WO2003054625A1

WO2003054625A1 - A panoramic stereoscopic imaging method and apparatus

Info

Publication number: WO2003054625A1
Application number: PCT/IL2002/001022
Authority: WO
Inventors: Ehud Gal; Gil Graisman; Itzhak Kattan; Gennadiy Liteyga
Original assignee: Wave Group Ltd.
Priority date: 2001-12-20
Filing date: 2002-12-19
Publication date: 2003-07-03
Also published as: AU2002356414A1

Abstract

The present invention refers to a method and apparatus for panoramic stereoscopic imaging. The apparatus (18) consists of a first panoramic imaging assembly (19) located at a first location (20) and a second panoramic imaging assembly (22) located at a second location (23). The locations (20) and (23) are located on a platform (24), which is a common horizontal plane.

Description

A PANORAMIC STEREOSCOPIC IMAGING METHODAND

APPARATUS

Field of the Invention

The present invention relates to the field of panoramic imaging. More

specifically, it relates to the field of panoramic stereoscopic imaging.

Background of the Invention

Panoramic images contain a field of view that covers the entire perimeter

around the imaging device. Stereoscopy is the ability to simulate a third

dimension (depth) in images. The combination of panoramic imaging with

stereoscopy produces an image, which possesses a full panoramic field of

view with the addition of a simulated depth dimension and enables

orientation in space and in depth. The enhanced orientation enabled by

stereoscopic panoramic images is considered of great value in certain

applications, such as Tele-Operating and applications in the field of virtual

reality.

As is implied by its name, panoramic stereoscopic imaging involves the

acquiring of two images of the same panoramic space from two different viewpoints. Each viewpoint presents a slightly shifted image with respect to

the other and they can then be combined to give the right and left views

required for stereoscopic viewing. Prior art systems for producing the

panoramic images generally are based on creating mosaics of a series of

images that are captured by physically rotating a camera lens 360 degrees

about a vertical axis, optically rotating the field of view of a stationary lens,

using multiple camera lenses aimed in different directions to obtain full 360

degree coverage, or some combination of these. The images from the second

viewpoint are obtained either separately, by moving the camera lens used to

capture the first series of images to another position and then capturing a

second series of images, or simultaneously with the first series by using a

second lens mounted in a fixed position relative to the first. Computational

methods also exist for computer generating a second set of images from a

first set taken with a camera. The mechanical and optical systems required

to acquire the images are often massive and bulky and are generally

complex and expensive as are the image processing techniques necessary to

create the panoramic mosaics and final panoramic stereoscopic image.

One example of a prior art system to obtain panoramic stereoscopic images

is disclosed in U.S. patent no. 6,023,588. In this patent is described a

method by which two panoramic images are produced from two viewpoints

positioned on the same vertical axis. The two images created are

manipulated to enable panoramic stereoscopic display. One significant problem with this method is that it is not compatible with the way the

human brain is accustomed to receive, analyze and interpret images in

order to effectively grasp their stereoscopic qualities. Human eyes are

positioned on the same horizontal axis; therefore, a stereoscopic image that

is based on viewpoints positioned on the same vertical axis, rather than on a

horizontal axis, is less suitable and most likely will force a viewer to tilt

their head in order to truly grasp the stereoscopic qualities of the image.

Another example of a prior art system for obtaining panoramic stereoscopic

images is disclosed in U.S. patent no. 6,301,447. In this patent is described

an apparatus that provides support for a rotatable camera and shifting

means for moving the camera between two offset positions. The camera

contains a fish-eye lens or other wide-angle lens. In order to create a

panoramic image from each of the two positions, the camera is rotated

around its axis as necessary in order to capture several images that can be

seamed together to form a single panoramic image. The shifting means are

then activated to move the imaging device to the second position, where the

camera is rotated again around its axis to form a second, shifted, panoramic

image. Image processing techniques are described that are used to

manipulate the two panoramic images to enable panoramic stereoscopic

display. The described process is very cumbersome and requires a relatively

complex mechanical structure and accurate movement. The most serious

shortcoming of the method divulged in this patent, however, is the length of time needed to create a single stereoscopic image. The long time period

makes this method unsuitable for panoramic stereoscopic video imaging in

real-time applications.

Methods of eliminating the necessity of creating a mosaic from multiple

images by the use of reflective surfaces to acquire panoramic images at a

single shot are known in the art. For example, published International

Patent Application WO 02/059676 by the same applicant hereof, the

description of which is incorporated herein by reference, describes a method

of using reflective surfaces and additional optical elements to acquire a

nearly spherical field of view image at a single shot.

It is therefore an object of the present invention to provide a panoramic

stereoscopic imaging assembly that overcomes the shortcomings of the prior

art.

It is another object of the present invention to provide a panoramic

stereoscopic imaging apparatus enabling the production of at least two

panoramic images which are suitable for creation of stereoscopic panoramic

views. It is yet another object of the present invention to provide a method of

combination of the acquired panoramic images to enable a stereoscopic view

of the panoramic scene.

It is a further object of the present invention to provide a means for creation

of a panoramic stereoscopic image, simultaneously with a stereoscopic

image of a narrow, optically zoomed sector.

It is a still further object of the present invention to provide devices and

methods capable of producing real-time panoramic stereoscopic video.

Further purposes and advantages of this invention will appear as the

description proceeds.

Summary of the Invention

The present invention refers to a method and apparatus for panoramic

stereoscopic imaging. The apparatus of the invention utilizes, as its basic

elements, reflective panoramic lenses as panoramic image sources. Each

panoramic lens produces a reflection of the panoramic surroundings and

enables creation of a panoramic image of the surroundings in a single shot.

The apparatus design is based on the use of more than one such lens in

order to provide more than one image-source for the same panoramic environment, and thus to enable the production of a panoramic image

having stereoscopic qualities.

A preferred embodiment of the invention is an apparatus that consists of

two reflective panoramic lenses, whose entrance pupils are positioned on the

same horizontal axis and at the same height. Each of the two lenses covers a

full panoramic field of view. While all of the panoramic field of view is

covered by the two lenses, only two sectors of it are covered simultaneously

by both of the lenses, therefore stereoscopy can be achieved in these two

sectors only. The entire system can be rotated around its axis in order to

achieve stereoscopy in additional sectors.

Another embodiment of the invention is an apparatus that consists of three

reflective panoramic lenses, whose entrance pupils are positioned on the

same horizontal plane at the same height, and preferably in a way that

forms a virtual regular triangle. In this embodiment every sector of the

panoramic space is covered by at least two different lenses simultaneously,

therefore stereoscopy can be achieved for the entire panoramic space.

