect by means of electrical, optical, or electro-optical links 215 to hemispherical-to-spherical image converter 216. When the captured hemispherical images are stored on film, optical-to-electrical converter 215A converts the stored images into a form usable by hemispherical-to-spherical image converter 216. Optical-to-electrical converter 215A includes a scanning system which scans a photographed image and outputs a high resolution, electronic replica of the photographed image. One converter includes the Kodak™ Photo-CD Rom converter which takes a photograph and converts it into a high resolution digital form which then may be stored on a compact disk. Hemispherical-to-spherical converter 216 receives the hemispherical images from cameras 201 and 202 (or alternatively, from optical-to-electrical converter 215A).
  • The cameras include additional features allowing for dual image capture. For example, the backs of the cameras are attached to each other via separable attachment devices 401. Attachment devices 401 may be locking pins, locking clasps, lever and clip systems, etc. Also, each camera's shutter release may be controlled by a single button 402 A (common shutter release control) with either a mechanical or electrical servo linkage releasing each camera's shutter. Additionally, to allow a photographer to ensure his or her image is not recorded by the spherical image capture system, the dual camera system includes a shutter auto timer or a remote shutter activation control 403 controlling the common shutter release control, allowing the photographer to move to a concealed or non-image-captured position. The remote shutter control 403 may be an IR transmitter or remote shutter release cable. Further, the dual camera system may include two different shutters release control buttons 402B operable independently or sequentially. The sequential shutter operations allow the photographer to walk around to the other side of the dual camera system so as not to become part of the captured spherical image.
  • Next, hemispherical-to-spherical converter 216 combines the hemispherical images into a single, complete spherical image. Finally, the edges of the two hemispherical images may be combined to form a seamless spherical image. Removing the seams from the two hemispherical images may be accomplished in a number of ways. For example, the two images may be “airbrushed” together (where any difference between the two images at the periphery of the images are smoothed together. Alternatively, a more complex method of seaming the two images together may include matching related pixels by their luminance and chrominance values and interpolating the corresponding values for interstitial pixels. In the event that a partial overlap exists between the two hemispherical images, the converter processes the spherical image to remove the partial overlap any distortion and creates a single, complete, formed image. The processing may include choosing and displaying one hemisphere over the other, weighted and non-weighted averaging of the overlapping sections, and linear and non-linear approximations creating intermediary images.
  • FIG. 5A shows lenses 203 and 204 positioned remotely from cameras 201 and 202. Here, the image planes I203 and I204 fall between lenses 203 and 204 and the optical axes of the lenses 203 and 204 are collinear as designated by line A. Electrical, optical (including fiber optic lines), or electro-optical links 215 connect the images received from lenses 203 and 204 to the cameras 201 and 202. Next, hemispherical-to-spherical image converter 216 receives the outputs from cameras 201 and 202 and outputs a spherical image as described in relation to FIG. 4.
  • FIG. 5B shows single lens 203 positioned remotely from camera 201. Electrical, optical (including fiber optic lines), or electro-optical links 215 connect the image received from lens 203 to the camera 201. Next, camera 201 captures a first hemispherical image. The output of camera 201 (a still or video image contained in a frame or frames of film, digital or analog signal) is sent to mirror image converter 901 and one input of the hemispherical to spherical image converter 216. The mirror image converter 901 assumes many forms depending on the form of image relayed to it. For developed film, converter 901 refers to a re-scanning system re-scanning the developed film with the film flipped (flipped from a left to right orientation to a right to left orientation). For an optical or electrical signal, converter 901 refers to a signal processing system which automatically creates a second hemispherical image from the first hemispherical image. The output of converter 901 flows to the hemispherical-to-spherical image converter 216 as the second hemispherical image. Finally, hemispherical-to-spherical image converter 216 outputs a spherical image as described in relation to FIG. 4.
  • FIG. 6A shows an alternative arrangement of the cameras 201 and 202 and the lenses 203 and 204. The optical axes of the lenses 203 and 204 are collinear as designated by line A. Here, the devices used to convey the images from lenses 203 and 204 to cameras 201 and 202 include hollow chambers with reflective optics 215B and refractive optics 215C, as necessary for proper transmission of the hemispherical images. The reflective optics 215B allow the cameras 201 and 202 to be moved from a location directly behind each lens 203, 204. The refractive optics 215C aid in focusing the hemispherical images generated by lenses 203 and 204. This movement of the cameras from behind the lenses allows the lenses to be moved closer together, maximizing the area photographed.
  • A further modification includes the substitution of the APS camera array of co-pending U.S. application Ser. No. 08/373,446 (expressly incorporated herein by reference) for the optical system described above. Because of the small size of an APS camera array, two arrays may be placed back to back to further maximize the content of each hemispherical image. An advantage of using APS camera arrays is the shifted processing location of the Omniview engine. Specifically, by adding additional processing circuitry on the APS camera array chip, the selection and “dewarping” transformations may be performed locally on the APS chip. This results in less subsequent processing of the image as well as a reduction in the bandwidth required for sending each hemispherical image to an external processing device.
  • Furthermore, as described above, image conduits 215 may include optical fibers instead of the reflective optics 215B and refractive optics 215C. An imaging system including optical fibers connected between a hemispherical lens and imaging array is found in U.S. Pat. No. 5,313,306 to Martin which is expressly incorporated by reference. The present invention includes the application of the spherical imaging system with a combination of an endoscope and dual hemispherical lenses to capture hemispherical images of remote locations. Converter 216 combines the hemispherical images to a form complete, spherical image.
  • FIG. 6B relates to another embodiment where a single camera 201A captures the images produced by lenses 203 and 204. The optical axes of the lenses 203 and 204 are collinear as designated by line A. Here, employing a single camera to capture both hemispherical images (from lenses 203 and 204) eliminates the bulk of the second camera. For example, where camera 201A is a still camera, the camera records the two hemispherical images in a single frame in a side-by-side relationship, exposed at the same time or during related time intervals. Alternatively, the two images may be captured in separate frames, exposed at the same time or during related time intervals. The same applies to video and motion picture cameras as well. Image capture with a single camera may be used in the other embodiments of described in greater detail herein. A system of FIG. 6B including an APS camera array may be mounted onto a single, silicon chip. This combination has multiple advantages including reduced size of the image capture system, reduced bulk from extra cameras, higher resolution from the APS camera arrays,
  • FIG. 7A shows first 205 and second 206 hemispherical images, each taken from one of cameras 201 or 202. FIG. 7A also shows the edges 207, 208 (or seams) of each hemispherical image. FIG. 7B shows the two images 205 and 206 combined into a single, spherical image 209. Seams 207 and 208 have been combined to form the single, seamless image 209.
  • FIG. 8 shows a possible future viewing system for viewing the formed spherical image system. The image planes I203 and I204 fall between lenses 203 and 204 and the optical axes of the lenses 203 and 204 are collinear as designated by line A. Image input buffer 217 temporarily stores images received from cameras 201 and 202 until hemispherical-to-spherical image converter 216 accepts the stored images. Also, FIG. 8 includes options for the spherical images. For example, after combining the two hemispherical images into a single, spherical image in converter 216, the spherical image may be immediately viewed through viewing engine 218. Viewing engine 218 includes the Omniview calculation engine with viewer communication interface 124 as shown in FIG. 1 of co-pending U.S. Ser. No. 08/373,446 (expressly incorporated herein by reference). Here, the user may view selected portions of the formed spherical image as output from the hemispherical-to-spherical image converter 216. Alternatively, the spherical image may be stored in storage device 219. The storage device 119 may include video tape, CD-ROM, semiconductor devices, magnetic or magneto-optical disks, or laser disks as the storage medium. By the interconnections between viewing engine 218 and storage device 219, a new spherical image may be displayed and saved in storage device 219 as well as saved in storage device 219 and viewed at a later time.
  • Further enhancements include using two side-by-side hemispherical lens equipped cameras for stereo-optical viewing. Additionally, the back-to-back camera system described herein may be attached to the exterior of any of a number of different vehicles for spherical image capture of a number of different environments.
