WO2006129977A1 - Procede et dispositif permettant de produire simultanement des images de cotes lateraux et avant d'un tuyau - Google Patents

Procede et dispositif permettant de produire simultanement des images de cotes lateraux et avant d'un tuyau Download PDF

Info

Publication number
WO2006129977A1
WO2006129977A1 PCT/KR2006/002110 KR2006002110W WO2006129977A1 WO 2006129977 A1 WO2006129977 A1 WO 2006129977A1 KR 2006002110 W KR2006002110 W KR 2006002110W WO 2006129977 A1 WO2006129977 A1 WO 2006129977A1
Authority
WO
WIPO (PCT)
Prior art keywords
images
camera
wall
image
tubular way
Prior art date
Application number
PCT/KR2006/002110
Other languages
English (en)
Inventor
Won Dae Kim
Hye Kyung Kim
Original Assignee
Cleanpipe Eng. & Const. Co., Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Cleanpipe Eng. & Const. Co., Ltd. filed Critical Cleanpipe Eng. & Const. Co., Ltd.
Publication of WO2006129977A1 publication Critical patent/WO2006129977A1/fr

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
    • F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/30—Inspecting, measuring or testing

Definitions

  • the present invention relates to a method of simultaneously outputting images of front and lateral views in a tubular way such as a drain pipe, and a device used for the method in a self-propelled investigation system including a photographing camera, a lens adapter for 360° image photographing, and a supporting unit. More particularly, the present invention relates to a method for simultaneously outputting images of front and side views in a tubular way, and a device therefor, in which planar images are obtained as data for a range of 360° by a lens adapter and all the images are displayed or drawn in a single image in a developed state via image processing of a computer for representing information on an inside of a tubular way clearly.
  • Background Art
  • an investigation system checks an internal state of a tubular way while moving in the tubular way.
  • the investigation system is disposed in the tubular way in which various liquid, gas, slurry and the like flows, and photographs inside views of the tubular way by using a camera and an illumination unit stacked thereto while moving in the tubular way.
  • the photographed images are transmitted to a computer via wire or wirelessly, and the computer processes the images to determine defects of the tubular way.
  • the camera used in the conventional investigation system scans forward views only in the tubular way to obtain image data for an inner surface of a tubular way. In the particular cases, the camera rotates in every direction toward the inner wall surface of the tubular way to photograph detailed images gradually or partially.
  • the camera obtains images by a camera angle of 180° or higher.
  • the obtained images are collected, so that overlapped portions thereof are deleted and the remaining thereof is reconstructed via complicated procedure.
  • the images obtained as above include distorted portions more than data obtained in an orthogonal direction via orthogonal projection, so that precise analysis thereof becomes difficult and the value of the data becomes decreased.
  • Fig. 11 is a schematic view of a conventional investigation system as described above.
  • the investigation system photographs images for forward views in a tubular way F by a camera C mounted in a front part of a self-propelled vehicle A, while the self-propelled vehicle A moves.
  • Such the image photographing method currently used as above has a disadvantage that it is impossible to precisely recognize damaged portions or surface changes in the tubular way since the self-propelled vehicle moves forward while scanning the forward views.
  • the camera has a focusing position not in the center but at a lower part eccentrically, so that the value of the obtained images becomes non-uniform at an upper part and a lower part of the image. Therefore, precise diagnosis on the situations in the tubular way F becomes difficult.
  • Fig. 12 is a schematic view of another prior art investigation system.
  • the investigation system includes a self-propelled vehicle A disposed in the center of a tubular way F, a camera C stacked in a front part of the self-propelled vehicle A, and a convex fisheye lens L coupled with a front part of the camera.
  • images are obtained in a 180° range via the fisheye lens L and the obtained images are developed.
  • the conventional investigation system has, however, a disadvantage that images of unnecessary areas are included in the images obtained by the fisheye lens L since the fisheye lens L is simply attached to the camera C and obtains images of a large range.
  • the images obtained by the fisheye lens L have serious distortion, so that image processing has to be carried out for narrow areas of pixel units when processing image units obtained by the fisheye lens L.
  • the conventional investigation systems have disadvantages that the photographed images for the inner surfaces of the tubular way are distorted and exhibit a noticeably low resolution since the investigation systems scan only the forward views or photograph wall surfaces of the tubular way by simple combination with the fisheye lens. Disclosure of Invention Technical Problem
  • An object of the present invention is an object to provide a method and a device for simultaneously outputting images of front and side views in a tubular way, in which images for front and side views of an inside of a tubular way may be combined simultaneously into a single image by using a lens adapter mounted in a front part of a camera of an investigation system.
  • the image obtained is used for the movement of the investigation system by recognizing forward situations in the tubular way.
  • the side views are divisionally photographed with minimum distortion but with high resolution and the divisionally photographed images are compiled together and displayed into the single image, thereby realizing effective management based on the compiled information on the inner wall of the tubular way.
  • the front and side views simultaneously photographed as above may be displayed divisionally for effective management thereof, and the situations of the tubular way may be displayed or drawn in a developed image via post-processing or realtime processing.