In both of the above embodiments, each panoramic lens can incorporate an

optical zoom lens, which enables zooming in on a specific sector in the

panoramic space. An alignment of at least two such zooming lenses towards

the same sector will enable both optical zoom and stereoscopy of that sector. Also included in the present invention are methods of transformation of the

acquired panoramic images to enable utilizing them for panoramic

stereoscopic display.

In a first aspect the present invention provides an imaging apparatus

comprising:

a. Two or more lenses, each providing at least a panoramic scene.

Each entrance pupil of each lens is positioned at the same

height with respect to a common horizontal plane and each

lens has a vertical axis of symmetry. The vertical axes of

symmetry are parallel to each other and perpendicular to the

common plane.

b. An image capture device is associated with each of the lenses.

Each of the image capture devices is directed towards a

different one of the lenses and the optical axis of each of the

image capture devices coincides with the vertical axis of

symmetry of its associated lens.

Each of the lenses reflects a panoramic field of view of the same scene

towards the associated image capture device, which is located coaxially with

it, and thus two or more panoramic images of the same scene are provided. The imaging apparatus of the invention further comprises a support

structure suitable to maintain the spatial relationship between the lenses,

the image capture devices and their common plane. In preferred

embodiments of the invention each of the lenses comprise at least an axi-

symmetric reflective surface, suitable to reflect a panoramic scene. In other

preferred embodiments, each of the lenses may provide a nearly spherical

field of view comprised of the panoramic scene and at least one additional

scene.

In the embodiment of the invention in which the number of lenses in the

imaging apparatus is two, there can be further provided a vertical axis of

rotation, perpendicular to the common plane. The axis of rotation is located

between the two lenses equidistantly from each of them. In this embodiment

of the invention, a rotation mechanism, designed to rotate the imaging

apparatus around the axis of rotation can be provided.

In another preferred embodiment of the invention, the number of lenses in

the imaging apparatus is three. The entrance pupils of the lenses are

positioned on the common plane such that virtual connection of the points of

intersection of the vertical axes of symmetry of each lens with the plane

creates a virtual regular triangle. In preferred embodiments of the imaging apparatus of the invention, an

optical zoom lens is incorporated into one or more of the lenses which reflect

a panoramic field of view of the scene. The optical zoom lens can be rotated

around the vertical axis of symmetry of the lens in which it is incorporated.

In the preferred embodiments of the invention, the imaging apparatus

further comprise image processing means. The image processing means are

designed to receive the images that are acquired by the image capture

devices and process them for viewing. The image viewed after processing

can be either a static stereoscopic image or a real-time stereoscopic video

image of a scene.

In another aspect the invention provides a method of creating a right image

and a left image from two or more panoramic images that are produced by

panoramic reflective lenses. The method comprises the following steps:

a) Providing an imaging apparatus comprising:

(1) Two or more panoramic axi-symmetric reflective lenses, each

providing at least a panoramic scene. The entrance pupil of

each lens is positioned at the same height with respect to a

common horizontal plane and each lens has a vertical axis of

symmetry. The vertical axes of symmetry are parallel to each

other and perpendicular to the common plane. (2) An image capture device associated with each of the lenses.

Each of the image capture devices is directed towards a

different one of the lenses and the optical axis of each of the

image capture devices coincides with the vertical axis of

symmetry of its associated lens.

Each of the lenses reflects a panoramic field of view of the same scene

towards the associated image capture device, which is located coaxially

with it, and thus two or more panoramic images of the same scene are

provided.

b) Imaging a reflection of a panoramic scene received from the two or

more panoramic axi-symmetric reflective lenses by the two or more

image capture devices located coaxially with them.

c) Forming a group consisting of pairs of the panoramic axi-symmetric

reflective lenses. The group comprises all possible unique pairs of

lenses that can be formed from the lenses.

d) Determining the identity of the common sectors of the panoramic

scene that appear in each pair of images received from each of the

pairs of lenses that comprise the group.

e) Determining which of the panoramic lenses provides a right

viewpoint and which a left viewpoint in each of the common sectors.

f) Creating a right image comprising, for all pairs in the group, the

images that are from the common sectors and which provide a right

viewpoint. g) Creating a left image comprising, for all pairs in the group, the

images that are from the common sectors and which provide a left

viewpoint.

In the preferred embodiment of the method of the invention wherein the

number of panoramic images is two, the right and/or left image may further

comprise at least one of the sectors that are covered by only one panoramic

lens. This sector/s is positioned in the image according to its position in the

panoramic scene.

All the above and other characteristics and advantages of the invention will

be further understood through the following illustrative and non-limitative

description of preferred embodiments thereof, with reference to the

appended drawings.

Brief Description of the Drawings

Fig. 1 schematically shows a panoramic monolithic optical lens, which

provides a reflection of a panoramic field of view;

Fig. 2 schematically shows an alternative design of a panoramic

monolithic optical lens, which provides a reflection of a panoramic

field of view;

Fig. 3 schematically shows an optical lens enabling simultaneous

view of a panoramic scene together with an optically zoomed sector; Fig. 4 schematically shows a panoramic stereoscopic imaging

apparatus comprising two panoramic imaging assemblies;

Fig. 5 schematically shows the fields of view, which are acquired by

the two panoramic imaging assemblies of the apparatus of Fig. 4;

Fig. 6 schematically shows the fields of view, which are acquired by

two panoramic imaging assemblies with optical zoom capability;

Fig. 7 schematically shows the image transformation that needs to be

performed in order to make the images produced by two panoramic

imaging assemblies suitable for further stereoscopic display;

Fig. 8 schematically shows a panoramic stereoscopic imaging

apparatus comprising three panoramic imaging assemblies;

Fig. 9 schematically shows the preferred layout of the three

panoramic imaging assemblies of the apparatus of Fig. 8;

Figs. 10A to IOC schematically show the field of view, which is

acquired by each of the three panoramic imaging assemblies of the

apparatus of Fig. 8;

Fig. 11 schematically shows the field of view, in which stereoscopy

can by achieved, which is covered by two different imaging assemblies

of the apparatus of Fig. 8;

- Fig. 12 schematically shows the transformation of a panoramic image

as acquired by the focal plane array to rectangular form;

- Fig. 13 schematically shows the incorporation of zooming lenses in an

apparatus comprising three imaging assemblies; Fig. 14 schematically shows a method of dividing the panoramic field

of view, which aids in the determination of the right and the left

images of the stereoscopic pair in each of the sectors;

Fig. 15 schematically shows the transformation that needs to be

performed on the rectangular images produced by an imaging

apparatus incorporating two imaging assemblies in order to create a

left image and a right image; and

Fig. 16 schematically shows the transformation that needs to be

performed on the rectangular images produced by an imaging

apparatus incorporating three imaging assemblies in order to create a

left image and a right image.