  • Captured Image Transformation
  • FIGS. 9-13 relate to the captured image transformation system.
  • In order to minimize the size of the camera orientation system while maintaining the ability to zoom, a camera orientation system that utilizes electronic image transformation rather than mechanisms was developed. While numerous patents on mechanical pan-and-tilt systems have been filed, no approach using strictly electronic transforms and 180° or greater field of view optics is known to have been successfully implemented. In addition, the electro-optical approach utilized in the present invention allows multiple images to be extracted from the output of a signaled camera. These images can be then utilized to energize appropriate alarms, for example, as a specific application of the basic image transformation in connection with a surveillance system. As utilized herein, the term “surveillance” has a wide range including, but not limited to, determining ingress or egress from a selected environment. Further, the term “wide angle” as used herein means a field-of-view of about eighty degrees or greater. Motivation for this device came from viewing system requirements in remote handling applications where the operating envelop of the equipment is a significant constraint to task accomplishment.
  • The principles of the optical transform utilized in the present invention can be understood by reference to the system 10 of FIGS. 9A and 9B. (This is also set forth in the aforecited U.S. patent application Ser. No. 07/699,366 that is incorporated herein by reference.) Referring to FIG. 9A, shown schematically at 11 is a wide angle, e.g., a hemispherical, lens that provides an image of the environment with a 180 degree or greater field-of-view. The lens is attached to a camera 12 which converts the optical image into an electrical signal. These signals are then digitized electronically 13 and stored in an image buffer 14 within the present invention. An image processing system consisting of an X-MAP and a Y-MAP processor shown as 16 and 17, respectively, performs the two-dimensional transform mapping. The image transform processors are controlled by the microcomputer and control interface 15. The microcomputer control interface provides initialization and transform parameter calculation for the system. The control interface also determines the desired transformation coefficients based on orientation angle, magnification, rotation, and light sensitivity input from an input means such as a joystick controller 22 or computer input means 23. The transformed image is filtered by a 2-dimensional convolution filter 18 and the output of the filtered image is stored in an output image buffer 19. The output image buffer 19 is scanned out by display electronics 20 to a video display device 21 for viewing.
  • A range of lens types can be accommodated to support various fields of view. The lens optics 11 correspond directly with the mathematical coefficients used with the X-MAP and Y-MAP processors 16 and 17 to transform the image. The capability to pan and tilt the output image remains even though a different maximum field-of-view is provided with a different lens element.
  • The invention can be realized by proper combination of a number of optical and electronic devices. The lens 11 is exemplified by any of a series of wide angle lenses from, for example, Nikon, particularly the 8 mm F2.8. Any video source 12 and image capturing device 13 that converts the optical image into electronic memory can serve as the input for the invention such as a Videk Digital Camera interfaced with Texas Instrument's TMS 34061 integrated circuits. Input and output image buffers 14 and 19 can be construed using Texas Instrument TMS44C251 video random access memory chips or their equivalents. The control interface can be accomplished with any of a number of microcontrollers including the Intel 80C196. The X-MAP and Y-MAP transform processors 16 and 17 and image filtering 19 can be accomplished with application specific integrated circuits or other means as will be known to persons skilled in the art. The display driver can also be accomplished with integrated circuits such as the Texas Instruments TMS34061. The output video signal can be of the NTSC RS-170, for example, compatible with most commercial television displays in the United States. Remote control 22 and computer control 23 are accomplished via readily available switches and/or computer systems than also will be well known. These components function as a system to select a portion of the input image (hemispherical or other wide angle) and then mathematically transform the image to provide the proper prospective for output. The keys to the success of the perspective correction system include:
  • (1) the entire input image need not be transformed, only the portion of interest;
  • (2) the required mathematical transform is predictable based on the lens characteristics; and
  • (3) calibration coefficients can be modified by the end user to correct for any lens/camera combination supporting both new and retrofit applications.
  • FIG. 9B contains elements similar to that of FIG. 9A but is implemented in a personal computer represented by dashed line D. The personal computer includes central processing unit 15′ performing the perspective correction algorithms X-MAP 16′ and Y-MAP 17′ as stored in RAM, ROM, or some other form. The display driver 20 outputs the perspective corrected image to computer display monitor 21′.
  • The transformation that occurs between the input memory buffer 14 and the output memory buffer 19, as controlled by the two coordinated buffer 19, as controlled by the two coordinated transformation circuits 16 and 17 of FIG. 9A (or algorithms as stored in 16′ and 17′ of FIG. 9B), is better understood by referring to FIG. 10 is a rendering of the image of a grid pattern produced by a hemispherical lens. This image has a field-of-view of 180 degrees and shows the contents of the environment throughout and entire hemisphere. Notice that the resulting image in FIG. 10 is significantly distorted relative to human perception. Similar distortion will be obtained even with lesser field-of-view lenses. Vertical grid lines in the environment appear in the image plane as 24 a, 24 b, and 24 c. Horizontal grid lines in the environment appear in the image plane as 25 a, 25 b, and 25 c. The image of an object is exemplified by 26. A portion of the image in FIG. 10 has been corrected, magnified, and rotated to produce the image shown in FIG. 11. Item 27 shows the corrected representation of the object in the output display. The results shown in the image in FIG. 11 can be produced from any portion of the image of FIG. 10 using the present invention. The corrected perspective of the view is demonstrated by the straightening of the grid pattern displayed in FIG. 11. In the present invention, these transformations can be performed at real-time video rates (e.g., thirty times per second), compatible with commercial video standards.
  • The transformation portion of the invention as described has the capability to pan and tilt the output image through the entire field-of-view of the lens element by changing the input means, e.g. the joystick or computer, to the controller. This allows a large area to be scanned for information as can be useful in security and surveillance applications. The image can also be rotated through any portion of 360 degrees on its axis changing the perceived vertical of the displayed image. This capability provides the ability to align the vertical image with the gravity vector to maintain a proper perspective in the image display regardless of the pan or tilt angle of the image. The invention also supports modifications in the magnification. used to display the output image. This is commensurate with a zoom function that allows a change in the field-of-view of the output image. This function is extremely useful for inspection and surveillance operations. The magnitude of zoom provided is a function of the resolution of the input camera, the resolution of the output display, the clarity of the output display, and the amount of picture element (pixel) averaging that is used in a given display. The invention supports all of these functions to provide capabilities associated with traditional mechanical pan (through 180 degrees), tilt (through 180 degrees), rotation (through 360 degrees), and zoom devices. The digital system also supports image intensity scaling that emulates the functionality of a mechanical iris by shifting the intensity of the displayed image based on commands from the user or an external computer.
  • The postulates and equations that follow are based on the image transformation portion of the present invention utilizing a wide angle lens as the optical element. These also apply to other field-of-view lens systems. There are two basic properties and two basic postulates that describe the perfect wide angle lens system. The first property of such a lens is that the lens has a 2π ateradian filed-of-view and the image it produces is a circle. The second property is that all objects in the field-of-view are in focus, i.e. the perfect wide angle lens has an infinite depth-of-field. The two important postulates of this lens system (refer to FIGS. 12 and 13) are stated as follows:
  • Postulate 1: Azimuth angle invariability—For object points that lie in a content plane that is perpendicular to the image plane and passes through the image plane origin, all such points are mapped as image points onto the line of intersection between the image plane and the content plane, i.e. along a radial line. The azimuth angle of the image points is therefore invariant to elevation and object distance changes within the content plane.
  • Postulate 2: Equidistant Projection Rule—The radial distance, r, from the image plane origin along the azimuth angle containing the projection of the object point is linearly proportional to the zenith angle β, where β is defined as the angle between a perpendicular line through the image plane origin and the line from the image plane origin to the object point. Thus the relationship:

  • r=kβ(1)
  • Using these properties and postulates as the foundation of the lens system, the mathematical transformation for obtaining a perspective corrected image can be determined. FIG. 12 shows the coordinate reference frames for the object plane and the image plane. The coordinates u,v describe object points within the object plane. The coordinates x, y, z describe points within the image coordinate frame of reference.
  • The object plane shown in FIG. 12 is a typical region of interest to determine the mapping relationship onto the image plane to properly correct the object. The direction of view vector, DOV[x, y, z], determines the zenith and azimuth angles for mapping the object plane, UV, onto the image plane, XY. The object plane is defined to be perpendicular to the vector, DOV[x, y, z].
  • The location of the origin of the object plane in terms of the image plane [x, y, z] in spherical coordinates is given by:

  • x=D sin β cos ∂

  • y=D sin β cos ∂

  • z=D cos θ  (2)
  • where D=scaler length from the image plane origin to the object plane origin, β is the zenith angle, and ∂ is the azimuth angle in image plane spherical coordinates. The origin of object plane is represented as a vector using the components given in Equation 1 as:

  • DOV[x,y,z]=[D sin β cos ∂,D sin β sin ∂,D cos β]  (3)
  • DOV[x, y, z] is perpendicular to the object plane and its scaler magnitude D provides the distance to the object plane. By aligning the XY plane with the direction of action of DOV[x, y, z], the azimuth angle ∂ becomes either 90 or 270 degrees and therefore the x component becomes zero resulting in the DOV[x, y, z] coordinates:

  • DOV[x,y,z]=[0,−D sin β,D cos β]  (4)
  • Referring now to FIG. 13, the object point relative to the UV plane origin in coordinates relative to the origin of the image plane is given by the following:

  • x=u

  • y=v cos β

  • z=v sin β  (5)
  • therefore, the coordinates of a point P(u,v) that lies in the object plane can be represented as a vector P[x, y, z] in image plane coordinates:

  • P[x,y,z]=[u,v cos β,v sin β]  (6)
  • where P[x, y, z] describes the position of the object point in image coordinates relative to the origin of the UV plane. The object vector o[x, y, z] that describes the object point in image coordinates is then given by:

  • O[x,y,z]=DOV[x,y,z]+P[x,y,z]  (7)

  • O[x,y,z]=[u,v cos β−D sin β,v sin β+D cos β]  (8)
  • Projection onto a hemisphere of radius R attached to the image plane is determined by scaling the object vector o[x, y, z] to produce a surface vector s[x, y, z]:
  • S [ x , y , z ] = RO [ x , y , z ] | O [ x , y , z ] | ( 9 )
  • By substituting for the components of o[x, y, z] from Equation 8, the vector S[x, y, z] describing the image point mapping onto the hemisphere becomes:
  • S [ x , y , z ] = RO [ u , ( v cos β - D sin β ) , ( v sin β + D cos β ) ] u 2 + ( v cos β - D sin β ) 2 + ( v sin β + D cos β ) 2 ( 10 )
  • The denominator in Equation 10 represents the length or absolute value of the vector o[x, y, z] and can be simplified through algebraic and trigonometric manipulation to give:
  • S [ x , y , z ] = RO [ u , ( v cos β - D sin β ) , ( v sin β + D cos β ) ] u 2 + v 2 + D 2 ( 11 )
  • From Equation 11, the mapping onto the two-dimensional image plane can be obtained for both x and y as:
  • x = Ru u 2 + v 2 + D 2 ( 12 ) y = R ( v cos β - D sin β ) u 2 + v 2 + D 2 ( 13 )
  • Additionally, the image plane center to object plane distance D can be represented in terms of the image circular radius R by the relation:

  • D=mR  (14)
  • where m represents the scale factor in radial units R from the image plane origin to the object plane origin. Substituting Equation 14 into Equations 12 and 13 provides a means for obtaining an effective scaling operation or magnification which can be used to provide zoom operation.
  • x = Ru u 2 + v 2 + m 2 R 2 ( 15 ) y = R ( v cos β - mR sin β ) u 2 + v 2 + m 2 R 2 ( 16 )
  • Using the equations for two-dimensional rotation of axes for both the UV object plane and the XY image plane the last two equations can be further manipulated to provide a more general set of equations that provides for rotation within the image plane and rotation within the object plane.
  • x = R [ uA - vB + mR sin β sin ] u 2 + v 2 + m 2 R 2 ( 17 ) y = R [ uC - vD - mR sin β cos ] u 2 + v 2 + m 2 R 2 ( 18 )
  • where:

  • A=(cos ø cos ∂−sin ø sin ∂ cos β)

  • B=(sin ø cos ∂+cos ø sin ∂ cos β)

  • C=(cos ø sin ∂+sin ø cos ∂ cos β)

  • D=(sin ø sin ∂−cos ø cos ∂ cos β)  (19)
  • and where:
  • R=radius of the image circle
  • β=zenith angle
  • ∂=Azimuth angle in image plane
  • ø=Object plane rotation angle
  • m=Magnification
  • u,v=object plane coordinates
  • x,y=image plane coordinates
  • The Equations 17 and 18 provide a direct mapping from the UV space to the XY image space and are the fundamental mathematical result that supports the functioning of the present omnidirectional viewing system with no moving parts. By knowing the desired zenith, azimuth, and object plane rotation angles and the magnification, the locations of x and y in the imaging array can be determined. This approach provides a means to transform an image from the input video buffer to the output video buffer exactly. Also, the image system is completely symmetrical about the zenith, therefore, the vector assignments and resulting signs of various components can be chosen differently depending on the desired orientation of the object plane with respect to the image plane. In addition, these postulates and mathematical equations can be modified for various lens elements as necessary for the desired field-of-view coverage in a given application.
  • The input means defines the zenith angle, β, the azimuth angle, ∂, the object rotation, ø, and the magnification, m. These values are substituted into Equations 19 to determine values for substitution into Equations 17 and 18. The image circle radius, R, is fixed value that is determined by the camera lens and element relationship. The variables u and v vary throughout the object plane determining the values for x and y in the image plane coordinates.
  • From the foregoing, it can be seen that a wide angle lens provides a substantially hemispherical view that is captured by a camera. The image is then transformed into a corrected image at a desired pan, tilt, magnification, rotation, and focus based on the desired view as described by a control input. The image is then output to a television display with the perspective corrected. Accordingly, no mechanical devices are required to attain this extensive analysis and presentation of the view of an environment through 180 degrees of pan, 180 degrees of tilt, 360 degrees of rotation, and various degrees of zoom magnification.
  • As indicated above, one application for the perspective correction of images obtained with a motionless wide angle camera is in the field of surveillance. The term “surveillance” is meant to include inspection and like operations as well. It is often desired to continuously or periodically view a selected environment to determine activity in that environment. The term “environment” is meant to include such areas as rooms, warehouses, parks and the like. This activity might be, for example, ingress and egress of some object relative to that environment. It might also be some action that is taking place in that environment. It may be desired to carry out this surveillance either automatically at the desired frequency (or continuously), or upon demand by an operator. The size of the environment may require more than one motionless camera for complete surveillance.
  • While a preferred embodiment has been shown and described, it will be understood that it is not intended to limit the disclosure, but rather it is intended to cover all modifications and alternate methods falling within the spirit and the scope of the invention as defined in the appended claims. All of the above referenced U.S. patents and pending applications referenced herein are expressly incorporated by reference.
  • Having thus described the aforementioned invention,

Claims (18)

1-35. (canceled)
36. A method for creating a spherical image comprising the steps of:
capturing a first approximately hemispherical image via a first camera including a first approximately hemispherical lens directed in a first direction;
waiting for a period of time after capturing the first approximately hemispherical image;
capturing a second approximately hemispherical image after the period of time is complete
via a second camera including a second approximately hemispherical lens directed in a second direction approximately opposite to the first direction; and
combining the first approximately hemispherical image with the second approximately hemispherical image to form the spherical image.
37. The method of claim 36, wherein the second camera is the first camera.
38. The method of claim 36, wherein the first approximately hemispherical image and the second approximately hemispherical image are captured on a same frame of film.
39. The method according to claim 36, wherein the first approximately hemispherical image is a greater than 180° field-of-view image and the second image is a greater than 180° field-of-view image.
40. The method according to claim 36, wherein the first camera includes film configured to be exposed with the first approximately hemispherical image, the method further comprising the step of converting the first approximately hemispherical image exposed on the film into an electronic format.
41. Apparatus for creating a spherical image, the apparatus comprising:
a first approximately hemispherical lens directed in a first direction for receiving a first approximately hemispherical image;
a second approximately hemispherical lens directed in a second direction approximately opposite to the first direction for receiving a second approximately hemispherical image, the apparatus being configured to capture the second approximately hemispherical image a period of time after capturing the first approximately hemispherical image; and
a computer for combining the first approximately hemispherical image with the second approximately hemispherical image to form the spherical image.
42. The apparatus of claim 41, further including a camera coupled to the computer for capturing the first and second approximately hemispherical images, the first approximately hemispherical lens being optically connected to the camera via first reflective optics and the second approximately hemispherical lens being optically connected to the camera via second reflective optics.
43. The apparatus according to claim 42, wherein the camera comprises a still camera.
44. The apparatus according to claim 42, wherein the camera comprises a video camera.
45. The apparatus according to claim 42, wherein the camera comprises a motion picture camera.
46. The apparatus according to claim 42, wherein the camera comprises a linear scanning CID camera array.
47. The apparatus according to claim 42, wherein the camera comprises a linear scanning CCD camera array.
48. The apparatus according to claim 42, wherein the camera comprises a linear scanning CMOS APS camera array.
49. The apparatus according to claim 41, further including a first camera for capturing the first approximately hemispherical and a second camera for capturing the second approximately hemispherical image, the first and second cameras being attached to each other in a back-to-back configuration.
50. The apparatus according to claim 42, wherein the first approximately hemispherical lens is coupled to the camera via a fiber optic line, the first approximately hemispherical image received by the first approximately hemispherical lens being transferred to the camera via the fiber optic line.
51. The apparatus according to claim 41, further including at least one of a film for capturing the first and second approximately hemispherical images on a same frame of the film.
52. The apparatus according to claim 41, wherein the first approximately hemispherical image is a greater than 180° field-of-view image and the second image is a greater than 180° field-of-view image.
US12/102,699 1991-05-13 2008-04-14 Omniview motionless camera orientation system Abandoned US20090040291A1 (en)