  • Another object of the present invention is to provide a device for simultaneously outputting images for front and side views in a tubular way, in which a self-propelled type investigation system includes a camera and a lens adapter attached to the camera for photographing images in the range of 360 and a supporting unit in a simple structure is further provided so that inner wall portions of the tubular way at a same distance in an orthogonal direction may be photographed by the lens adapter while the investigation system is moving.
  • a method for outputting images of front and side views of an inside of a tubular way simultaneously which includes the steps of inputting images of a front part of the tubular way via a front center portion of a lens adapter mounted in a front part of a camera stacked on an investigation system which moves in the tubular way forward or along an inner wall thereof, and transmitting the input images to the camera, transmitting images of the inner wall of the tubular way in the range of 360° to the camera, wherein the inner wall is perpendicular to a peripheral surface of the lens adapter, and wherein the images are incident to a side surface of the lens adapter and reflected therefrom to the camera, dividing the images transmitted from the camera into image data for front views and inner wall views via an image data processing unit of a computer and simultaneously obtaining a single image to be displayed or drawn for the divisional images, displaying the data on a screen via the image data processing unit of the computer,
  • a device for outputting images of front and side views of an inside of a tubular way simultaneously which includes a su pporting unit coupled with a periphery of an investigation system stacking a camera and having wheels contacting an inner wall of the tubular way variably for positioning the camera in the center of the tubular way, a lens adapter coupled in a front part of the camera for simultaneously obtaining images of front views and images in a direction perpendicular to the inner wall of the tubular way by transmitting the images to the camera, and a data processing unit for displaying or drawing the images simultaneously received from the camera into a single image capable of representing front view images and inner wall view images divisionally.
  • the present invention as described hereinabove has an advantage that the image data recording the forward views and the image data for the inner wall of the tubular way obtained via reflection in the orthogonal direction observation are obtained divisionally and transmitted divisionally, so that the both image data for the forward view and the inner wall may be obtained simultaneously and output via a single image by single photographing work.
  • the photographing position may be kept in the center always by using the supporting unit in the simple structure, so that the information on not only the forward part but also the inner wall of the tubular way may be obtained with relatively little distortion but with high resolution. Therefore, observation information or visual information may be provided in detail for obtaining a developed image for the inner wall.
  • image processing becomes simple since images obtained by the image output device always represent the states of the inner wall of the tubular way on predetermined parts thereof uniformly by the camera and the image data processing unit. Also, the preparation of the developed image may be achieved by simply cutting the image data in the shape of ring and developing the cut image data. Therefore, the developed image for the inner wall of the tubular way may be obtained with high precision simply.
  • FIG. 1 is a perspective view of an investigation system for simultaneously outputting images of front part and side views in a tubular way according to a preferred embodiment of the present invention
  • FIG. 2 is a cross-sectional view for showing an operation principle of a lens adapter according to a preferred embodiment of the present invention
  • FIG. 3 is a schematic view for showing an image range of a subject photographed by the lens adapter of Fig. 2;
  • FIG. 4 and Fig. 5 are cross-sectional views respectively showing changes of the image range of a subject photographed by a curved surface or a plane surface of a reflection lens of the lens adapter according to the preferred embodiment of the present invention
  • FIG. 6 is a diagram for showing analysis on errors and distortions of image output information on the subject according to the present invention.
  • FIG. 7 is a cut and developed view for showing processing particulars of the image output information on the subject according to the present invention.
  • FIG. 8 is a perspective view showing an image investigation system for simultaneously outputting images of front part and side views in a tubular way according to another preferred embodiment of the present invention.
  • FIG. 9 and Fig. 10 are front views for showing photographing or recovering states of the investigation system of Fig. 8, which is positioned in a tubular way;
  • FIG. 11 is a schematic view of a prior art image obtaining device via front scanning.
  • FIG. 12 is a schematic view of a prior art image obtaining device using a fisheye lens. Best Mode for Carrying Out the Invention
  • FIG. 1 is a perspective view of a device for simultaneously outputting an image for front and side views in a tubular way according to a preferred embodiment of the present invention
  • Fig. 2 is a cross-sectional view for showing an operation principle of a lens adapter according to a preferred embodiment of the present invention
  • Fig. 9 and Fig. 10 are front views for showing photographing or recovering states of an investigation system, which is positioned in a tubular way.
  • a device for simultaneously outputting an image for front and side views in a tubular way includes an investigation system 1, a camera 2 mounted to a front part or a rear part of the investigation system 1 , a lens adapter 3 coupled with a front part of the camera, a supporting unit 4 mounted to a periphery of the investigation system 1 for moving the investigation system 1 and having a driving unit 41, and a self-propelled vehicle 5 for moving the investigation system 1 into a tubular way 6.