Detailed Description of Preferred Embodiments

In order to achieve the purposes of the present invention, omni-directional

vision systems, which acquire an omni-directional scene in a single shot, are

employed. Those systems are based on the use of reflective surfaces that

reflect an omni-directional scene towards an image capture device. Such

reflective surfaces, and optical lenses which utilize them, have been

described in the art, for example in the above cited publication WO

02/059676.

In Figs. 1 to 3 are schematically shown several optical designs of monolithic

omni-directional lenses. The incorporation of those examples in this description is in order to demonstrate the principle of omni-directional

lenses and representative possibilities of their designs. It is to be noted that

the purpose of the present invention is not to provide designs of innovative

omni-directional lenses, but rather to describe the incorporation of those

lenses for the purposes of the present invention, it being understood that the

skilled person will be easily able to design or select the appropriate lenses to

be employed in a particular situation.

In this application the terms "panoramic" and "omni-directional" are used

interchangeably, whenever reference is made herein to either of them, the

term should not be taken literally, and it should be understood that it is

meant to indicate a lens means capable of providing a large field of view,

including "fish-eye" and similar types of lenses, e.g., a panoramic field of

view, and therefore the term is not limited to any specific type of lens

means.

In this application, the term "panoramic imaging assembly" is used to refer

to the system comprising, among other components, the panoramic lens, the

image capture device, and support means that maintain the correct spatial

relationship between the elements of and provides physical support for the

system that is used to obtain the individual panoramic images. In this application, the term "stereoscopic panoramic imaging apparatus" is

used to refer to the system comprising, among other components, two or

more panoramic imaging devices and support means that provide physical

support for the system and maintain the correct spatial relationship

between the panoramic imaging devices that are used to obtain the two or

more individual panoramic images that are combined to form the

stereoscopic panoramic image.

Fig. 1 is a schematic description of a monolithic optical structure, which

provides coverage of a panoramic field of view. The lens (1) has an axi-

symmetric aspheric shape, comprising several surfaces having a co-

dependent design to compensate for aberrations, allowing optimal acquiring

of the panoramic image. The lens (1) comprises a perimeter refractive

surface (2) an upper transparent surface (3), coated with reflective material

on its exterior side, and a lower refractive surface (4). Each ray that is

within the vertical field of view covered by the lens (1), is refracted by the

perimeter refractive surface (2), penetrates the lens, traveling towards the

upper reflective surface (3) where it is reflected downwards towards the

lower refractive surface (4), where it is refracted again and exits the lens (1)

towards an image capture device (not shown) located coaxially with the lens

(1). Dotted line (5) is a schematic optical path of a ray originating at the

upper limit of the field of view which is covered by the lens (1) and a second dotted line (6) represents a schematic optical path for a ray originating at

the lower limit of that field of view.

Fig. 2 is a schematic description of yet another monolithic optical structure,

which provides coverage of a panoramic field of view. The lens (7) has an

axi-symmetric aspheric shape, comprising several surfaces having a co-

dependent design to compensate aberrations, allowing optimal acquiring of

the panoramic image. The lens (7) comprises a perimeter refractive surface

(8) a lower transparent surface (9), covered with reflective material on its

exterior surface, an upper transparent surface (10) coated with reflective

material on its exterior surface, and a lower refractive surface (11). Each ray

which is within the vertical field of view (12) which is covered by the lens

(7), is refracted by the perimeter refractive surface (8) and travels through

the lens towards the lower reflective surface (9) where it is reflected

upwards towards the upper reflective surface (10). At the upper reflective

surface (10) it is reflected downwards towards the lower refractive surface

(11), where it is refracted again and exits lens (7) towards an image capture

device (not shown) located coaxially with lens (7). Dashed line (13)

represents schematically the optical path of a ray originating within the

field of view (12) covered by the lens (7).

Fig. 3 schematically shows a lens assembly which provides simultaneous

coverage of a panoramic field of view together with an optically zoomed sector. The lens assembly comprises an axi-symmetric reflective surface

(14), and a second, smaller, reflective surface (15). The axi-symmetric

reflective surface (14) is designed to reflect a panoramic field of view

towards an image capture device (not shown) located coaxially with it. The

second reflective surface (15), which has a different radius of curvature than

the axi-symmetric reflective surface (14), is positioned to reflect a limited

sector towards the center of the image, thus providing an optically zoomed

image of a sector which appears also in the panoramic image, but appears

there in smaller proportions. The second reflective surface (15) may be

connected directly to the axi-symmetric reflective surface (14), providing a

fixed image of a fixed sector or it may be connected to a motor (16), by a

connector (17), which enables it to turn and tilt and provide images of

different sectors. The described arrangement will enable reflection of the

zoomed sector towards a portion of the focal plane array, which is not used

for the panoramic image.

The preferred embodiments of the present invention provide a panoramic

stereoscopic imaging apparatus, which enables capture of a full panoramic

field of view from several different viewpoints simultaneously, thus

supplying the source images required for production of panoramic

stereoscopic images. The current invention makes use of several omni¬

directional imaging assemblies, each comprising an omni-directional lens

and an image capture device. Each omni-directional imaging assembly collects an omni-directional image of the surroundings from a different

viewpoint. Since each of the lenses covers a full 360° field of view, each lens

serves as either a right viewpoint or as a left viewpoint in different sectors

in the panoramic space. The invention provides a method, to be described

hereinbelow, of determining which of the lenses is considered to provide the

right viewpoint and which the left viewpoint in each sector and a method of

translating the acquired panoramic images to two separate images, a right

image and a left image, suitable for panoramic stereoscopic display.

Figure 4 shows schematically a preferred embodiment of the present

invention comprising a panoramic stereoscopic imaging apparatus which

comprises two panoramic imaging assemblies. Each assembly contains a

panoramic lens which reflects an omni-directional image towards an image

capture device located coaxially with it. The description of the inner

structure of each imaging assembly is not presented herein, but is based on

the description of the lenses shown in Figs. 1 to 3 and to other prior art

designs. The apparatus (18) comprises a first panoramic imaging assembly

(19) located at a first location (20), and a second panoramic imaging

assembly (22) located at a second location (23). The locations (20) and (23)

are located on a platform (24), which is a common horizontal plane. In this

embodiment it is preferred that the two imaging assemblies are structured

in the same way and are designed using the same parameters, i.e. are

essentially identical. It is stressed that in order to create the most effective images, the first imaging assembly (19) and the second imaging assembly

(22) should be at the same height. More specifically, the entrance pupils of

both lenses should be at the same height, above the platform.

