US9270976B2 - Multi-user stereoscopic 3-D panoramic vision system and method - Google Patents
Multi-user stereoscopic 3-D panoramic vision system and method Download PDFInfo
- Publication number
- US9270976B2 US9270976B2 US11/265,584 US26558405A US9270976B2 US 9270976 B2 US9270976 B2 US 9270976B2 US 26558405 A US26558405 A US 26558405A US 9270976 B2 US9270976 B2 US 9270976B2
- Authority
- US
- United States
- Prior art keywords
- panoramic
- view
- camera
- array
- image
- 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.)
- Expired - Fee Related, expires
Links
Images
Classifications
-
- H04N13/0282—
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/243—Image signal generators using stereoscopic image cameras using three or more 2D image sensors
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B35/00—Stereoscopic photography
- G03B35/08—Stereoscopic photography by simultaneous recording
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B35/00—Stereoscopic photography
- G03B35/18—Stereoscopic photography by simultaneous viewing
- G03B35/20—Stereoscopic photography by simultaneous viewing using two or more projectors
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B37/00—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe
- G03B37/04—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe with cameras or projectors providing touching or overlapping fields of view
-
- H04N13/0242—
-
- H04N13/0468—
-
- H04N13/047—
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/282—Image signal generators for generating image signals corresponding to three or more geometrical viewpoints, e.g. multi-view systems
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/30—Image reproducers
- H04N13/332—Displays for viewing with the aid of special glasses or head-mounted displays [HMD]
- H04N13/344—Displays for viewing with the aid of special glasses or head-mounted displays [HMD] with head-mounted left-right displays
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/30—Image reproducers
- H04N13/366—Image reproducers using viewer tracking
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/30—Image reproducers
- H04N13/366—Image reproducers using viewer tracking
- H04N13/368—Image reproducers using viewer tracking for two or more viewers
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/63—Control of cameras or camera modules by using electronic viewfinders
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
- H04N23/661—Transmitting camera control signals through networks, e.g. control via the Internet
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
-
- H04N5/232—
-
- H04N5/23238—
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/2625—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects for obtaining an image which is composed of images from a temporal image sequence, e.g. for a stroboscopic effect
- H04N5/2627—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects for obtaining an image which is composed of images from a temporal image sequence, e.g. for a stroboscopic effect for providing spin image effect, 3D stop motion effect or temporal freeze effect
-
- H04N13/044—
Definitions
- the present invention relates generally to the art of sensors and displays. It finds particular application in vision systems for operators of manned and unmanned vehicles and is illustrated and described herein primarily with reference thereto. However, it will be appreciated that the present invention is also amenable to surveillance and other tele-observation or tele-presence applications and all manner of other panoramic or wide-angle video photography applications.
- the current state of the art involves the use of various types of camera systems to develop a complete view of what is around the sensor.
- the Ladybug camera from PT Grey the Dodeca camera from Immersive Media Corporation, and the SVS-2500 from iMove, Inc., all do this with varying degrees of success.
- These and other companies have also developed camera systems where the individual sensors are separated from each other by distances of many feet and the resulting data from the dispersed cameras is again “stitched” together to form a spherical or semi spherical view of what is around the vehicle.
- pan-tilt type camera systems do not allow for multiple users to access different views around the sensor and all users must share the view that the “master” who is controlling the device is pointing the sensor towards.
- the present invention contemplates a new and improved vision system and method wherein a complete picture of the scene outside a vehicle or similar enclosure is presented to any number of operators in real-time stereo 3-D, and which overcome the above-referenced problems and others.
- a panoramic camera system includes a plurality of camera units mounted and arranged in a circumferential, coplanar array. Each camera unit includes one or more lenses for focusing light from a field of view onto an array of light-sensitive elements.
- a panoramic image generator combines electronic image data from the multiplicity of the fields of view to generate electronic image data representative of a first 360-degree panoramic view and a second 360-degree panoramic view, wherein the first and second panoramic views are angularly displaced.
- a stereographic display system is provided to retrieve operator-selectable portions of the first and second panoramic views and to display the user selectable portions in human viewable form.
- a method of providing a video display of a selected portion of a panoramic region comprises acquiring image data representative of a plurality of fields of view with a plurality of camera units mounted in a common plane and arranged in a circumferential array. Electronic image data from the multiplicity of the fields of view is combined to generate electronic image data representative of a first 360-degree panoramic view and a second 360-degree panoramic view, said first and second panoramic views being angularly displaced with respect to each other. Selected portions of said first and second panoramic views are retrieved and converted into human viewable form.
- One advantage of the present development resides in its ability to provide a complete picture of what is outside a vehicle or similar enclosure, to any desired number of operators in the vehicle or enclosure in real-time stereo 3-D.
- Another advantage of the present vision system is that it provides image comprehension by the operator that is similar to, or in some cases better than, comprehension by a viewer outside the vehicle or enclosure. For example, since the depicted system allows viewing the uninterrupted scene around the vehicle/enclosure, and it provides high-resolution stereoscopic images to provide a perception of depth, color, and fine detail. In some instances, image comprehension may be enhanced due to the ability to process the images of the outside world and to enhance the view with multiple spectral inputs, brightness adjustments, to see through obstructions on the vehicle, etc.
- Another advantage of the present invention is found in the near-zero lag time between the time the scene is captured and the time it is presented to the operator(s), irrespective of the directions(s) the operator(s) may be looking in.
- Still another advantage of the present development resides in its ability to calculate the coordinates (e.g., x, y, z) of an object or objects located within the field of view.
- Still another advantage of the present invention is the ability to link the scene presented to the operator, the location of objects in the stereo scenes via image processing or operator queuing, the calculation of x, y, z position from the stereo data and finally, the automated queuing of weapons systems to the exact point of interest. This is a critical capability that allows the very rapid return of fire, while allowing an operator to make the final go/no go decision, thereby reducing collateral or unintended damage.
- the invention may take form in various components and arrangements of components, and in various steps and arrangements of steps.
- the drawings are only for purposes of illustrating preferred embodiments and are not to be construed as limiting the invention.
- FIG. 1 is a block diagram illustrating a first embodiment of the present invention.
- FIG. 2 is a block diagram illustrating a second embodiment of the present invention.
- FIG. 3 is an enlarged view of the camera array in accordance with an embodiment of the present invention.
- FIG. 4 is a schematic top view of an exemplary camera array illustrating the overlapping fields of view of adjacent camera units in the array.
- FIG. 5 illustrates an exemplary method of calculating the distance to an object based on two angularly displaced views.
- FIG. 6 is a flow diagram illustrating an exemplary method in accordance with the present invention.
- FIG. 7 is a block diagram illustrating a distributed embodiment.
- FIG. 8 is a schematic top view of a sensor array, illustrating an alternative method of acquiring angularly displaced panoramic images.
- FIG. 1 depicts an exemplary vision system embodiment 100 employing an array 110 of sensors 112 .
- An enlarged view of an exemplary sensor array 110 appears in FIG. 3 .
- the sensor array 110 may include a housing 114 enclosing the plurality of sensors 112 .