  • the camera 3 includes a unit for transmitting photographed image data, and the investigation system 1 incorporates a power controller (not shown) including batteries inside for operating relating parts.
  • the camera 2 of the investigation system 1, the driving unit 41 of the supporting unit 4 and the vehicle 5 are connected to each other wirelessly or via cables.
  • the lens adapter 3 includes, as shown in Fig. 2, a transparent cylindrical case 31 coupled with the front part of the camera 2 at an end and extended by a predetermined length, a curved lens 32 disposed around a lens of the camera 2 at a rear end in the case 31, a reflection element 33 disposed at a front end in the case 31 and formed in a curved or plane surface shape corresponding to the curved lens 32, and a center lens 34 disposed in the center of the reflection element 33 for scanning a forward view.
  • the case 31 is fixed to the camera 2 by screw-coupling after controlling a focus of an image, and then connected to the camera 2 via a usual connection socket or mutual fitting.
  • the case 31 is formed of a glass of high transparency for transmitting an image of an inner wall of the tubular way 6 to the curved lens 32 disposed in the case 31 , wherein a synthetic resin tube may be used as the case 13 because of its simple machining and handling characteristics.
  • the curved lens 32 is formed of a curved surface for reflecting and collecting incident images of the inner wall of the tubular way in an orthogonal direction, wherein the images are transmitted via an optical center axis of the lens of the camera 2. A size of the image input to the camera 2 is changed by the increase or decrease of a curvature angle of the curved lens 32.
  • the reflection element 33 serves to reflect the images of the inner wall of the tubular way 6, which is transmitted from the curved lens 32, for transmitting the images along the optical center axis of the lens of the camera 2.
  • the reflection element 33 is formed with a plane or curved surface, as shown in Fig. 4, and Fig. 5.
  • the camera 2 outputs image data D of the inner wall in the shape of big and small doughnuts.
  • the size of the output image data D for the inner wall is selected optimally according to identification, situation recognition and image processing or correction in the use thereof.
  • the center lens 34 is disposed in the center of the reflection element 33 and transmits the images of the forward view in the tubular way 6 via the optical center axis of the camera lens.
  • the images transmitted to the camera 2 and output according to the change in the size and curvature angle of the center lens 34 are displayed as forward image data D' in the shape of big and small circles by the center lens 34, as shown in Fig. 4 and Fig. 5.
  • the lens adapter 3 constructed as above, scans forward views in the tubular way 6 via the center lens 34 and scans the inner wall of the tubular way 6 via the curved lens 32 and the reflection element 33 in the orthogonal direction.
  • the forward images of the tubular way 6 transmitted via the center lens 34 and the images transmitted via the curved lens 32 and the reflection element 33 have projection centers laid on the same line with the center of the lens of the camera 2.
  • the images incident via the lens adapter 3 is transmitted to an image data processing unit 7 of a computer via the camera 2, and distinguished via a screen 8.
  • the forward image data D' and the inner wall image data D are coupled with each other, wherein the forward images are positioned in the center and the inner wall images are positioned in the periphery in the shape of ring respectively or to be combined with each other.
  • the circle-shaped forward image data D' positioned in the center is used for operating the vehicle 5 via a control unit connected thereto via wire or wirelessly, as shown in Fig. 9.
  • the forward image data D 1 is expanded and observed for carrying out the observation function, which has been realized by a conventional forward scanning type camera.
  • the image data D of the inner wall of the tubular way 6 is photographed in the shape of a strap forming a circle as shown in Fig. 6, and the image data is transformed to be developed by the image data processing unit 7 incorporating application programs for image transformation correction and image processing, so that a developed image for the inner wall of the tubular way 6 is obtained as a drawing.
  • the preparation of the developed image drawing is achieved by cutting the image data D for the inner wall from the image, in which the image data D and the forward image data D' are combined together, and dividing the cut image data D at predetermined portions, so that the divided ones are developed in the shape of a straight strap. As shown in Fig.
  • image distortion generated at outer parts is corrected by quadratic equation conversion, polynomial image conversion, or inverse orthogonal projection and the like, and then spread out in the shape of the straight strap, so that current states of the inner wall of the tubular way 6 may be judged precisely.
  • the inverse orthogonal projection is the inverse of orthogonal projection in which same portions are transformed with a same area.
  • images for the entire inner wall of the tubular way 6 may be obtained per predetermined section by a predetermined time interval or a predetermined distance interval as the investigation system 1 stacking the camera 2 moves by an advancing speed of the vehicle 5.
  • the images obtained by the image unit or the time interval unit are processed and corrected to unit images and the unit images are connected to each other to establish a single developed image for the entire inner wall of the tubular way 6.
  • the single image may be partially taken to be expanded for observation as necessary.
  • the lens adapter is always located in the center of the tubular way 6 for minimizing errors and distortion. Therefore, the supporting unit 4 is provided to the image output device of the present invention.
  • the supporting unit 4 includes, as shown in Fig. 1 and Fig. 8, unit supporting dies
  • the driving element 41 is formed of any one selected from a hydraulic cylinder, an air cylinder or a reduction motor respectively supplied with a fluid, air or power from the outside.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Robotics (AREA)
  • Multimedia (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)