Priority Applications (8)

Application Number Priority Date Filing Date Title
US07/699,366 US5185667A (en) 1991-05-13 1991-05-13 Omniview motionless camera orientation system
US08/014,508 US5359363A (en) 1991-05-13 1993-02-08 Omniview motionless camera surveillance system
US08/189,585 US5384588A (en) 1991-05-13 1994-01-31 System for omindirectional image viewing at a remote location without the transmission of control signals to select viewing parameters
US33966394A true 1994-11-14 1994-11-14
US38691295A true 1995-02-08 1995-02-08
US08/863,584 US6002430A (en) 1994-01-31 1997-05-27 Method and apparatus for simultaneous capture of a spherical image
US09/315,962 US7382399B1 (en) 1991-05-13 1999-05-21 Omniview motionless camera orientation system
US12/102,699 US20090040291A1 (en) 1991-05-13 2008-04-14 Omniview motionless camera orientation system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US12/102,699 US20090040291A1 (en) 1991-05-13 2008-04-14 Omniview motionless camera orientation system

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
US09/315,962 Division US7382399B1 (en) 1991-05-13 1999-05-21 Omniview motionless camera orientation system

Publications (1)

Publication Number Publication Date
US20090040291A1 true US20090040291A1 (en) 2009-02-12

Family

ID=40346066

Family Applications (2)

Application Number Title Priority Date Filing Date
US09/315,962 Expired - Fee Related US7382399B1 (en) 1991-05-13 1999-05-21 Omniview motionless camera orientation system
US12/102,699 Abandoned US20090040291A1 (en) 1991-05-13 2008-04-14 Omniview motionless camera orientation system

Family Applications Before (1)

Application Number Title Priority Date Filing Date
US09/315,962 Expired - Fee Related US7382399B1 (en) 1991-05-13 1999-05-21 Omniview motionless camera orientation system

Country Status (1)

Country Link
US (2) US7382399B1 (en)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090262180A1 (en) * 2008-04-18 2009-10-22 Samsung Electronics Co., Ltd. Apparatus for generating panoramic images and method thereof
US20140071227A1 (en) * 2012-09-11 2014-03-13 Hirokazu Takenaka Image processor, image processing method and program, and imaging system
US20150007024A1 (en) * 2013-06-28 2015-01-01 Samsung Electronics Co., Ltd. Method and apparatus for generating image file
CN104883513A (en) * 2014-02-28 2015-09-02 系统电子工业股份有限公司 Image processing device for performing 720-DEG panoramic photography
US20160147045A1 (en) * 2011-08-26 2016-05-26 Kensuke Masuda Imaging system and imaging optical system
US20160295126A1 (en) * 2015-04-03 2016-10-06 Capso Vision, Inc. Image Stitching with Local Deformation for in vivo Capsule Images
US20170116704A1 (en) * 2012-03-09 2017-04-27 Hirokazu Takenaka Image capturing apparatus, image capture system, image processing method, information processing apparatus, and computer-readable storage medium
EP3190460A1 (en) * 2016-01-05 2017-07-12 Giroptic Image capturing device on a moving body
US9930225B2 (en) 2011-02-10 2018-03-27 Villmer Llc Omni-directional camera and related viewing software
US10250806B2 (en) * 2015-09-04 2019-04-02 Samsung Electronics Co., Ltd. Electronic device and method for controlling image shooting and image outputting