The positions of the two imaging assemblies should be such that their

central optical axes are parallel to each other and orthogonal to the common

horizontal plane. The preferred distance between the two imaging

assemblies is chosen to be as close as possible to the distance that exists

between the members of a pair of human eyes, thus enabling production of a

pair of images that closely resemble those normally received by the brain.

Since each of the imaging assemblies is able to capture an entire panoramic

field of view, each imaging assembly will actually view the entire perimeter

around it, including its neighboring imaging assembly. More explicitly, part

of the field of view of each imaging assembly will be blocked by the other

imaging assembly. Since^' stereoscopy can be produced only if two images of

the same sector are created from two different viewpoints and since parts of

the panoramic field of view are covered only by one lens, stereoscopy cannot

be achieved in these parts.

In Fig. 5 are schematically shown, from an overhead viewpoint, the fields of

view, of each of the two imaging assemblies. A common panoramic field of

view (27) is within the range of coverage of both the first imaging assembly (28) and the second imaging assembly (29). However, the existence of the

imaging assemblies themselves creates blockage of parts of the field of view,

i.e. the first imaging assembly (28), blocks part of the field of view of the

second imaging assembly (29), preventing it from imaging a first blocked

sector (30). In the same manner, the second imaging assembly (29) blocks

part of the field of view of the first imaging assembly (28), preventing it

from covering a second blocked sector (31). It can, however, be seen that the

first blocked sector (30) is well within the field of view of the first imaging

assembly (28), and the second blocked sector (31) is well within the field of

view of the second imaging assembly (29). Since stereoscopy production

requires coverage of a field of view from two different viewpoints, and since

that condition is not supplied in respect to the first blocked sector (30) and

the second blocked sector (31), stereoscopy cannot be achieved in these

sectors, however stereoscopy can be achieved in all other sectors (32) of the

panoramic field of view.

In order to change the sector that is covered by both imaging assemblies, i.e.

the stereoscopic sector (32), the entire apparatus can be rotated as described

now with reference to Fig. 4. The platform (24) is part of a physical

structure that holds the imaging assemblies in their place to insure their

stability and relative locations as well as supports the entire apparatus. If

an axis of rotation (25) and a rotation mechanism (26) are provided, then the

rotation mechanism (26) enables rotation of the apparatus (18) around axis of rotation (25) to allow coverage, of the previously blocked sectors, by both

of the imaging assemblies. Preferably the rotation mechanism enables

rotation of at least 180 degrees in either direction and the axis of rotation

(25) is positioned at the center of the platform (24), equidistant from

locations (20) and (23). The rotation mechanism (26) can either allow auto-

mechanical or manual rotation of the apparatus. It is preferable that special

paths would be maintained in the platform (24) for deployment of wires

from the imaging assemblies to an external processing unit, recording unit,

power sources or other peripherals as required by the application. Details of

the design and operation of the platform, the physical structure of which it

is a part, and the rotation mechanism will not be discussed herein for

brevity, since they are well known in the art and can easily be provided by

the skilled person.

A limitation of the embodiment of the invention described hereinabove, is

that a full stereoscopic coverage of the entire panoramic field of view (27)

cannot be achieved at a single instant, due to mutual blockage by the

imaging assemblies. This embodiment is however sufficient, and most

effective, for applications that require stereoscopic qualities in specific

sectors of the panoramic space, but not in all of it at the same instant. To

provide such coverage, the preferred embodiment of the invention to be

described hereinbelow, with reference to Figs. 8 to 16 has been developed. In Fig. 6 is schematically shown an embodiment in which optical zoom

lenses are incorporated into each of the two imaging assemblies and the

field of view covered by these lenses. The incorporation of zoom lenses

together with an omni-directional lens can be performed, for example, by an

optical structure such as that shown in Fig. 3. Two separate optical zoom

lenses are used, one in the first imaging assembly (33) and another in the

second imaging assembly (34). The first optical zoom lens, i.e. the lens

incorporated into the first imaging assembly (33), has a field of view

covering a first sector (35). The second optical zoom lens, i.e. the lens

incorporated in the second imaging assembly (34), has a field of view

covering a second sector (36). The sector that is covered by both zoom lenses

(37) is the sector in which both optical zoom and stereoscopy are achieved.

The two optical zoom lenses are independent of each other and can be

independently rotated to any direction, therefore it is possible to utilize

these lenses in order to achieve optical zoom of two different sectors, and not

necessarily for the purpose of creating a stereoscopic view of a single zoomed

sector. It will be understood by the skilled person that the operation or

rotation of the zoom lenses does not affect or compromise the panoramic

view that is achieved by the panoramic lenses.

As discussed hereinabove, the creation of a stereoscopic image requires the

ability to distinguish between a left image and a right image of a

stereoscopic pair. When using zoom lenses, which can rotate and cover different sectors of a full panoramic field of view, it is important to pay

special attention to which of the zoom lenses is considered to be that

providing the image with the left viewpoint, and which is considered to be

providing the right image. Referring to Fig. 6, it can be seen how this

distinction can be achieved in the zoomed sectors. A common virtual

horizontal axis (38) connects the centers of the first imaging assembly (33)

and the second imaging assembly (34) and creates a first field of view (39)

and a second field of view (40). For any zoomed sector, which is covered by

both zooming lenses and located in the first field of view (39), the first

imaging assembly (33) is considered to be providing the left image, and the

second imaging assembly (34) is considered to be providing the right one. It

is important to notice that the imaging assemblies switch their roles while

observing a zoomed sector located in the second field of view (40). For any

zoomed sector, which is covered by both zooming lenses and located in the

second field of view (40), the first imaging assembly (33) is considered to

provide the right image, and the second imaging assembly (34) is considered

to provide the left one.

The abovementioned considerations should also be made in respect to the

entire panoramic space, not only the zoomed sector. The first imaging

assembly (33) provides the image having the left viewpoint and the second

imaging assembly (34) provides the image having the right viewpoint in the

first sector (39). In the second sector (40), the first imaging assembly (33) provides the image having the right viewpoint and the second imaging

assembly (34) provides the left image.