Abstract

L'invention concerne un procédé et un dispositif permettant de produire simultanément des images de vues latérales et avant de l'intérieur d'un passage tubulaire dans lequel une caméra montée sur un système d'investigation, se déplaçant vers l'avant le long de la paroi interne du passage tubulaire, est équipée d'un adaptateur de lentille placé sur une partie centrale avant de ladite caméra afin de photographier des images de vues avant et latérales du passage tubulaire et de les transmettre à la caméra. Les images de la paroi interne situées dans une plage de 360° perpendiculaire à une surface périphérique de l'adaptateur de lentille sont incidentes à une surface latérale de l'adaptateur de lentille et réfléchies à partir de celle-ci afin d'être transmises à la caméra, les images reçues par la caméra étant respectivement divisées en données d'images de l'avant et données d'images de la paroi interne à l'aide d'une unité de traitement de données et simultanément affichées ou tirées sous forme d'une image unique.
PCT/KR2006/002110 2005-06-02 2006-06-01 Procede et dispositif permettant de produire simultanement des images de cotes lateraux et avant d'un tuyau WO2006129977A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020050046997A KR100657226B1 (ko) 2005-06-02 2005-06-02 관내의 전방·측면 동시 영상출력 방법과 장치
KR10-2005-0046997 2005-06-02

Publications (1)

Publication Number Publication Date
WO2006129977A1 true WO2006129977A1 (fr) 2006-12-07

Family

ID=37481859

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2006/002110 WO2006129977A1 (fr) 2005-06-02 2006-06-01 Procede et dispositif permettant de produire simultanement des images de cotes lateraux et avant d'un tuyau

Country Status (2)

Country Link
KR (1) KR100657226B1 (fr)
WO (1) WO2006129977A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7505063B1 (en) * 2004-02-17 2009-03-17 Ronald A. Basterdo Self-adjusting and centering camera mount for inspecting pipe
EP2306232A3 (fr) * 2009-09-30 2011-12-21 Olympus Corporation Système optique
JP2014209156A (ja) * 2013-03-29 2014-11-06 日立Ｇｅニュークリア・エナジー株式会社 狭隘部進入調査装置

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100939529B1 (ko) * 2007-12-20 2010-01-28 한국건설기술연구원 관로 내외면 동시 탐사 분석 시스템
KR101241844B1 (ko) * 2012-09-06 2013-03-11 (주)삼경이엔씨 트라이앵글형 정밀관로측량로봇을 통한 스마트형 관로측량장치

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63243846A (ja) * 1987-03-31 1988-10-11 Sekiyu Sangyo Katsuseika Center 管内検査装置
JPH04204357A (ja) * 1990-11-30 1992-07-24 Daicel Chem Ind Ltd 管内検査装置
JPH0695006A (ja) * 1992-09-14 1994-04-08 Toshiba Corp 管内観察装置
KR20030043897A (ko) * 2003-05-16 2003-06-02 모악개발 주식회사 관로용 다중 분할 촬영장치 및 이를 이용한 관로 내부의화상 인출방법

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63243846A (ja) * 1987-03-31 1988-10-11 Sekiyu Sangyo Katsuseika Center 管内検査装置
JPH04204357A (ja) * 1990-11-30 1992-07-24 Daicel Chem Ind Ltd 管内検査装置
JPH0695006A (ja) * 1992-09-14 1994-04-08 Toshiba Corp 管内観察装置
KR20030043897A (ko) * 2003-05-16 2003-06-02 모악개발 주식회사 관로용 다중 분할 촬영장치 및 이를 이용한 관로 내부의화상 인출방법

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7505063B1 (en) * 2004-02-17 2009-03-17 Ronald A. Basterdo Self-adjusting and centering camera mount for inspecting pipe
EP2306232A3 (fr) * 2009-09-30 2011-12-21 Olympus Corporation Système optique
US8331039B2 (en) 2009-09-30 2012-12-11 Olympus Corporation Optical system
JP2014209156A (ja) * 2013-03-29 2014-11-06 日立Ｇｅニュークリア・エナジー株式会社 狭隘部進入調査装置

Also Published As

Publication number Publication date
KR100657226B1 (ko) 2006-12-19
KR20060125143A (ko) 2006-12-06

Similar Documents

Publication Publication Date Title
JP5682788B2 (ja) 車両周辺監視装置
CN109211107B (zh) 测量装置、旋转体以及产生图像数据的方法
US6130783A (en) Omnidirectional visual sensor having a plurality of mirrors with surfaces of revolution
JP3420734B2 (ja) 管渠内面画像の処理方法
EP1233345B1 (fr) Système d'imagerie, programme utilisé pour le contrôle des données d'images d'un tel système, méthode de correction de la distorsion d'images acquises par un tel système et support d'enregistrement des procédures d'une telle méthode
WO2006129977A1 (fr) Procede et dispositif permettant de produire simultanement des images de cotes lateraux et avant d'un tuyau
JP4414661B2 (ja) ステレオアダプタ及びそれを用いた距離画像入力装置
CN1878297A (zh) 全方位视觉装置
CN109938650A (zh) 一种全景摄像模组及基于该摄像模组的扫地机器人
US6831693B1 (en) Image pickup unit having light incident side reflecting element and drive means for driving reflecting element, and apparatus having same
CN112255880B (zh) 立体照相机
CN108055513A (zh) 全景视频安防监控装置
WO2020129398A1 (fr) Appareil d'observation
JPH1054939A (ja) 反射式画角変換光学装置及びこれを用いた光学システム
JP5424388B2 (ja) 撮像装置
JPH114373A (ja) 全周パノラマ画像構成方法及び装置
KR102478842B1 (ko) 휴대용 3차원 영상 측정 장치, 이를 이용한 3차원 영상 측정 방법, 및 의료 영상 정합 시스템
JP2014056225A (ja) 全視野小型撮像装置
TWI663421B (zh) 廣角鏡頭的畸變矯正方法、裝置及系統
JP2021196544A (ja) ステレオカメラ
WO2021005921A1 (fr) Caméra stéréo et unité de lumière dotée d'une caméra stéréo intégrée
EP2418530B1 (fr) Système optique et dispositif d'imagerie
CN209803848U (zh) 一种集成式的公路隧道可变焦视觉检测系统
CN117414097A (zh) 可视化光动力治疗光学镜头以及深度信息测量方法
WO2024070123A1 (fr) Dispositif de télémétrie, système embarqué et dispositif mobile

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application
NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 06768726

Country of ref document: EP

Kind code of ref document: A1