Families Citing this family (67)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7714936B1 (en) * 1991-05-13 2010-05-11 Sony Corporation Omniview motionless camera orientation system
US6925357B2 (en) 2002-07-25 2005-08-02 Intouch Health, Inc. Medical tele-robotic system
US20040162637A1 (en) 2002-07-25 2004-08-19 Yulun Wang Medical tele-robotic system with a master remote station with an arbitrator
US7813836B2 (en) 2003-12-09 2010-10-12 Intouch Technologies, Inc. Protocol for a remotely controlled videoconferencing robot
US8077963B2 (en) 2004-07-13 2011-12-13 Yulun Wang Mobile robot with a head-based movement mapping scheme
JP2006074512A (en) * 2004-09-02 2006-03-16 Casio Comput Co Ltd Photographing device, and image processing method, and program for photographing device
US9198728B2 (en) 2005-09-30 2015-12-01 Intouch Technologies, Inc. Multi-camera mobile teleconferencing platform
US8160394B2 (en) * 2006-05-11 2012-04-17 Intergraph Software Technologies, Company Real-time capture and transformation of hemispherical video images to images in rectilinear coordinates
US8849679B2 (en) 2006-06-15 2014-09-30 Intouch Technologies, Inc. Remote controlled robot system that provides medical images
US8265793B2 (en) 2007-03-20 2012-09-11 Irobot Corporation Mobile robot for telecommunication
US9160783B2 (en) 2007-05-09 2015-10-13 Intouch Technologies, Inc. Robot system that operates through a network firewall
US7660054B2 (en) * 2007-06-29 2010-02-09 Intel Corporation Thermally controlled sold immersion lens fixture
US8179418B2 (en) 2008-04-14 2012-05-15 Intouch Technologies, Inc. Robotic based health care system
US8170241B2 (en) 2008-04-17 2012-05-01 Intouch Technologies, Inc. Mobile tele-presence system with a microphone system
US8758234B2 (en) 2008-07-08 2014-06-24 Karl Storz Imaging, Inc. Solid state variable direction of view endoscope
US8814782B2 (en) * 2008-07-08 2014-08-26 Karl Storz Imaging, Inc. Solid state variable direction of view endoscope
US8771177B2 (en) 2008-07-08 2014-07-08 Karl Storz Imaging, Inc. Wide angle flexible endoscope
US10092169B2 (en) 2008-07-08 2018-10-09 Karl Storz Imaging, Inc. Solid state variable direction of view endoscope
US9193065B2 (en) 2008-07-10 2015-11-24 Intouch Technologies, Inc. Docking system for a tele-presence robot
US9842192B2 (en) 2008-07-11 2017-12-12 Intouch Technologies, Inc. Tele-presence robot system with multi-cast features
US8134589B2 (en) * 2008-07-17 2012-03-13 Eastman Kodak Company Zoom by multiple image capture
US8340819B2 (en) 2008-09-18 2012-12-25 Intouch Technologies, Inc. Mobile videoconferencing robot system with network adaptive driving
US8996165B2 (en) 2008-10-21 2015-03-31 Intouch Technologies, Inc. Telepresence robot with a camera boom
US8463435B2 (en) 2008-11-25 2013-06-11 Intouch Technologies, Inc. Server connectivity control for tele-presence robot
US9138891B2 (en) 2008-11-25 2015-09-22 Intouch Technologies, Inc. Server connectivity control for tele-presence robot
US8849680B2 (en) 2009-01-29 2014-09-30 Intouch Technologies, Inc. Documentation through a remote presence robot
US8897920B2 (en) 2009-04-17 2014-11-25 Intouch Technologies, Inc. Tele-presence robot system with software modularity, projector and laser pointer
US8384755B2 (en) 2009-08-26 2013-02-26 Intouch Technologies, Inc. Portable remote presence robot
US20110134245A1 (en) * 2009-12-07 2011-06-09 Irvine Sensors Corporation Compact intelligent surveillance system comprising intent recognition
US8670017B2 (en) 2010-03-04 2014-03-11 Intouch Technologies, Inc. Remote presence system including a cart that supports a robot face and an overhead camera
US8935005B2 (en) 2010-05-20 2015-01-13 Irobot Corporation Operating a mobile robot
US8918213B2 (en) 2010-05-20 2014-12-23 Irobot Corporation Mobile human interface robot
US9014848B2 (en) 2010-05-20 2015-04-21 Irobot Corporation Mobile robot system
US10343283B2 (en) 2010-05-24 2019-07-09 Intouch Technologies, Inc. Telepresence robot system that can be accessed by a cellular phone
US9264664B2 (en) 2010-12-03 2016-02-16 Intouch Technologies, Inc. Systems and methods for dynamic bandwidth allocation
US8930019B2 (en) 2010-12-30 2015-01-06 Irobot Corporation Mobile human interface robot
US9323250B2 (en) 2011-01-28 2016-04-26 Intouch Technologies, Inc. Time-dependent navigation of telepresence robots
US20140139616A1 (en) 2012-01-27 2014-05-22 Intouch Technologies, Inc. Enhanced Diagnostics for a Telepresence Robot
JP5905031B2 (en) 2011-01-28 2016-04-20 インタッチ テクノロジーズ インコーポレイテッド Interfacing with mobile telepresence robot
CN102694968B (en) * 2011-03-25 2016-03-30 中山市云创知识产权服务有限公司 Views imaging device and monitoring method
JP6142467B2 (en) * 2011-08-31 2017-06-07 株式会社リコー Imaging optical system, omnidirectional imaging apparatus, and imaging system
WO2013069047A1 (en) * 2011-11-07 2013-05-16 株式会社ソニー・コンピュータエンタテインメント Image generation device, and image generation method
US10284776B2 (en) 2011-11-07 2019-05-07 Sony Interactive Entertainment Inc. Image generation apparatus and image generation method
US9729788B2 (en) 2011-11-07 2017-08-08 Sony Corporation Image generation apparatus and image generation method
JP5865388B2 (en) 2011-11-07 2016-02-17 株式会社ソニー・コンピュータエンタテインメント Image generating apparatus and image generating method
US8836751B2 (en) 2011-11-08 2014-09-16 Intouch Technologies, Inc. Tele-presence system with a user interface that displays different communication links
US8902278B2 (en) 2012-04-11 2014-12-02 Intouch Technologies, Inc. Systems and methods for visualizing and managing telepresence devices in healthcare networks
US9251313B2 (en) 2012-04-11 2016-02-02 Intouch Technologies, Inc. Systems and methods for visualizing and managing telepresence devices in healthcare networks
WO2013176760A1 (en) 2012-05-22 2013-11-28 Intouch Technologies, Inc. Graphical user interfaces including touchpad driving interfaces for telemedicine devices
US9361021B2 (en) 2012-05-22 2016-06-07 Irobot Corporation Graphical user interfaces including touchpad driving interfaces for telemedicine devices
US9763563B2 (en) 2012-07-11 2017-09-19 Karl Storz Imaging, Inc. Endoscopic camera single-button mode activation
JP6019970B2 (en) * 2012-09-11 2016-11-02 株式会社リコー Spherical imaging system and imaging optical system
TWI476678B (en) * 2012-09-28 2015-03-11 Univ Nat Taiwan Normal Interactive simulated-globe display system
US9408527B2 (en) 2012-11-01 2016-08-09 Karl Storz Imaging, Inc. Solid state variable direction of view endoscope with rotatable wide-angle field for maximal image performance
US8902322B2 (en) 2012-11-09 2014-12-02 Bubl Technology Inc. Systems and methods for generating spherical images
US9098611B2 (en) 2012-11-26 2015-08-04 Intouch Technologies, Inc. Enhanced video interaction for a user interface of a telepresence network
US9094540B2 (en) * 2012-12-13 2015-07-28 Microsoft Technology Licensing, Llc Displacing image on imager in multi-lens cameras
US9529824B2 (en) * 2013-06-05 2016-12-27 Digitalglobe, Inc. System and method for multi resolution and multi temporal image search
KR102039601B1 (en) * 2013-12-09 2019-11-01 스크린엑스 주식회사 Method for generating images of multi-projection theater and image manegement apparatus using the same
KR101474521B1 (en) * 2014-02-14 2014-12-22 주식회사 다음카카오 Method and apparatus for building image database
US9582731B1 (en) * 2014-04-15 2017-02-28 Google Inc. Detecting spherical images
US9883101B1 (en) * 2014-07-23 2018-01-30 Hoyos Integrity Corporation Providing a real-time via a wireless communication channel associated with a panoramic video capture device
RU2579004C1 (en) * 2015-05-05 2016-03-27 Вячеслав Михайлович Смелков Device for computer system for panoramic television surveillance with implementation of exchange of image parameters
US20170195568A1 (en) * 2016-01-06 2017-07-06 360fly, Inc. Modular Panoramic Camera Systems
US10204397B2 (en) * 2016-03-15 2019-02-12 Microsoft Technology Licensing, Llc Bowtie view representing a 360-degree image
US9686510B1 (en) 2016-03-15 2017-06-20 Microsoft Technology Licensing, Llc Selectable interaction elements in a 360-degree video stream
US10002406B2 (en) 2016-10-03 2018-06-19 Samsung Electronics Co., Ltd. Consistent spherical photo and video orientation correction