Fig. 7 schematically shows a transformation that is applied to the

panoramic images in order to make them suitable for stereoscopic use. As

previously described, in order to accurately simulate a stereoscopic display,

special attention must be made to distinguish between the images that

present-right and left viewpoints. The unique panoramic lenses incorporated

in the imaging assemblies used in the present invention create images of the

reflections of the entire 360 degrees surroundings on the focal plane arrays

of the image capture devices. These reflections appear as a circular image on

the focal plane arrays. A first circular image (41) is acquired on the first

focal plane array (42) of the first imaging assembly and a second circular

image (43) is acquired on the second focal plane array (44) of the second

imaging assembly. A straight virtual division line (48) is drawn dividing the

space surrounding the imaging assemblies into a first sector of the image

and a second sector of the image, where the terms "first" and "second" are

used in the same sense as in the description accompanying Fig. 6

hereinabove. The virtual division line (48) passes through the centers of the

focal plane arrays of both of the image capture devices, and creates a

division of the images as follows: the first circular image (41) is divided to a

first half (49) and a second half (45), and the second circular image (43) is

divided to a first half (46) and a second half (47). As previously described in reference to Fig. 6; where, in the first sector (39), the first imaging assembly

(33) provides the left image and the second imaging device (34) provides the

right image. In the second sector (40) the roles are reversed.

Referring again to Fig. 7, special attention must be made to the effect of the

changing angular positions of the imaging assemblies on the viewpoint

presented by the images. In the case of the first image (41), images

appearing in the first sector (49) are considered as being produced from the

left viewpoint and images appearing in the second sector (45) are considered

as being produced from the right viewpoint. A similar situation exists for

the case of the second image (43), wherein images appearing in the first

sector (46) are considered as being produced from the right viewpoint and

images appearing in the second sector (45) are considered as being produced

from the left viewpoint.

Therefore, a transformation must be made that will create separate left and

right images that each cover the complete panoramic view and will be

suitable for projection as a stereoscopic pair. The result of the

transformation is a left image consisting of the first sector (49) of the first

image (41) and the second sector (47) of the second image (43) and a right

image consisting of the first sector (46) of the second image (43) and the

second sector (45) of the first image (41). As is well known to experienced

persons, the images as acquired by the focal plane arrays are not well suited for display to the • human eye and interpretation by the human brain,

because of their distorted circular shapes; therefore, they are normally

subjected to computerized processing and converted to images having a

rectangular shape. The transformation described hereinabove, involving

switching between halves of the images can be performed either on the

circular images or on the rectangular images, as will be described

hereinbelow with reference to Fig. 15. In any case, the transformation

should be performed before projecting the images to be viewed.

Fig. 8 schematically shows a preferred embodiment of the present invention

which overcomes the limitation of the embodiment of the panoramic

stereoscopic imaging apparatus described hereinabove. This embodiment

utilizes three omni-directional imaging assemblies, in order to allow

simultaneous coverage of every sector in the panoramic field of view by at

least two different lenses.

In Fig. 8 is shown schematically apparatus (50), which consists of a

platform (51), a first panoramic imaging assembly (52) located at a first

location (53), a second panoramic imaging assembly (54) located at a second

location (55), and a third panoramic imaging assembly (56) located at a

third location (57). Locations (53), (55), and (57) are on a platform (51) which

is a common horizontal plane for all three imaging assemblies. Platform (51)

is part of a physical structure (not shown in the figures or described herein) that holds the imaging assemblies in their place to insure their stability and

relative locations as well as supports the entire apparatus. It is preferable

that special paths be maintained in platform (51) to enable deployment of

wires from the image assemblies to an external processing unit, recording

unit, power supply or other peripherals as required by the application.

In this embodiment it is preferred that the three imaging assemblies are

structured in the same way and are designed using the same parameters,

i.e. are essentially identical. All three panoramic imaging assemblies should

be positioned at the same height, more specifically, the panoramic lenses

incorporated within the imaging assemblies, should be at the same height

above the platform. The orientation of the three imaging assemblies should

be such that their central axes are parallel to each other and vertical to the

common horizontal plane. In order to provide coverage of every sector in the

panoramic field of view by at least two different lenses, without the use of a

rotation mechanism to allow stereoscopy as described hereinabove with

reference to the embodiment of the invention shown in Fig. 4, the three

panoramic imaging assemblies must not be located on a straight line. The

preferred layout of the imaging assemblies is shown in Fig. 9.

Fig. 9 schematically shows the preferred layout of the three panoramic

imaging assemblies, as seen from an overhead position. In the figure is seen

the platform (58), the first panoramic imaging assembly (59), the second panoramic imaging assembly (60) and the third panoramic imaging

assembly (61). Virtually connecting the centers of the three imaging

assemblies, i.e. the three locations described in reference to Fig. 8, a regular

triangle (62) is formed. Since each lens blocks part of the field of view of

each other lens, around each of the lenses there exists an area that is

covered by only that specific lens. The distance between the lenses is set as

a function of the desired size of the area that is covered by only one of the

lenses. Moving the lenses closer together increases the sizes of the areas

that are covered by only one of the lenses, i.e. the area of overlapping

images is decreased. Therefore, special attention must be made not to

reduce the distance between the lenses beyond the minimum that allows a

total stereoscopic panoramic image to be achieved.

The positioning of the imaging assemblies such that lines drawn between

their locations on platform 51 (Fig. 8) form a regular triangle (62) (Fig. 9) is

the preferred layout since it insures that every sector in the panoramic

space is covered by at least two different lenses. It is also the most suitable

structure since it provides symmetric coverage of each sector, which is most

convenient for further computerized processing.

Figs. 10A to IOC schematically show the fields of view of each of the three

lenses of the apparatus shown in Fig. 8. Figure 10A shows the useable

sector (63) of the field of view of the first panoramic lens (64). The rest of the panoramic sector, sector (65), is either hidden behind one of the other two

imaging assemblies or is located between them and disregarded. Figure 10B

shows the useable sector (66) of the field of view of the second panoramic

lens (67). The rest of the panoramic sector, sector (68), is either hidden

behind one of the other two imaging assemblies or is located between them

and disregarded. Figure IOC shows the useable sector (69) of the field of

view of the third panoramic lens (70). The rest of the panoramic sector,

sector (71), is either hidden behind one of the other two imaging assemblies

or is located between them and disregarded. It is to be noted that the

description of the sectors given herein is a general schematic description

and is subject to changes, which result from the size and shape of the

panoramic lenses and by the distances between them.

Fig. 11 schematically shows the sector of a panoramic field of view, which is

covered by two different lenses. As in Figs. 10A and 10B, and incorporated

in the current figure, the first imaging assembly (64) covers a first sector

(63), and the second imaging assembly (67) covers a second sector (66). The

two sectors overlap in a first overlap sector (72) and a second overlap sector

(72'). The sector (72') is redundant and therefore disregarded since it

contains stereoscopic information that is available from the primary overlap

areas of the other two pairs of lenses. The overlap sector (72) is the sector in

which stereoscopy can be achieved, since it is viewed from two different

viewpoints, which are those of the first lens (64) and the second lens (67). The situation described hereinabove applies mutandis mutatis to any pair of

lenses; therefore, there are three different sectors in which overlapping of

the fields of view occur. All three of them together cover the full panoramic

field of view. Therefore, stereoscopy can be achieved in the entire panoramic

space, without the need to^' move or rotate any component of the system.

Fig. 12 shows schematically the shape of the image that is acquired by each

of the panoramic imaging assemblies. As described hereinabove, each of the

imaging assemblies comprises a reflective lens, with an optional additional

optical zoom lens. The reflective panoramic lens reflects the surrounding

scenery as a circular shape (73) towards the image capture device, so that

the image that is acquired by the focal plane array is also circular in its

shape. The circular image (73) comprises an inner area (74) and an outer

area (75). If the optical zoom lens is not incorporated, the inner area (74)

will be a reflection of the image capture device. In embodiments which

include an optical zoom lens, e.g. those described in Fig. 3, the inner area

(74) comprises the reflection of the optically zoomed sector and the outer

area (75) comprises the surrounding scenery from around the lens.

In the preferred lens layout of the apparatus, which was describes with

reference to Fig. 9, a part of the panoramic field of view of each of the lenses

is blocked by the other two lenses. Since part of the field of view is blocked, a

sector of the image (76) comprises an image of the two neighboring lenses and the space between them. The image that appears in sector (76) is of no

use and may be disregarded.

The circular shape of the image (73) makes it difficult to understand and is

therefore generally considered unsuitable for viewing. For this reason,

computerized processing techniques are implemented on the circular image

(73) to transform it to a rectangular, more understandable, form. The

computerized processing creates two separate images: a rectangular image

(77), which comprises the surrounding scenery and a separate image (78),

which shows the zoomed portion, if a zooming lens was incorporated. The

computerized process is done by compatible software that is based on the

lens parameters in order to produce the most accurate .outcome. The first

rectangular image (77) contains a portion (79), which is the portion that

includes a part of the image that should be disregarded, i.e. sector (79) in

the rectangular image (77) is the equivalent of the disregarded sector (76) of

the original circular image (73).

The techniques of computer image processing are well known and therefore,

for the sake of brevity, neither these techniques nor the various

embodiments of compatible software that are based on these techniques nor

the embodiments of the computing and peripheral equipment necessary to

run this software are further discussed herein. Experienced practitioners of the art will be able to provide suitable embodiments of all of the software

and the hardware necessary to implement the present invention.

Fig. 13 schematically shows the effect of rotation of the zoom lenses, when

they are used in conjunction with the panoramic lenses in the apparatus

comprising three panoramic imaging assemblies. Each of the panoramic

imaging assemblies can optionally incorporate an optical zoom lens (i.e. as

described in Fig. 3), whose operation does not influence, and is not

influenced by, the operation of the panoramic reflective lenses. Each of the

zooming lenses can be independently rotated towards a sector of interest

and will create a zoomed reflection of that sector on the focal plane array, as

described hereinabove with reference to Fig. 12. The rotation of the zoom

lenses can be accomplished either by separate rotation means that rotate

the only zoom lenses or, in other embodiments, by rotating the panoramic

lens, to which the zoom lens is permanently attached. Since, in the preferred

embodiments, the panoramic lenses are each reflective axi-symmetric

lenses, their rotation, in order to rotate the attached zoom lens, will not

change the panoramic image produced.

Referring to Fig. 13, there are schematically shown: a first panoramic lens

(80) which has an optical zoom lens, which covers a first sector (81),

incorporated into it; and a second panoramic lens (82) which has an optical

zoom lens, which covers a first sector (83), incorporated into it. Each of the panoramic lenses can be rotated to any desired direction in order to

dynamically change the sector that is viewed by the respective zoom lens.

When two different zoom lenses are directed towards the same sector (84),

stereoscopy can be achieved in that sector. It is to be understood that the

use of the zoom lenses does not have to be exclusively for production of

stereoscopic images, and each of the zoom lenses can be directed to a

different sector in order to view three independent zoomed sectors. It is also

to be noted that it is sufficient to direct only two zoom lenses towards the

same sector in order to create a stereoscopic image; therefore, the third

optical zoom lens can be utilized to zoom on a different sector. Although the

description hereinabove is in terms of a particular pair of lenses, it is

understood that the description applies to any pair of zoom lenses. Those

skilled in the art will appreciate that in order to achieve stereoscopy in a

zoomed sector by utilizing zoom mirrors, it is imperative that the zoom

factor is identical for all of the lenses.

Figure 14 schematically shows the division of the panoramic space into

three equal parts, in each of which a stereoscopic zoomed sector can be

created by the overlapping fields of view of two different zoom lenses. The

three parts referred to in this figure are the parts of the panoramic space

located between the solid division lines (a), (b), and (c). The division lines

are determined by virtually connecting the center point of the system (which

is also the center point of the regular triangle which connects the imaging assemblies) with each center of each imaging assembly. Any sector in the

first part (85) can be covered by the zoom lenses of the first panoramic

imaging assembly (86) and the second panoramic imaging assembly (87).

For any such sector in (85), the zoom lens incorporated within the first

imaging assembly (86) is considered to produce the left image and the zoom

lens incorporated within the second imaging assembly (87) is considered to

produce the right image of the stereo pair. Any sector in the second part (88)

can be covered by the zoom lenses of the second panoramic imaging

assembly (87) and the third panoramic imaging assembly (89). For any such

sector, the zoom lens incorporated within the second imaging assembly (87)

is considered to produce the left image and the zoom lens incorporated

within the third imaging assembly (89) is considered to produce the right

image. Any sector in the third part (90) can be covered by the zoom lenses of

the third panoramic imaging assembly (89) and the first panoramic imaging

assembly (86). For any such sector, the zoom lens incorporated within the

third imaging assembly (89) is considered to produce the left image and the

zoom lens incorporated within the first imaging assembly (86) is considered

to produce the right image. The determination of which of the overlapping

images is to be the right image and which the left image of the stereoscopic

pair is important for the projection of the images to the appropriate eye of

the observer. This is because a meaningful stereoscopic image can only be

viewed if an image produced having a left viewpoint is projected to the left eye and an image produced having a right viewpoint is projected to the right

eye.