- the sensor array 110 is mounted on a vehicle 116 , which is a tank in the depicted embodiment, although other vehicle types are contemplated, including all manner of overland vehicles, watercraft, and aircraft.
- the vision system of the present invention may be employed in connection with other types of structures or enclosures.
- FIG. 2 there is shown another exemplary embodiment wherein the camera array 110 is employed in connection with an unmanned, remotely operated vehicle 118 .
- the vehicle includes an onboard transmitter, such as a radio frequency transmitter 120 for transmitting video signals from the sensor unit 110 to a receiver 122 coupled to a computer 124 .
- a stereo image is output to a head-mounted display 126 . It will be recognized that other display types are contemplated as well.
- Other vision system embodiments may employ two or more sub-arrays of 1 to n sensors such that the combined fields of view for the sensors cover the entire 360-degree area around the vehicle, structure, or enclosure. The images from the sensors can then be fused together to obtain the panoramic view.
- Such embodiments allow the sensor sub-arrays to be distributed within a limited area and still provide the panoramic views necessary for stereo viewing.
- FIG. 7 illustrates such a distributed embodiment in which the sensor array 110 comprises two 180-degree sensor arrays 111 and 113 , which may be displaced from each other, e.g., at forward and rear portions of the vehicles.
- Other sub-array configurations and placements are also contemplated.
- each unit 112 includes a lens assembly 130 which focuses light from a field of view 132 onto an image sensor 134 which may be, for example, a CCD array, a CMOS digital detector array, or other light-sensitive element array.
- the lens assembly 130 may have a fixed focal length, or, may be a zoom lens assembly to selectively widen or narrow the field of view.
- Each sensor 112 outputs a two-dimensional image of its respective field of view 132 and passes it to a computer-based information handling system 124 .
- the image sensing elements 134 are color sensors, e.g., in accordance with a red-green-blue or other triadic color scheme.
- additional sensor elements sensitive to other wavelengths of radiation such as ultraviolet or infrared, may be provided for each pixel. In this manner, infrared and/or ultraviolet images can be acquired concurrently with color images.
- the image outputs from the plural cameras in the sensor array are passed to a multiplexer 136 .
- a frame grabber 138 is employed to receive the video signals from the sensors 112 and convert the received video frames into digital image representations, which may be stored in a memory 140 of the computer system 124 .
- the image sensors 112 may pass the acquired image as digital data directly to the computer system 124 , which may be stored in the memory 140 .
- An image-processing module 142 collects and sorts the video images from the multiple cameras 112 .
- the cameras 112 are arranged in a circular array, such that the fields of view 132 extend radially outwardly from the center 128 .
- the cameras may be arranged into partial circular subarrays, which subarrays may be separated as illustrated in FIG. 7 .
- the distance between adjacent cameras in the array 110 is approximately 65 mm, which is about the average distance between human eyes.
- the fields of view of adjacent cameras 112 overlap by about 50 percent.
- the camera setup would have a radius 144 of 6.52 inches to allow 16 cameras 112 to be spaced 65 mm apart about the circumference of the circle. It will be recognized that other numbers of cameras, camera separation distances, and fields of view may be employed.
- a panoramic image processor 146 generates two angularly displaced panoramic imagers.
- the angularly displaced images may be generated by a number of methods.
- the panoramic image processor 146 fuses the left half of each of the images from the sensors 112 together to form a first uninterrupted cylindrical or spherical panoramic image.
- the module 146 similarly fuses the right half of each of the images from the sensors 112 together to form a second uninterrupted cylindrical or spherical panoramic image.
- the first and second panoramic images provide a continuous left eye and right eye perspective, respectively, for a stereo 3-D view of the outside world.
- FIG. 8 An alternative method of generating the stereo panoramic images from the sensors 112 is shown in FIG. 8 .
- the full images from odd numbered sensors are fused together to form a first uninterrupted cylindrical or spherical panoramic image.
- the full images from the even numbered sensors are fused together to form a second uninterrupted cylindrical or spherical panoramic image.
- the first and second panoramic images provide a continuous left eye and right eye perspective for a stereo 3-D view of the outside world.
- the display software reassigns the left and right eye view as the operator view moves between sensor fields of view.
- the left eye perspective image is presented to the left eye of the operator and the right eye perspective image is presented to the right eye of the operator via a stereoscopic display 126 .
- the differences between the left eye and right eye images provide depth information or cues which, when processed in the visual center of the brain, provide the viewer with a perception of depth.
- the stereoscopic display 126 is head-mounted display of a type having a left-eye display and a right-eye display mounted on a head-worn harness. Other types of stereoscopic displays are also contemplated, as are conventional two-dimensional displays.
- the display 126 tracks the direction in which the wearer is looking and sends head tracking data 148 to the processor 142 .
- a stereo image generator module 150 retrieves the corresponding portions of the left and right eye panoramic images to generate a stereoscopic image.
- a graphics processor 152 presents the stereoscopic video images in human viewable form via the display 126 .
- the video signal 154 viewable on the display 126 can be shared with displays worn by other users.
- one or more client computer-based information handling systems 156 may be connected to the host system 124 .
- the client viewer includes a processor 158 and a graphics card 160 .
- Head tracking data 148 is generated by the client display 126 is received by the processor 158 .
- the client computer 156 requests those portions of the left and right panoramic images to generate a stereo view which corresponds to the direction in which the user is viewing.
- the corresponding video images are forwarded to the computer 156 and output via the graphics processor 160 .
- the stereo 3-D view provides relative depth information or cues which can be perceived independently by multiple users, such as the driver of the tank 116 and the weapons officer, greatly increasing their effectiveness.
- a image representation of the user's location such as the vehicle 116 , which may be a 2-D or 3-D representation, such as an outline, wire frame, or other graphic representation of the vehicle 116 , may be superimposed over the display image so that the relative positions of the vehicle 116 versus other objects in the video streams can be determined by the driver or others in the crew.
- the vehicle overlay is selectively viewable, e.g., via an operator control 162 .
- the views are preferably made available in real-time to one or more operators via a panoramic (e.g., wide field of view), ultra high-resolution head mount display (tiled near eye displays with N per eye) while tracking where they are looking (the direction the head is pointed relative to the sensor array 110 ) in order to provide the appropriate view angle.
- a panoramic e.g., wide field of view
- ultra high-resolution head mount display tiled near eye displays with N per eye
- tracking where they are looking the direction the head is pointed relative to the sensor array 110
- This may be accomplished using OpenGL or other graphics image display techniques.
- real-time is not intended to preclude relatively short processing times.
- multiple users may have to access the same sensor, with multiple users looking in the same direction, or, more importantly, with multiple users looking in stereo 3-D in independent directions.
- This enables collaboration among multiple users; say among a weapons officer and driver, as well as diverse use of the sensor such as search in multiple directions around a vehicle at the same time.
- a non-limiting example of such collaboration includes a driver who notices a threat with a rocket propelled grenade (RPG) at 11 o'clock. The driver can relay this to the weapons officer via audio and the weapons officer can immediately view the threat in his display, with the same view the driver is seeing.
- RPG rocket propelled grenade
- the weapons officer can initiate automatic slewing of the remote weapon to the threat while accessing the threat and the possibility for collateral damage from firing at the threat and very rapidly and accurately neutralize the threat, potentially before the threat has a chance to take action.
- Locating the coordinates of a point in space (x, y, z) enables the very precise targeting of that point.
- Having other sensor(s) integrated as video overlays on the WFOV display, such as a remote weapons system camera output video mapped into the video from the spherical or cylindrical sensor 110 output dramatically reduces operator loading and both reduces time and enhances decision cycles. This provides the best of both the pan-tilt-zoom functionality of the weapons camera(s) and the WFOV of the present vision system, thereby dramatically increasing the utility and safety for the user.
- a distance calculation module 164 may also utilize the stereoscopic images to calculate the coordinates of one or more objects located within the field of view.
- horizontal pixel offsets of an imaged object in the field of view of adjacent cameras 112 can be used to measure the distance to that object. It will be recognized that, in comparing adjacent images to determine the horizontal pixel offset, some vertical offset may be present as well, for example, when the vehicle is on an inclined surface. Depending on the type of vehicle, enclosure, etc., non-horizontal camera arrays may also be employed.
- the calculation of the coordinates is particularly useful where the vehicle is being fired upon by a sniper or other source and the vehicle operator attempts to return fire.
- a vehicle embodying or incorporating the present vision system may acquire angularly displaced images of the flash of light from the sniper's weapon, which may then be located in real-time within the 3-D stereo view.
- the coordinates of the flash can then be calculated to give the vehicle operator(s) the approximate x, y, and z data for the target. This distance to the target can then be factored in with other ballistic parameters to sight in the target.
- FIG. 5 illustrates the manner of calculating the distance to an object appearing in the field of view (FOV) of adjacent cameras 112 .
- the distance 166 to an object 168 may be calculated by multiplying the distance 170 between adjacent cameras 112 in the array 110 by the tangent of angle ⁇ .
- the angle ⁇ is equal to angle ⁇ minus 90 degrees and the angle ⁇ , in turn, is the inverse tangent of an offset 172 divided by a factor 174 .
- the offset value 172 is the calculated horizontal offset between the left and right image of the adjacent cameras 112 and the factor 172 is a predetermined value calculated at calibration.
- objects in the acquired images may be modeled in 3-D using a 3-D model processor 176 .
- a 3-D model processor 176 By using the x and y coordinates of an object of interest (e.g., as calculated using the position of the object on the 2-D sensors 134 of the cameras 112 in combination with the distance to the object, or, the z coordinate), the position of the object of interest relative to the observer can be determined.
- a 3-D model of the imaged scene or portions thereof may be generated.
- the generated 3-D models may be superimposed over the displayed video image.
- the cameras 112 may be used in landscape mode, giving a greater horizontal field of view (FOV) than vertical FOV. Such configurations will generally produce cylindrical panoramic views. However, it will be recognized that the cameras can also be used in portrait mode, giving a greater vertical FOV than horizontal FOV. This configuration may be used to provide spherical or partial spherical views when the vertical FOV is sufficient to supply the necessary pixel data. This configuration will generally require more cameras because of the smaller horizontal field of view of the cameras.
- FOV horizontal field of view
- the sensors may be of various types (e.g., triadic color, electro-optical, infrared, ultraviolet, etc) and resolutions.
- sensors with higher resolution than is needed for 1:1 viewing of the scenes may be employed to allow for digital zoom without losing the resolution needed to provide optimum perception by the user. Without such higher resolution, digital zoom causes the image to be pixilated when digitally zoomed and looks rough to the eye, reducing the ability to perceive features in the scene.
- embodiments in which there is overlap between adjacent cameras 112 provide redundant views so that if a sensor is lost, the view can still be seen from another sensor that covers the same physical area of interest.
- the present invention utilizes a tiled display so that a very wide FOV which is also at a high resolution can be presented to the user, thereby allowing the user to gain peripheral view and the relevant and very necessary visual queues that this enables. Since the human eye only has the ability to perceive high resolution in the center of the FOV, the use of high resolution for peripheral areas can be a significant waste of system resources and an unnecessary technical challenge.
- the resolution of the peripheral areas of the FOV can be displayed at a lower resolution than the direct forward or central portion of the field of view. In this manner, the amount of data that must be transmitted to the head set is significantly reduced while maintaining the WFOV and high resolution in the forward or central portion of the view.
- image data is received from the cameras 112 in the array 110 .
- the image data may be received as digital data output from the cameras 112 or as an analog electronic signal for conversion to a digital image representation.
- step 212 it is determined if the coordinates of an imaged object are to be calculated. If one or more objects are to be located, the process proceeds to step 216 and the coordinates of the object of interest are calculated based on the horizontal offset between adjacent sensor units 112 , e.g., as detailed above by way of reference to FIG. 5 .
- the object coordinates are output at step 220 and the process proceeds to step 224 . Alternatively, in the event object coordinates are not to be determined in step 212 , the process proceeds directly to step 224 .
- step 224 it is determined whether a 3-D model is to be generated, e.g., based on user selectable settings. If a 3-D model is to be generated at step 224 , the process proceeds to generate the 3-D model at step 228 . If the 3-D model is to be stored at step 232 , the model data is stored in a memory 178 at step 236 . The process then proceeds to step 240 where it is determined if the 3-D model is to be viewed. If the model is to be viewed, e.g., as determined via a user-selectable parameter, the 3-D model is prepared for output in human-viewable form at step 244 and the process proceeds to step 252 .
- step 248 left eye and right eye panoramic stereo views are generated. If the field of view of the selected image, i.e., the panoramic stereo image or 3-D model image, is to be displayed selected based on head tracking in step 252 , then head tracker data is used to select the desired portion of the panoramic images for display at step 256 . If it is determined that head tracking is not employed at step 252 , then mouse input or other operator input means is used to select the desired FOV at step 260 . Once the desired field of view is selected at step 256 or step 260 , a stereo image is output to the display 126 at step 264 . The process then repeats to provide human viewable image output at a desired frame rate.
- head tracker data is used to select the desired portion of the panoramic images for display at step 256 .
- mouse input or other operator input means is used to select the desired FOV at step 260 .
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
- Closed-Circuit Television Systems (AREA)
- Studio Devices (AREA)
- Stereoscopic And Panoramic Photography (AREA)
Abstract
Description
Object Distance (166)=Camera Separation (170)×Factor (174)/Offset (172).
Claims (3)
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/265,584 US9270976B2 (en) | 2005-11-02 | 2005-11-02 | Multi-user stereoscopic 3-D panoramic vision system and method |
PCT/US2006/042206 WO2007055943A2 (en) | 2005-11-02 | 2006-10-30 | Multi-user stereoscopic 3-d panoramic vision system and method |
US14/986,987 US20160119610A1 (en) | 2005-11-02 | 2016-01-04 | Multi-user stereoscopic 3-d panoramic vision system and method |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/265,584 US9270976B2 (en) | 2005-11-02 | 2005-11-02 | Multi-user stereoscopic 3-D panoramic vision system and method |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US14/986,987 Continuation US20160119610A1 (en) | 2005-11-02 | 2016-01-04 | Multi-user stereoscopic 3-d panoramic vision system and method |
Publications (2)
Publication Number | Publication Date |
---|---|
US20070097206A1 US20070097206A1 (en) | 2007-05-03 |
US9270976B2 true US9270976B2 (en) | 2016-02-23 |
Family
ID=37995730
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US11/265,584 Expired - Fee Related US9270976B2 (en) | 2005-11-02 | 2005-11-02 | Multi-user stereoscopic 3-D panoramic vision system and method |
US14/986,987 Abandoned US20160119610A1 (en) | 2005-11-02 | 2016-01-04 | Multi-user stereoscopic 3-d panoramic vision system and method |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US14/986,987 Abandoned US20160119610A1 (en) | 2005-11-02 | 2016-01-04 | Multi-user stereoscopic 3-d panoramic vision system and method |
Country Status (2)
Country | Link |
---|---|
US (2) | US9270976B2 (en) |
WO (1) | WO2007055943A2 (en) |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9674435B1 (en) * | 2016-07-06 | 2017-06-06 | Lawrence Maxwell Monari | Virtual reality platforms for capturing content for virtual reality displays |
RU2650088C1 (en) * | 2016-12-01 | 2018-04-06 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Московский государственный университет геодезии и картографии" (МИИГАиК) | Method of panoramic stereoscopic shooting |
US20180249088A1 (en) * | 2015-09-03 | 2018-08-30 | 3Digiview Asia Co., Ltd. | Method for correcting image of multi-camera system by using multi-sphere correction device |
US10523918B2 (en) | 2017-03-24 | 2019-12-31 | Samsung Electronics Co., Ltd. | System and method for depth map |
US10699376B1 (en) * | 2018-10-03 | 2020-06-30 | Ambarella International Lp | eMirror with 3-in-1 stitching by non-rectilinear warping of camera views |
US10904458B2 (en) | 2015-09-03 | 2021-01-26 | 3Digiview Asia Co., Ltd. | Error correction unit for time slice image |
US20210360148A1 (en) * | 2019-01-08 | 2021-11-18 | Hewlett-Packard Development Company, L.P. | Simulation-based capture system adjustments |
US20220327687A1 (en) * | 2017-12-25 | 2022-10-13 | Canon Kabushiki Kaisha | Image Processing apparatus, Control Method and Non-Transitory Computer-Readable Recording Medium Therefor |
Families Citing this family (127)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006165795A (en) * | 2004-12-03 | 2006-06-22 | Canon Inc | Image forming device and image forming method |
US8182422B2 (en) * | 2005-12-13 | 2012-05-22 | Avantis Medical Systems, Inc. | Endoscope having detachable imaging device and method of using |
US8235887B2 (en) | 2006-01-23 | 2012-08-07 | Avantis Medical Systems, Inc. | Endoscope assembly with retroscope |
JP5186364B2 (en) * | 2005-05-12 | 2013-04-17 | テネブラックス コーポレイション | Improved virtual window creation method |
US7834910B2 (en) * | 2006-03-01 | 2010-11-16 | David M. DeLorme | Method and apparatus for panoramic imaging |
US7773121B1 (en) * | 2006-05-03 | 2010-08-10 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | High-resolution, continuous field-of-view (FOV), non-rotating imaging system |
US10298834B2 (en) | 2006-12-01 | 2019-05-21 | Google Llc | Video refocusing |
JP5507797B2 (en) * | 2007-03-12 | 2014-05-28 | キヤノン株式会社 | Head-mounted imaging display device and image generation device |
EP2130084A4 (en) * | 2007-03-16 | 2010-06-30 | Kollmorgen Corp | System for panoramic image processing |
US8064666B2 (en) | 2007-04-10 | 2011-11-22 | Avantis Medical Systems, Inc. | Method and device for examining or imaging an interior surface of a cavity |
TW200907557A (en) * | 2007-08-08 | 2009-02-16 | Behavior Tech Computer Corp | Camera array apparatus and the method for capturing wide-angle video over a network |
US8127297B2 (en) | 2007-10-31 | 2012-02-28 | International Business Machines Corporation | Smart virtual objects of a virtual universe independently select display quality adjustment settings to conserve energy consumption of resources supporting the virtual universe |
US8013861B2 (en) * | 2007-10-31 | 2011-09-06 | International Business Machines Corporation | Reducing a display quality of an area in a virtual universe to conserve computing resources |
US8214750B2 (en) * | 2007-10-31 | 2012-07-03 | International Business Machines Corporation | Collapsing areas of a region in a virtual universe to conserve computing resources |
US8174562B2 (en) * | 2007-11-09 | 2012-05-08 | Honeywell International Inc. | Stereo camera having 360 degree field of view |
US8791984B2 (en) * | 2007-11-16 | 2014-07-29 | Scallop Imaging, Llc | Digital security camera |
US8127235B2 (en) | 2007-11-30 | 2012-02-28 | International Business Machines Corporation | Automatic increasing of capacity of a virtual space in a virtual world |
US8537222B2 (en) * | 2008-02-28 | 2013-09-17 | Bae Systems Information And Electronic Systems Integration Inc. | Method and system for finding a manpads launcher position |
US8537229B2 (en) * | 2008-04-10 | 2013-09-17 | Hankuk University of Foreign Studies Research and Industry—University Cooperation Foundation | Image reconstruction |
US8199145B2 (en) * | 2008-05-06 | 2012-06-12 | International Business Machines Corporation | Managing use limitations in a virtual universe resource conservation region |
US7996164B2 (en) * | 2008-05-06 | 2011-08-09 | International Business Machines Corporation | Managing energy usage by devices associated with a virtual universe resource conservation region |
US7873485B2 (en) * | 2008-05-08 | 2011-01-18 | International Business Machines Corporation | Indicating physical site energy usage through a virtual environment |
US20090281885A1 (en) * | 2008-05-08 | 2009-11-12 | International Business Machines Corporation | Using virtual environment incentives to reduce real world energy usage |
US9268385B2 (en) | 2008-08-20 | 2016-02-23 | International Business Machines Corporation | Introducing selective energy efficiency in a virtual environment |
JP5531483B2 (en) * | 2008-08-29 | 2014-06-25 | ソニー株式会社 | Imaging apparatus and video recording / reproducing system |
JP5238429B2 (en) * | 2008-09-25 | 2013-07-17 | 株式会社東芝 | Stereoscopic image capturing apparatus and stereoscopic image capturing system |
US8564663B2 (en) * | 2009-04-14 | 2013-10-22 | Bae Systems Information And Electronic Systems Integration Inc. | Vehicle-mountable imaging systems and methods |
CA2766111C (en) * | 2009-06-30 | 2021-11-16 | Saab Ab | A method and an arrangement for estimating 3d models in a street environment |
US20110069148A1 (en) * | 2009-09-22 | 2011-03-24 | Tenebraex Corporation | Systems and methods for correcting images in a multi-sensor system |
US9792012B2 (en) | 2009-10-01 | 2017-10-17 | Mobile Imaging In Sweden Ab | Method relating to digital images |
JP5337658B2 (en) * | 2009-10-02 | 2013-11-06 | 株式会社トプコン | Wide-angle imaging device and measurement system |
SE534551C2 (en) | 2010-02-15 | 2011-10-04 | Scalado Ab | Digital image manipulation including identification of a target area in a target image and seamless replacement of image information from a source image |
US8749620B1 (en) * | 2010-02-20 | 2014-06-10 | Lytro, Inc. | 3D light field cameras, images and files, and methods of using, operating, processing and viewing same |
JP5362639B2 (en) * | 2010-04-12 | 2013-12-11 | 住友重機械工業株式会社 | Image generating apparatus and operation support system |
US9108709B2 (en) * | 2010-06-21 | 2015-08-18 | Kollmorgen Corporation | Modular optronic periscope |
US8692870B2 (en) | 2010-06-28 | 2014-04-08 | Microsoft Corporation | Adaptive adjustment of depth cues in a stereo telepresence system |
US9544498B2 (en) * | 2010-09-20 | 2017-01-10 | Mobile Imaging In Sweden Ab | Method for forming images |
US8780174B1 (en) * | 2010-10-12 | 2014-07-15 | The Boeing Company | Three-dimensional vision system for displaying images taken from a moving vehicle |
US20120105574A1 (en) * | 2010-10-28 | 2012-05-03 | Henry Harlyn Baker | Panoramic stereoscopic camera |
US9876953B2 (en) | 2010-10-29 | 2018-01-23 | Ecole Polytechnique Federale De Lausanne (Epfl) | Omnidirectional sensor array system |
DE102010053895A1 (en) * | 2010-12-09 | 2012-06-14 | Eads Deutschland Gmbh | Environment display device as well as a vehicle with such an environment-presentation device and method for displaying a panoramic image |
US9007430B2 (en) * | 2011-05-27 | 2015-04-14 | Thomas Seidl | System and method for creating a navigable, three-dimensional virtual reality environment having ultra-wide field of view |
SE1150505A1 (en) | 2011-05-31 | 2012-12-01 | Mobile Imaging In Sweden Ab | Method and apparatus for taking pictures |
US9432583B2 (en) | 2011-07-15 | 2016-08-30 | Mobile Imaging In Sweden Ab | Method of providing an adjusted digital image representation of a view, and an apparatus |
US20130222590A1 (en) * | 2012-02-27 | 2013-08-29 | Honeywell International Inc. | Methods and apparatus for dynamically simulating a remote audiovisual environment |
US9350954B2 (en) * | 2012-03-20 | 2016-05-24 | Crane-Cohasset Holdings, Llc | Image monitoring and display from unmanned vehicle |
US20140327733A1 (en) | 2012-03-20 | 2014-11-06 | David Wagreich | Image monitoring and display from unmanned vehicle |
TWI516113B (en) * | 2012-03-26 | 2016-01-01 | 華晶科技股份有限公司 | Image capture device and image synthesis method thereof |
US10499118B2 (en) * | 2012-04-24 | 2019-12-03 | Skreens Entertainment Technologies, Inc. | Virtual and augmented reality system and headset display |
US11284137B2 (en) | 2012-04-24 | 2022-03-22 | Skreens Entertainment Technologies, Inc. | Video processing systems and methods for display, selection and navigation of a combination of heterogeneous sources |
US9743119B2 (en) | 2012-04-24 | 2017-08-22 | Skreens Entertainment Technologies, Inc. | Video display system |
US9858649B2 (en) | 2015-09-30 | 2018-01-02 | Lytro, Inc. | Depth-based image blurring |
US9870504B1 (en) * | 2012-07-12 | 2018-01-16 | The United States Of America, As Represented By The Secretary Of The Army | Stitched image |
JP6014442B2 (en) * | 2012-09-27 | 2016-10-25 | 富士通テン株式会社 | Image generation apparatus, image display system, and image generation method |
US10620902B2 (en) | 2012-09-28 | 2020-04-14 | Nokia Technologies Oy | Method and apparatus for providing an indication regarding content presented to another user |
US10154177B2 (en) * | 2012-10-04 | 2018-12-11 | Cognex Corporation | Symbology reader with multi-core processor |
EP2915324B1 (en) | 2012-11-05 | 2020-07-08 | 360 Heros, Inc. | 360 degree camera mount and related photographic and video system |
JP6126821B2 (en) * | 2012-11-09 | 2017-05-10 | 任天堂株式会社 | Image generation method, image display method, image generation program, image generation system, and image display apparatus |
US10334151B2 (en) | 2013-04-22 | 2019-06-25 | Google Llc | Phase detection autofocus using subaperture images |
US9451162B2 (en) | 2013-08-21 | 2016-09-20 | Jaunt Inc. | Camera array including camera modules |
US11019258B2 (en) | 2013-08-21 | 2021-05-25 | Verizon Patent And Licensing Inc. | Aggregating images and audio data to generate content |
US20150138311A1 (en) * | 2013-11-21 | 2015-05-21 | Panavision International, L.P. | 360-degree panoramic camera systems |
KR20150068298A (en) * | 2013-12-09 | 2015-06-19 | 씨제이씨지브이 주식회사 | Method and system of generating images for multi-surface display |
JP2015115848A (en) * | 2013-12-13 | 2015-06-22 | セイコーエプソン株式会社 | Head-mounted type display device and method for controlling head-mounted type display device |
EP3109744B1 (en) * | 2014-02-17 | 2020-09-09 | Sony Corporation | Information processing device, information processing method and program |
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 |
ES2545803B1 (en) * | 2014-03-12 | 2016-08-09 | Alberto ADARVE LOZANO | Vision system for refueling in flight |
US9911454B2 (en) | 2014-05-29 | 2018-03-06 | Jaunt Inc. | Camera array including camera modules |
US10368011B2 (en) * | 2014-07-25 | 2019-07-30 | Jaunt Inc. | Camera array removing lens distortion |
US11108971B2 (en) | 2014-07-25 | 2021-08-31 | Verzon Patent and Licensing Ine. | Camera array removing lens distortion |
US9363569B1 (en) | 2014-07-28 | 2016-06-07 | Jaunt Inc. | Virtual reality system including social graph |
US10440398B2 (en) | 2014-07-28 | 2019-10-08 | Jaunt, Inc. | Probabilistic model to compress images for three-dimensional video |
US9774887B1 (en) | 2016-09-19 | 2017-09-26 | Jaunt Inc. | Behavioral directional encoding of three-dimensional video |
US10701426B1 (en) | 2014-07-28 | 2020-06-30 | Verizon Patent And Licensing Inc. | Virtual reality system including social graph |
US10565734B2 (en) | 2015-04-15 | 2020-02-18 | Google Llc | Video capture, processing, calibration, computational fiber artifact removal, and light-field pipeline |
US10341632B2 (en) | 2015-04-15 | 2019-07-02 | Google Llc. | Spatial random access enabled video system with a three-dimensional viewing volume |
US10275898B1 (en) | 2015-04-15 | 2019-04-30 | Google Llc | Wedge-based light-field video capture |
US11328446B2 (en) | 2015-04-15 | 2022-05-10 | Google Llc | Combining light-field data with active depth data for depth map generation |
US10444931B2 (en) | 2017-05-09 | 2019-10-15 | Google Llc | Vantage generation and interactive playback |
US10469873B2 (en) | 2015-04-15 | 2019-11-05 | Google Llc | Encoding and decoding virtual reality video |
US10540818B2 (en) | 2015-04-15 | 2020-01-21 | Google Llc | Stereo image generation and interactive playback |
US10567464B2 (en) | 2015-04-15 | 2020-02-18 | Google Llc | Video compression with adaptive view-dependent lighting removal |
US10546424B2 (en) | 2015-04-15 | 2020-01-28 | Google Llc | Layered content delivery for virtual and augmented reality experiences |
US10412373B2 (en) | 2015-04-15 | 2019-09-10 | Google Llc | Image capture for virtual reality displays |
US10419737B2 (en) | 2015-04-15 | 2019-09-17 | Google Llc | Data structures and delivery methods for expediting virtual reality playback |
US10440407B2 (en) | 2017-05-09 | 2019-10-08 | Google Llc | Adaptive control for immersive experience delivery |
EP3086554B1 (en) * | 2015-04-24 | 2019-04-24 | Visual Vertigo Software Technologies GmbH | System and method for producing and dispensing stereoscopic video films |
WO2016173599A1 (en) * | 2015-04-28 | 2016-11-03 | Cb Svendsen A/S | Object image arrangement |
EP3304897A1 (en) * | 2015-05-27 | 2018-04-11 | Google LLC | Capture and render of panoramic virtual reality content |
US9877016B2 (en) | 2015-05-27 | 2018-01-23 | Google Llc | Omnistereo capture and render of panoramic virtual reality content |
US9979909B2 (en) | 2015-07-24 | 2018-05-22 | Lytro, Inc. | Automatic lens flare detection and correction for light-field images |
CN105187753A (en) * | 2015-08-06 | 2015-12-23 | 佛山六滴电子科技有限公司 | System for recording panoramic video |
KR102458339B1 (en) * | 2015-08-07 | 2022-10-25 | 삼성전자주식회사 | Electronic Apparatus generating 360 Degrees 3D Stereoscopic Panorama Images and Method thereof |
US10205930B2 (en) * | 2015-09-15 | 2019-02-12 | Jaunt Inc. | Camera allay including camera modules with heat sinks |
DE102015118997A1 (en) * | 2015-11-05 | 2017-05-11 | Berliner Kta Shareholder Gmbh | Camera mount for stereoscopic panorama shots |
GB201604184D0 (en) * | 2016-03-11 | 2016-04-27 | Digital Reality Corp Ltd | Remote viewing arrangement |
CN105681766A (en) * | 2016-03-21 | 2016-06-15 | 贵州大学 | Three-dimensional panoramic camera augmented reality system |
SE540058C2 (en) * | 2016-05-10 | 2018-03-06 | Bae Systems Haegglunds Ab | Method and system for facilitating transportation of an observer in a vehicle |
WO2017205642A1 (en) * | 2016-05-25 | 2017-11-30 | Livit Media Inc. | Methods and systems for live sharing 360-degree video streams on a mobile device |
US10275892B2 (en) | 2016-06-09 | 2019-04-30 | Google Llc | Multi-view scene segmentation and propagation |
US20180048877A1 (en) * | 2016-08-10 | 2018-02-15 | Mediatek Inc. | File format for indication of video content |
US11032536B2 (en) | 2016-09-19 | 2021-06-08 | Verizon Patent And Licensing Inc. | Generating a three-dimensional preview from a two-dimensional selectable icon of a three-dimensional reality video |
US11032535B2 (en) | 2016-09-19 | 2021-06-08 | Verizon Patent And Licensing Inc. | Generating a three-dimensional preview of a three-dimensional video |
US10681341B2 (en) | 2016-09-19 | 2020-06-09 | Verizon Patent And Licensing Inc. | Using a sphere to reorient a location of a user in a three-dimensional virtual reality video |
US9742996B1 (en) * | 2016-10-07 | 2017-08-22 | Sphericam Inc. | Single unit 360-degree camera with an integrated lighting array |
FR3057950B1 (en) * | 2016-10-24 | 2018-10-19 | Nexter Systems | METHOD FOR AIDING THE LOCATION OF AN OBJECTIVE AND OBSERVATION DEVICE FOR IMPLEMENTING SAID METHOD |
US10679361B2 (en) | 2016-12-05 | 2020-06-09 | Google Llc | Multi-view rotoscope contour propagation |
US10594945B2 (en) | 2017-04-03 | 2020-03-17 | Google Llc | Generating dolly zoom effect using light field image data |
US10594935B2 (en) * | 2017-04-12 | 2020-03-17 | Spectrum Optix Inc. | Along track flat optical lens imaging device |
US10474227B2 (en) | 2017-05-09 | 2019-11-12 | Google Llc | Generation of virtual reality with 6 degrees of freedom from limited viewer data |
US10354399B2 (en) | 2017-05-25 | 2019-07-16 | Google Llc | Multi-view back-projection to a light-field |
CN107370994B (en) * | 2017-08-15 | 2018-11-02 | 深圳云天励飞技术有限公司 | Marine site overall view monitoring method, device, server and system |
US10545215B2 (en) | 2017-09-13 | 2020-01-28 | Google Llc | 4D camera tracking and optical stabilization |
CN109842792B (en) * | 2017-11-27 | 2021-05-11 | 中兴通讯股份有限公司 | Video playing method, device, system and storage medium |
US10965862B2 (en) | 2018-01-18 | 2021-03-30 | Google Llc | Multi-camera navigation interface |
US10582181B2 (en) * | 2018-03-27 | 2020-03-03 | Honeywell International Inc. | Panoramic vision system with parallax mitigation |
CN108600653A (en) * | 2018-08-06 | 2018-09-28 | 四川省广播电视科研所 | A kind of panoramic shooting system camera array structure |
CN109389042A (en) * | 2018-09-07 | 2019-02-26 | 百度在线网络技术(北京)有限公司 | Assist method, equipment, unmanned equipment and the readable storage medium storing program for executing driven |
CN109089086B (en) * | 2018-10-09 | 2024-04-05 | 上海宏英智能科技股份有限公司 | Panoramic camera system |
US10694167B1 (en) | 2018-12-12 | 2020-06-23 | Verizon Patent And Licensing Inc. | Camera array including camera modules |
US20200275085A1 (en) * | 2019-02-21 | 2020-08-27 | Carlos Manuel Guerrero | Device for facilitating recording of visuals from multiple viewpoints based on signaling |
CN110036411B (en) * | 2019-02-27 | 2023-07-28 | 香港应用科技研究院有限公司 | Apparatus and method for generating electronic three-dimensional roaming environment |
CN110324530A (en) * | 2019-05-13 | 2019-10-11 | 浙江树人学院(浙江树人大学) | A kind of particular place movement face real-time grasp shoot device and its application method |
CN110381306A (en) * | 2019-07-23 | 2019-10-25 | 深圳移动互联研究院有限公司 | A kind of spherical shape three-dimensional panorama imaging system |
CN110536066B (en) * | 2019-08-09 | 2021-06-29 | 润博全景文旅科技有限公司 | Panoramic camera shooting method and device, electronic equipment and storage medium |
CN110930305A (en) * | 2019-10-25 | 2020-03-27 | 江苏荣策士科技发展有限公司 | Panoramic image splicing method based on space coordinate axis |
KR102655908B1 (en) * | 2020-07-07 | 2024-04-11 | 인하대학교 산학협력단 | Method and device for building a stackable light field-based virtual space |
Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5495576A (en) * | 1993-01-11 | 1996-02-27 | Ritchey; Kurtis J. | Panoramic image based virtual reality/telepresence audio-visual system and method |
US5650813A (en) | 1992-11-20 | 1997-07-22 | Picker International, Inc. | Panoramic time delay and integration video camera system |
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 |
US5708469A (en) * | 1996-05-03 | 1998-01-13 | International Business Machines Corporation | Multiple view telepresence camera system using a wire cage which surroundss a plurality of movable cameras and identifies fields of view |
US5973726A (en) * | 1993-09-24 | 1999-10-26 | Canon Kabushiki Kaisha | Panoramic image processing apparatus |
US6346938B1 (en) * | 1999-04-27 | 2002-02-12 | Harris Corporation | Computer-resident mechanism for manipulating, navigating through and mensurating displayed image of three-dimensional geometric model |
US6359617B1 (en) * | 1998-09-25 | 2002-03-19 | Apple Computer, Inc. | Blending arbitrary overlaying images into panoramas |
US20030095338A1 (en) | 2001-10-29 | 2003-05-22 | Sanjiv Singh | System and method for panoramic imaging |
US6665003B1 (en) * | 1998-09-17 | 2003-12-16 | Issum Research Development Company Of The Hebrew University Of Jerusalem | System and method for generating and displaying panoramic images and movies |
US6791598B1 (en) | 2000-03-17 | 2004-09-14 | International Business Machines Corporation | Methods and apparatus for information capture and steroscopic display of panoramic images |
US20050030581A1 (en) * | 2003-07-11 | 2005-02-10 | Shoji Hagita | Imaging apparatus, imaging method, imaging system, program |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4317201A (en) * | 1980-04-01 | 1982-02-23 | Honeywell, Inc. | Error detecting and correcting RAM assembly |
US5019828A (en) * | 1982-02-24 | 1991-05-28 | Schoolman Scientific Corp. | High resolution navigation and mapping system |
US4720784A (en) * | 1983-10-18 | 1988-01-19 | Thiruvengadam Radhakrishnan | Multicomputer network |
CA1240066A (en) * | 1985-08-15 | 1988-08-02 | John R. Ramsay | Dynamic memory refresh and parity checking circuit |
US5323385A (en) * | 1993-01-27 | 1994-06-21 | Thermo King Corporation | Serial bus communication method in a refrigeration system |
US5459850A (en) * | 1993-02-19 | 1995-10-17 | Conner Peripherals, Inc. | Flash solid state drive that emulates a disk drive and stores variable length and fixed lenth data blocks |
US5784391A (en) * | 1996-10-08 | 1998-07-21 | International Business Machines Corporation | Distributed memory system with ECC and method of operation |
US6385210B1 (en) * | 1998-04-17 | 2002-05-07 | Ford Global Technologies, Inc. | Method for detecting and resolving data corruption in a UART based communication network |
KR20020025301A (en) * | 2000-09-28 | 2002-04-04 | 오길록 | Apparatus and Method for Furnishing Augmented-Reality Graphic using Panoramic Image with Supporting Multiuser |
-
2005
- 2005-11-02 US US11/265,584 patent/US9270976B2/en not_active Expired - Fee Related
-
2006
- 2006-10-30 WO PCT/US2006/042206 patent/WO2007055943A2/en active Application Filing
-
2016
- 2016-01-04 US US14/986,987 patent/US20160119610A1/en not_active Abandoned
Patent Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5650813A (en) | 1992-11-20 | 1997-07-22 | Picker International, Inc. | Panoramic time delay and integration video camera system |
US5495576A (en) * | 1993-01-11 | 1996-02-27 | Ritchey; Kurtis J. | Panoramic image based virtual reality/telepresence audio-visual system and method |
US5973726A (en) * | 1993-09-24 | 1999-10-26 | Canon Kabushiki Kaisha | Panoramic image processing apparatus |
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 |
US5708469A (en) * | 1996-05-03 | 1998-01-13 | International Business Machines Corporation | Multiple view telepresence camera system using a wire cage which surroundss a plurality of movable cameras and identifies fields of view |
US6665003B1 (en) * | 1998-09-17 | 2003-12-16 | Issum Research Development Company Of The Hebrew University Of Jerusalem | System and method for generating and displaying panoramic images and movies |
US6359617B1 (en) * | 1998-09-25 | 2002-03-19 | Apple Computer, Inc. | Blending arbitrary overlaying images into panoramas |
US6346938B1 (en) * | 1999-04-27 | 2002-02-12 | Harris Corporation | Computer-resident mechanism for manipulating, navigating through and mensurating displayed image of three-dimensional geometric model |
US6791598B1 (en) | 2000-03-17 | 2004-09-14 | International Business Machines Corporation | Methods and apparatus for information capture and steroscopic display of panoramic images |
US20030095338A1 (en) | 2001-10-29 | 2003-05-22 | Sanjiv Singh | System and method for panoramic imaging |
US20050030581A1 (en) * | 2003-07-11 | 2005-02-10 | Shoji Hagita | Imaging apparatus, imaging method, imaging system, program |
Non-Patent Citations (11)
Title |
---|
Copy of International Search Report dated Sep. 4, 2007, received in PCT/US06/42206. |
Frischholz et al., "Class of Algorithms for Realtime Subpixel Registration," (date unknown). |
Frischholz et al., "Class of Algorithms for Realtime Subpixel Registration," <http://www.mikromak.com/en/download/subalg.ps> (date unknown). |
Huang et al., "Panoramic Stereo Imaging System with Automatic Disparity, Warping and Seaming," <http://citeseer.csail.mit.edukache/papers/cs/4634/ftp:zSzzSzsmartlis.sinica.edu.twzSzpubzSzPublicationszSzpsi.pdf/huang96panoramic.pdt> (date unknown). |
Iocchi, "Stereo Vision: Triangulation," http://www.dis.uniromalit/~iocchi/stereo/triang.html (date unknownn). |
Iocchi, "Stereo Vision: Triangulation," http://www.dis.uniromalit/˜iocchi/stereo/triang.html (date unknownn). |
Peleg et al., "Omnistereo: Panoramic Stereo Imaging," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 23, No. 3, (Mar. 2001). |
Roy et al., "Cylindrical Rectification to Minimize Epipolar Distortion," IEEE Proc. Of Int. Conf. On Comp. Vision and Pat. Recog., Puerto Rico, pp. 393-399 (Jun. 1997). |
Tzavidas et al., "A Multi-Camera Setup for Generating Stereo Panoramic Video," (date unknown). |
Tzavidas et al., "A Multi-Camera Setup for Generating Stereo Panoramic Video," <http://ivpl.ece.northwestern.edu/Publications/Journals/2004/stereopanorama.pdf> (date unknown). |
Tzavidas et al., "A Multicamera Setup for Generating Stereo Panoramic Video," IEEE Transactions on Multimedia, vol. 7, No. 5, pp. 279-290 (Oct. 2005). |
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20180249088A1 (en) * | 2015-09-03 | 2018-08-30 | 3Digiview Asia Co., Ltd. | Method for correcting image of multi-camera system by using multi-sphere correction device |
US10778908B2 (en) * | 2015-09-03 | 2020-09-15 | 3Digiview Asia Co., Ltd. | Method for correcting image of multi-camera system by using multi-sphere correction device |
US10904458B2 (en) | 2015-09-03 | 2021-01-26 | 3Digiview Asia Co., Ltd. | Error correction unit for time slice image |
US9674435B1 (en) * | 2016-07-06 | 2017-06-06 | Lawrence Maxwell Monari | Virtual reality platforms for capturing content for virtual reality displays |
RU2650088C1 (en) * | 2016-12-01 | 2018-04-06 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Московский государственный университет геодезии и картографии" (МИИГАиК) | Method of panoramic stereoscopic shooting |
US10523918B2 (en) | 2017-03-24 | 2019-12-31 | Samsung Electronics Co., Ltd. | System and method for depth map |
US20220327687A1 (en) * | 2017-12-25 | 2022-10-13 | Canon Kabushiki Kaisha | Image Processing apparatus, Control Method and Non-Transitory Computer-Readable Recording Medium Therefor |
US11830177B2 (en) * | 2017-12-25 | 2023-11-28 | Canon Kabushiki Kaisha | Image processing apparatus, control method and non-transitory computer-readable recording medium therefor |
US10699376B1 (en) * | 2018-10-03 | 2020-06-30 | Ambarella International Lp | eMirror with 3-in-1 stitching by non-rectilinear warping of camera views |
US20210360148A1 (en) * | 2019-01-08 | 2021-11-18 | Hewlett-Packard Development Company, L.P. | Simulation-based capture system adjustments |
US11785333B2 (en) * | 2019-01-08 | 2023-10-10 | Hewlett-Packard Development Company, L.P. | Simulation-based capture system adjustments |
Also Published As
Publication number | Publication date |
---|---|
US20070097206A1 (en) | 2007-05-03 |
US20160119610A1 (en) | 2016-04-28 |
WO2007055943B1 (en) | 2008-02-21 |
WO2007055943A3 (en) | 2007-12-27 |
WO2007055943A2 (en) | 2007-05-18 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US9270976B2 (en) | Multi-user stereoscopic 3-D panoramic vision system and method | |
US20120105574A1 (en) | Panoramic stereoscopic camera | |
US7429997B2 (en) | System and method for spherical stereoscopic photographing | |
US8446457B2 (en) | System for providing camera views | |
US20160280136A1 (en) | Active-tracking vehicular-based systems and methods for generating adaptive image | |
US20120229596A1 (en) | Panoramic Imaging and Display System With Intelligent Driver's Viewer | |
US20070247457A1 (en) | Device and Method for Presenting an Image of the Surrounding World | |
US8467598B2 (en) | Unconstrained spatially aligned head-up display | |
RU2722771C1 (en) | Optical-electronic surveillance device for ground vehicle | |
JP2006503375A (en) | Method and system for enabling panoramic imaging using multiple cameras | |
EP1883850B1 (en) | Method of navigating in a surrounding world captured by one or more image sensors and a device for carrying out the method | |
US8035680B2 (en) | Panoramic viewing system especially in combat vehicles | |
KR20110138410A (en) | Vehicle-mountable imaging systems and methods | |
US20150256764A1 (en) | Active-tracking based systems and methods for generating mirror image | |
KR102125299B1 (en) | System and method for battlefield situation recognition for combat vehicle | |
US20140192033A1 (en) | 3d image apparatus and method for displaying images | |
CN109040565A (en) | Panoramic shooting system | |
CN111541887A (en) | Naked eye 3D visual camouflage system | |
CN108646776B (en) | Imaging system and method based on unmanned aerial vehicle | |
CN112351265B (en) | Self-adaptive naked eye 3D vision camouflage system | |
Thibault | Panoramic lens applications revisited | |
Brusgard | Distributed-aperture infrared sensor systems | |
CN111541880A (en) | 2D/3D compatible visual camouflage system | |
US20240295382A1 (en) | Imaging apparatus with thermal augmentation | |
US20240104823A1 (en) | System and Method for the 3D Thermal Imaging Capturing and Visualization |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AS | Assignment |
Owner name: IMPACT SCIENCE & TECHNOLOGY, INC., NEW HAMPSHIRE Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:HOUVENER, ROBERT C.;PRATTE, STEVEN N.;REEL/FRAME:017109/0729 Effective date: 20051213 |
|
AS | Assignment |
Owner name: CITICORP USA, INC., NEW YORK Free format text: SECURITY AGREEMENT;ASSIGNOR:IMPACT SCIENCE & TECHNOLOGY, INC.;REEL/FRAME:018915/0819 Effective date: 20070216 |
|
AS | Assignment |
Owner name: ITT MANUFACTURING ENTERPRISES, LLC, DELAWARE Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:IMPACT SCIENCE & TECHNOLOGY, INC.;REEL/FRAME:027072/0896 Effective date: 20111014 |
|
AS | Assignment |
Owner name: EXELIS INC., VIRGINIA Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:ITT MANUFACTURING ENTERPRISES LLC;REEL/FRAME:027972/0457 Effective date: 20111221 |
|
STCF | Information on status: patent grant |
Free format text: PATENTED CASE |
|
AS | Assignment |
Owner name: HARRIS CORPORATION, FLORIDA Free format text: MERGER;ASSIGNOR:EXELIS INC.;REEL/FRAME:040120/0314 Effective date: 20151223 |
|
FEPP | Fee payment procedure |
Free format text: MAINTENANCE FEE REMINDER MAILED (ORIGINAL EVENT CODE: REM.); ENTITY STATUS OF PATENT OWNER: LARGE ENTITY |
|
LAPS | Lapse for failure to pay maintenance fees |
Free format text: PATENT EXPIRED FOR FAILURE TO PAY MAINTENANCE FEES (ORIGINAL EVENT CODE: EXP.); ENTITY STATUS OF PATENT OWNER: LARGE ENTITY |
|
STCH | Information on status: patent discontinuation |
Free format text: PATENT EXPIRED DUE TO NONPAYMENT OF MAINTENANCE FEES UNDER 37 CFR 1.362 |
|
FP | Lapsed due to failure to pay maintenance fee |
Effective date: 20200223 |