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6002430A (en) * 1994-01-31 1999-12-14 Interactive Pictures Corporation Method and apparatus for simultaneous capture of a spherical image
US6271853B1 (en) * 1992-12-14 2001-08-07 Ford Oxaal Method for generating and interactively viewing spherical image data

Family Cites Families (70)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1282177A (en) 1916-11-06 1918-10-22 George Stevens Blankenhorn Method of and apparatus for making panoramic pictures.
US3240140A (en) 1962-05-17 1966-03-15 Bank Of America Nat Trust & Savings Ass Panoramic camera with removable film casette
US4152724A (en) 1975-05-21 1979-05-01 Elliott Brothers (London) Limited Missile guidance systems
CA1129189A (en) 1978-08-11 1982-08-10 Lothar H. Brixner X-ray intensifying screen based on rare earth tantalate
US4214821A (en) 1978-10-30 1980-07-29 Termes Richard A Total environment photographic mount and photograph
US4493554A (en) 1979-02-27 1985-01-15 Diffracto Method and apparatus for determining physical characteristics of objects and object surfaces
US4631750A (en) 1980-04-11 1986-12-23 Ampex Corporation Method and system for spacially transforming images
US4908874A (en) 1980-04-11 1990-03-13 Ampex Corporation System for spatially transforming images
JPS58500635A (en) 1981-04-10 1983-04-21
DE3177088D1 (en) 1981-04-10 1989-09-21 Ampex Controller for system for spatially transforming images
JPS6344211B2 (en) 1981-05-12 1988-09-02 Riso Kagaku Corp
US4513374A (en) 1981-09-25 1985-04-23 Ltv Aerospace And Defense Memory system
US4463380A (en) 1981-09-25 1984-07-31 Vought Corporation Image processing system
US4463372A (en) 1982-03-24 1984-07-31 Ampex Corporation Spatial transformation system including key signal generator
JPS59115677A (en) * 1982-12-22 1984-07-04 Hitachi Ltd Picture processor
US4656506A (en) 1983-02-25 1987-04-07 Ritchey Kurtis J Spherical projection system
US4528585A (en) * 1983-03-30 1985-07-09 Rca Corporation Television receiver having picture magnifying apparatus
GB2157526B (en) 1983-05-16 1986-08-28 Barr & Stroud Ltd Imaging systems
US4736436A (en) 1984-04-13 1988-04-05 Fujitsu Limited Information extraction by mapping
DE3426946C2 (en) 1984-07-21 1986-10-30 Krauss-Maffei Ag, 8000 Muenchen, De
JPS6170407A (en) 1984-08-08 1986-04-11 Canon Inc Instrument for measuring distance
JPH0681275B2 (en) 1985-04-03 1994-10-12 ソニー株式会社 Image converter
GB2185360B (en) 1986-01-11 1989-10-25 Pilkington Perkin Elmer Ltd Display system
US4841292A (en) 1986-08-11 1989-06-20 Allied-Signal Inc. Third dimension pop up generation from a two-dimensional transformed image display
FR2602885B1 (en) 1986-08-18 1988-11-10 Verret Jean Michel Method of shots for recording visual spheres and device for its implementation
GB2194656B (en) 1986-09-03 1991-10-09 Ibm Method and system for solid modelling
US4807158A (en) 1986-09-30 1989-02-21 Daleco/Ivex Partners, Ltd. Method and apparatus for sampling images to simulate movement within a multidimensional space
US5083389A (en) 1988-07-15 1992-01-28 Arthur Alperin Panoramic display device and method of making the same
US4899293A (en) 1988-10-24 1990-02-06 Honeywell Inc. Method of storage and retrieval of digital map data based upon a tessellated geoid system
JPH02127877A (en) 1988-11-08 1990-05-16 Casio Comput Co Ltd Electronic still camera provided with fisheye lens
US5067019A (en) 1989-03-31 1991-11-19 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Programmable remapper for image processing
JPH0378373A (en) 1989-08-22 1991-04-03 Fuji Photo Optical Co Ltd Television camera operating device
US5175808A (en) 1989-09-12 1992-12-29 Pixar Method and apparatus for non-affine image warping
US5023725A (en) 1989-10-23 1991-06-11 Mccutchen David Method and apparatus for dodecahedral imaging system
US4989084A (en) 1989-11-24 1991-01-29 Wetzel Donald C Airport runway monitoring system
US5130794A (en) 1990-03-29 1992-07-14 Ritchey Kurtis J Panoramic display system
US5040746A (en) 1990-08-14 1991-08-20 The United States Of America As Represented By The Secretary Of The Army Finned projectile with supplementary fins
US5200818A (en) 1991-03-22 1993-04-06 Inbal Neta Video imaging system with interactive windowing capability
US5990941A (en) 1991-05-13 1999-11-23 Interactive Pictures Corporation Method and apparatus for the interactive display of any portion of a spherical image
US6243131B1 (en) 1991-05-13 2001-06-05 Interactive Pictures Corporation Method for directly scanning a rectilinear imaging element using a non-linear scan
US6201574B1 (en) 1991-05-13 2001-03-13 Interactive Pictures Corporation Motionless camera orientation system distortion correcting sensing element
US5313306A (en) 1991-05-13 1994-05-17 Telerobotics International, Inc. Omniview motionless camera endoscopy system
US5359363A (en) 1991-05-13 1994-10-25 Telerobotics International, Inc. Omniview motionless camera surveillance system
US5384588A (en) 1991-05-13 1995-01-24 Telerobotics International, Inc. System for omindirectional image viewing at a remote location without the transmission of control signals to select viewing parameters
US5185667A (en) 1991-05-13 1993-02-09 Telerobotics International, Inc. Omniview motionless camera orientation system
US5764276A (en) 1991-05-13 1998-06-09 Interactive Pictures Corporation Method and apparatus for providing perceived video viewing experiences using still images
US6301447B1 (en) 1991-05-13 2001-10-09 Interactive Pictures Corporation Method and system for creation and interactive viewing of totally immersive stereoscopic images
US5903319A (en) 1991-05-13 1999-05-11 Interactive Pictures Corporation Method for eliminating temporal and spacial distortion from interlaced video signals
US6256061B1 (en) 1991-05-13 2001-07-03 Interactive Pictures Corporation Method and apparatus for providing perceived video viewing experiences using still images
WO1993023835A1 (en) 1992-05-08 1993-11-25 Apple Computer, Inc. Textured sphere and spherical environment map rendering using texture map double indirection
US5396583A (en) 1992-10-13 1995-03-07 Apple Computer, Inc. Cylindrical to planar image mapping using scanline coherence
US6731284B1 (en) 1992-12-14 2004-05-04 Ford Oxaal Method of and apparatus for performing perspective transformation of visible stimuli
KR940017747A (en) 1992-12-29 1994-07-27 에프. 제이. 스미트 An image processing device
US5395363A (en) 1993-06-29 1995-03-07 Utah Medical Products Diathermy coagulation and ablation apparatus and method
US5796426A (en) * 1994-05-27 1998-08-18 Warp, Ltd. Wide-angle image dewarping method and apparatus
AU3274195A (en) 1994-09-09 1996-03-27 Motorola, Inc. Method for creating image data
AU4859096A (en) 1995-02-23 1996-09-11 Motorola, Inc. Broadcasting plural wide angle images
US5657073A (en) 1995-06-01 1997-08-12 Panoramic Viewing Systems, Inc. Seamless multi-camera panoramic imaging with distortion correction and selectable field of view
US6243099B1 (en) 1996-11-14 2001-06-05 Ford Oxaal Method for interactive viewing full-surround image data and apparatus therefor
US5903782A (en) 1995-11-15 1999-05-11 Oxaal; Ford Method and apparatus for producing a three-hundred and sixty degree spherical visual data set
US6118454A (en) 1996-10-16 2000-09-12 Oxaal; Ford Methods and apparatuses for producing a spherical visual data set using a spherical mirror and one or more cameras with long lenses
US6147709A (en) 1997-04-07 2000-11-14 Interactive Pictures Corporation Method and apparatus for inserting a high resolution image into a low resolution interactive image to produce a realistic immersive experience
US6492985B1 (en) 1999-07-06 2002-12-10 Internet Pictures Corporation Presenting manipulating and serving immersive images
US6687387B1 (en) 1999-12-27 2004-02-03 Internet Pictures Corporation Velocity-dependent dewarping of images
US6788211B2 (en) 2000-06-14 2004-09-07 Edwards Systems Technology, Inc. Apparatus and method using smoke and/or gas sensing in cooking devices
FR2821167B1 (en) 2001-02-16 2003-12-05 Immervision Internat Pte Ltd Device camera mount
FR2821156B1 (en) 2001-02-16 2003-05-23 Immervision Internat Pte Ltd Method and device for obtaining a digital panoramic image has constant hue
FR2821172B1 (en) 2001-02-16 2003-05-23 Immervision Internat Pte Ltd Method and apparatus for the orientation of a panoramic image digital
FR2826221B1 (en) 2001-05-11 2003-12-05 Immervision Internat Pte Ltd Method for obtaining and displaying a panoramic image digital variable resolution
FR2827680B1 (en) 2001-07-20 2003-10-10 Immervision Internat Pte Ltd Method for capturing a panoramic image by means of a rectangular image sensor