The method described hereinabove for determination of which image should

be the right image and which should be the left is applicable also to the

panoramic lenses themselves and not only to the zoom lenses. More

explicitly and referring again to Fig. 14, the first part (85) can be

simultaneously viewed by the first panoramic lens (86), which produces the

left image in that part, and by the second panoramic lens (87), which

produces ^' the right image in that part. The second part (88) is

simultaneously viewed by the second panoramic lens (87), which produces

the left image in that part, and by the third panoramic lens (89), which

produces the right image in that part. The third part (90) is simultaneously

viewed by the third panoramic lens (89), which produces the left viewpoint

in that part, and by the first panoramic lens (86), which produces the right

viewpoint in that part. In Fig. 16 hereinbelow will be demonstrated how

these considerations are put into practice in the production of source images

suitable for stereoscopic projection.

Fig. 15 shows schematically a pair of images produces by the apparatus

incorporating two imaging assemblies, which was described hereinabove in

reference to Fig. 4. In Fig. 15 are shown the different sectors, which appear

in each of the images, after transformation to a rectangular form. The figure refers only to the panoramic images and not to the zoomed portions, which

are processed separately. Image A (91) is generated by the first imaging

assembly, and contains a sector which is viewed only by the first imaging

assembly (92), a sector that is viewed by both imaging assemblies, in which

the first imaging assembly is considered to produce the left image (93) of the

stereo pair, a sector that is blocked by the second imaging assembly (94) and

a sector that is viewed by both imaging assemblies, in which the first

imaging assembly is considered to produce the right image (95). Image B

(96) is generated by the second imaging assembly, and contains a sector that

is blocked by the first imaging assembly (97), a sector which is viewed by

both imaging assemblies, in which the second imaging assembly is

considered to produce the right image (98) of the stereo pair, a sector that is

viewed only by the second imaging assembly (99) and a sector, which is

viewed by both imaging assemblies, in which the second imaging assembly

is considered to produce the left image (100). Since image A (91) and image

B (96), each comprise a sector that is a left viewpoint and a sector that is a

right viewpoint, and since stereoscopy requires a left image and a separate

right image of the same scene, a swap of parts of the images needs to be

performed between image A (91) and image B (96) to create two separate

images, a totally right image and a totally left image that will constitute the

stereoscopic pair. The left image (101) comprises the left oriented part (93)

of the first image (91) and the left oriented part (100) of the second image

(96). The right image (102) should be comprised of the right oriented part (98) of the second image (96) and the right oriented part (95) of the first

image (91). The part of the first image that contains the reflection of the

second imaging assembly (94) and the part of the second image that

contains the reflection of the first imaging assembly (97) do not contain

valuable data and can be disregarded. The area of the first image, which is

covered only by the first imaging assembly (92) and the area of the second

image that is covered only by the second imaging assembly (99) do not

contribute to the stereoscopic qualities of the image, however they do

contribute to the general spatial orientation ability, since they include

additional sectors of the panoramic scene, not included in the stereoscopic

sectors, and they can be incorporated in either picture or both, in the

appropriate place, respectively to the sector they image and depending on

considerations regarding the specific application.

Fig. 16 schematically shows the three images produced by the apparatus

incorporating three imaging assemblies, which was described hereinabove

with reference to Fig. 8. In Fig. are shown the different sectors, which

appear in each of the images, after transformation to a rectangular form.

The figure refers only to the panoramic images and not to the zoomed

portions, which are processed separately. Image A (103), which is generated

by the first imaging assembly, comprises a first sector (104) in which the

first imaging assembly is considered to produce the image having the left

viewpoint, a second sector (105) in which the first imaging assembly is considered to produce the image having the right viewpoint, and a third

sector (106) which contains the reflection of the two neighboring imaging

assemblies. Image B (107), which is generated by the second imaging

assembly, comprises a first sector (108) in which the second imaging

assembly is considered to produce the image having the right viewpoint, a

second sector (109) in which the second imaging assembly is considered to

produce the image having the left viewpoint, and a third sector (110) which

contains the reflection of the two neighboring imaging assemblies. Image C

(111), which is generated by the third imaging assembly, comprises a first

sector (112) in which the third imaging assembly is considered to produce an

image having the right viewpoint, a second sector (113) in which the third

imaging assembly is considered to produce an image having the left

viewpoint, and a third sector (114) which contains the reflection of the two

neighboring imaging assemblies.

Since image A (103), image B (107) and image C (111), each comprise a

sector that is considered left and a sector that is considered right, and

stereoscopy requires a left image and a separate right image, a swap of

parts of the images needs to be performed. The right image (115) should

comprise the right oriented sector (105) of the first image (103), the right

oriented sector (108) of the second image (107) and the right oriented sector

(112) of the third image (112). The left image (116) should comprise the left

oriented sector (113) of the third image (111), the left oriented sector (104) of the first image (103) and the left oriented sector (109) of the second image

(107) in the order described here. The right image (115) and the left image

(116) will each separately comprise the full panoramic field of view and will

each show a slightly shifted image of the same panoramic perimeter. The

sectors of the images, which contain the reflection of the other two imaging

assemblies, do not contain any valuable data and can be disregarded. Their

presence or absence do not contribute to or influence the stereoscopic

qualities of the entire panoramic stereoscopic image. Those sectors are

described in this figure as sector (106) in the first image (103), sector (110)

in the second image (107) and sector (114) in the third image (111).

It is to be noted that the methods of determining of which lens produces the

image having the right or left viewpoint at a particular location m the

panoramic field of view are dependant on the configuration and layout of the

lenses. The size of the panoramic lenses, their shape and their distance from

each other will affect the field of view covered by each individual lens and,

therefore affect the fields of view mutually covered by the two lenses of each

pair. These effects will have further impact on the sectors of the images

themselves, influencing which should be utilized as part of the right image

and which as part of the left image. Therefore, special attention should be

given to adapting the methods described herein, mutandis mutatis, to the

specific design parameters of the apparatus employed. The transformations described hereinabove with respect to Figs. 15 and 16

can be performed at one of three stages of processing the images:

on the circular image that is directly acquired, by swapping the

appropriate sectors between the circular images, before transforming

the images to rectangular shape ;

simultaneously with transforming the circular images to rectangular

form, by mapping the appropriate sectors from the circular source

images to the relevant rectangular output images; or

only after each circular image is transformed to rectangular shape.

The acquisition and storage of the images, tracking of the positions of the

lenses, and other steps required for creating and displaying the final

images, including carrying out the transformations described hereinabove

that are necessary to produce the final stereoscopic images, are all

performed with the aid of computer processing. It is to be noted that the

present invention deals with the apparatus and method of producing

stereoscopic images of a panoramic scene. Additional aspects, such as image

processing and the actual projection methods of the images, are not covered

by the present invention, and not described in detail, since they are well

within the knowledge of those skilled in the art. Commercially available

display systems, such as stereoscopic projectors, active and passive

stereoscopic display systems, auto-stereoscopic screens, HMD (Head

Mounted Display), anaglyph images and other known methods can be used to display the images that are acquired by the apparatus of the present

invention. The image capturing devices incorporated into the panoramic

imaging assemblies can be of any type known in the art for collecting images

of a scene. If the image collecting device is capable of operating at a suitable

speed then not only static images of a scene can be projected but also the

apparatus of the invention is capable of providing real-time panoramic

stereoscopic video imaging of a scene.

Although the present invention provides a panoramic stereoscopic image, it

is often preferable to display to the viewer a limited sector at a time, such

that would enable him to fully focus and grasp the stereoscopic effect. The

present invention, therefore, provides a constantly available panoramic

stereoscopic image, from which any sector may be selected to display to the

viewer, and may be changed according to defined parameters, for instance

compatibly to the viewer's head movement.

The methods demonstrated herein can also be used with optical structures

which enable acquiring a nearly spherical field of view. Examples for such

optical structures are presented in WO 02/059676, cited hereinabove. Nearly

spherical field of view lenses acquire two separate scenes. The first scene,

which is a panoramic scene, is acquired by utilizing reflective surfaces such

as those described hereinabove. The second scene comprises an additional

sector which is at least partially above the panoramic scene, and which is a partial view of the scene located in front of the imaging device. The second

scene is acquired through refractive optics. Therefore, those skilled in the

art would appreciate that among the lenses relevant for providing a

panoramic field of view, exist nearly spherical view lenses. It can be further

understood that while utilizing nearly spherical view lenses, stereoscopy in

the first scene is achieved in accordance with the methods described herein,

and stereoscopy in the second scene is achieved by utilizing conventional

stereoscopic methods, since the second scene is actually a conventional

forward view of the imaging device.

Although embodiments of the invention have been described by way of

illustration, it will be understood that the invention may be carried out with

many variations, modifications, and adaptations, without departing from its

spirit or exceeding the scope of the claims.

Claims

1. An imaging apparatus comprising: a. Two or more lenses, each providing at least a panoramic scene, each lens having a vertical axis of symmetry, wherein said vertical axes of symmetry are parallel to each other and perpendicular to a common horizontal plane and wherein the entrance pupils of each of said two or more lenses are positioned at the same height with respect to said common horizontal plane; and b. An image capture device associated with each of said lenses, each of said image capture devices being directed towards a different one of said lenses, wherein the optical axis of each of said image capture device coincides with said vertical axis of symmetry of its associated lens; wherein each of said lenses reflects a panoramic field of view of the scene towards said associated image capture device, which is located coaxially with it, providing two or more panoramic images of the same scene.

2. An imaging apparatus according to claim 1, further comprising a support structure suitable to maintain the spatial relationship between the lenses, the image capture devices and their common plane.

3. An imaging apparatus according to claim 1, wherein each of the lenses comprise at least an axi-symmetric reflective surface, suitable to reflect a panoramic scene.

4. An imaging apparatus according to claim 1, wherein one or more of the lenses provide a nearly spherical field of view comprised of the panoramic scene and at least one additional scene.

5. An imaging apparatus according to claim 1, wherein the number of lenses is two and further comprising a vertical axis of rotation, perpendicular to the common plane, said axis of rotation being located between said two lenses equidistantly from each of said two lenses.

6. An imaging apparatus according to claim 5, further comprising a rotation mechanism, designed to rotate said imaging apparatus around the axis of rotation.

7. An imaging apparatus according to claim 1, wherein the number of lenses is three and they are positioned on the common plane such that virtual connection of the points of intersection of the vertical axes of symmetry of each said lenses with said plane creates a virtual regular triangle.

8. An imaging apparatus according to claim 1, wherein an optical zoom lens is incorporated into one or more of the lenses which reflect a panoramic field of view of the scene.

9. An imaging apparatus according to claim 8, wherein the optical zoom lens can be rotated around the vertical axis of symmetry of the lens in which it is incorporated.

10. An imaging apparatus according to claim 1, further comprising image processing means, designed to receive the images that are acquired by the image capture devices and process them for viewing.

11. An imaging - apparatus according to claim 10, wherein the image viewed after processing is a static stereoscopic image of a scene.

12. An imaging apparatus according to claim 10, wherein the image viewed after processing is a real-time stereoscopic video image of a scene.

13. A method of creating a right image and a left image from two or more panoramic images, produced by panoramic reflective lenses, said method comprising the following steps: a) Providing an imaging apparatus comprising:

(1) Two or more panoramic axi-symmetric reflective lenses, each providing at least a panoramic scene, each lens having a vertical axis of symmetry, wherein said vertical axes of symmetry are parallel to each other and perpendicular to a common horizontal plane and wherein the entrance pupils of each of said two or more lenses are positioned at the same height with respect to said common horizontal plane; and

(2) An image capture device associated with each of said lenses, each of said image capture devices being directed towards a different one of said lenses, wherein the optical axis of each of said image capture device coincides with said vertical axis of symmetry of its associated lens; wherein each of said lenses reflects a panoramic field of view of the scene towards said associated image capture device, which is located coaxially with it, thereby providing two or more panoramic images of the same scene; b) Imaging a reflection of a panoramic scene received from said two or more panoramic axi-symmetric reflective lenses, by two or more image capture devices located coaxially with said panoramic axi- symmetric reflective lenses; c) Forming a group consisting of pairs of said panoramic axi-symmetric reflective lenses, wherein said group comprises all possible unique pairs of lenses that can be formed from said lenses; d) Determining the identity of the common sectors of said panoramic scene that appear in each pair of images received from each of said pairs of lenses that comprise said group; e) Determining which of the said panoramic lenses provides a right viewpoint and which a left viewpoint in each of said common sectors; f) Creating a right image comprising, for all pairs in said group, the images that are from said common sectors and which provide a right viewpoint; and • g) Creating a left image comprising, for all pairs in said group, the images that are from said common sectors and which provide a left viewpoint.

14. A method according to claim 13, wherein the number of panoramic images is two and the right and/or left image further comprises at least one of the sectors that are covered only by one panoramic lens, positioned in the image respectively to its position in the panoramic scene.