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6271853B1 (en) * 1992-12-14 2001-08-07 Ford Oxaal Method for generating and interactively viewing spherical image data
US6002430A (en) * 1994-01-31 1999-12-14 Interactive Pictures Corporation Method and apparatus for simultaneous capture of a spherical image

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090262180A1 (en) * 2008-04-18 2009-10-22 Samsung Electronics Co., Ltd. Apparatus for generating panoramic images and method thereof
US9930225B2 (en) 2011-02-10 2018-03-27 Villmer Llc Omni-directional camera and related viewing software
US20160147045A1 (en) * 2011-08-26 2016-05-26 Kensuke Masuda Imaging system and imaging optical system
US20170116704A1 (en) * 2012-03-09 2017-04-27 Hirokazu Takenaka Image capturing apparatus, image capture system, image processing method, information processing apparatus, and computer-readable storage medium
US20140071227A1 (en) * 2012-09-11 2014-03-13 Hirokazu Takenaka Image processor, image processing method and program, and imaging system
US20150007024A1 (en) * 2013-06-28 2015-01-01 Samsung Electronics Co., Ltd. Method and apparatus for generating image file
CN104883513A (en) * 2014-02-28 2015-09-02 系统电子工业股份有限公司 Image processing device for performing 720-DEG panoramic photography
US20160295126A1 (en) * 2015-04-03 2016-10-06 Capso Vision, Inc. Image Stitching with Local Deformation for in vivo Capsule Images
US10250806B2 (en) * 2015-09-04 2019-04-02 Samsung Electronics Co., Ltd. Electronic device and method for controlling image shooting and image outputting
EP3190460A1 (en) * 2016-01-05 2017-07-12 Giroptic Image capturing device on a moving body
WO2017118668A1 (en) * 2016-01-05 2017-07-13 Giroptic Image capturing device on a moving body

Also Published As

Publication number Publication date
US7382399B1 (en) 2008-06-03

Similar Documents

Publication Publication Date Title
Chahl et al. Reflective surfaces for panoramic imaging
US6111702A (en) Panoramic viewing system with offset virtual optical centers
KR100922250B1 (en) Panoramic video system with real-time distortion-free imaging
US7940299B2 (en) Method and apparatus for an omni-directional video surveillance system
CN101809993B (en) Methods of obtaining panoramic images using rotationally symmetric wide-angle lenses and devices thereof
US6856472B2 (en) Panoramic mirror and system for producing enhanced panoramic images
EP1130906B1 (en) Pointing device for digital camera display
US7488078B2 (en) Display apparatus, image processing apparatus and image processing method, imaging apparatus, and program
CN103534726B (en) The image registration assisted for the position sensor of panoramic shooting
US6778207B1 (en) Fast digital pan tilt zoom video
US7489335B2 (en) Photographic apparatus with function of image correction and method thereof
JP4188394B2 (en) Surveillance camera device and surveillance camera system
US6809887B1 (en) Apparatus and method for acquiring uniform-resolution panoramic images
JP3676360B2 (en) Imaging processing method
JP4845264B2 (en) Method and apparatus for generating panoramic and surround images using a camera with motion sensor
DE69434779T2 (en) Video system
US20170302828A1 (en) Camera system
JP3012142B2 (en) Full field of view still camera surveillance system
US9961264B2 (en) Virtual reality camera
JP2883265B2 (en) Image processing apparatus
JP4643773B2 (en) Electronic zoom image input method
JP2005006341A (en) Panorama picture formation device
US7224386B2 (en) Self-calibration for a catadioptric camera
US6147709A (en) Method and apparatus for inserting a high resolution image into a low resolution interactive image to produce a realistic immersive experience
US6963365B2 (en) System and method for removal of digital image vertical distortion

Legal Events

Date Code Title Description
STCB Information on status: application discontinuation

Free format text: ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION