WO2009014416A1 - Setup for three dimensional image capture - Google Patents

Setup for three dimensional image capture Download PDF

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Publication number
WO2009014416A1
WO2009014416A1 PCT/MY2008/000073 MY2008000073W WO2009014416A1 WO 2009014416 A1 WO2009014416 A1 WO 2009014416A1 MY 2008000073 W MY2008000073 W MY 2008000073W WO 2009014416 A1 WO2009014416 A1 WO 2009014416A1
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WO
WIPO (PCT)
Prior art keywords
image
dimensional
capture
setup
interest
Prior art date
Application number
PCT/MY2008/000073
Other languages
French (fr)
Inventor
Hock Woon Hon
Original Assignee
Mimos Berhad
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 Mimos Berhad filed Critical Mimos Berhad
Publication of WO2009014416A1 publication Critical patent/WO2009014416A1/en

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B35/00—Stereoscopic photography
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B37/00—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe
    • G03B37/02—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe with scanning movement of lens or cameras
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/20—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from infrared radiation only
    • H04N23/23—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from infrared radiation only from thermal infrared radiation

Definitions

  • the present invention relates generally to capturing and processing three dimensional (3D) image data, more particularly to capturing and creating a three- dimensional scene through vertical line-scan parallax.
  • Panoramic image is a kind of image obtained by capturing and merging multiple photographs or digital images to produce a seamless 360° view of a scene. Usually a camera is rotated around a focal point and a sequence a camera shot is obtained. The captured images are than arranged and stitched to form a smooth transition of image of a two dimensional description of the environment.
  • panoramic image of three dimensions (3D) range is receiving a lot of research attention.
  • a 3D description of the environment is desired for virtual reality applications, architectural modeling and computer graphics special effects.
  • Virtual world and virtual objects can be built using 3D panorama range data.
  • US Patent 6,023,588 describes a setup of side by side camera in imitating a human viewer. The cameras are displaced vertically along the same axis. The camera set is swiveled as the conventional two dimensional (2D) panorama setup. The captured images are than stitched to form 3D image.
  • the 3D range value of an object point measured by the camera is defined with respect to the local 3D coordinate system in relative to the stereo camera. Hence, distortion appears when a sequence of 3D images is used to describe an object.
  • US Patent 6,677,982 describes a method of forming 3D spatial panorama. It projects the 3D range data by providing displacement data of scene depth of an image, generating depth values for each stereo image with respect to local coordinate system, selecting a reference point, transforming the generated depth value in respect to the reference point, warping the transformed image into a cylindrical surface and forming a plurality of warped images, forming a 3D panorama using warped images.
  • the method involves a great deal of processing power for computation. A simpler setup for capturing and modeling 3D panorama is desired. It is described in the present invention.
  • the present invention is conceived to provide a setup to monitor volume of space of a 3D environment.
  • Two line-scan cameras are arranged vertically, tilted, and pointing at different perspectives to acquire image data from different perspectives.
  • the image from two different perspectives can be processed and the parallax information from the two resultant images can be derived in order to create the desired volume data of a three dimensional (3D) environment.
  • the 3D field of a view can be moved up and down to cover select the desirable area by controlling the tilt-able holder.
  • the visible light sensor can be used to monitor day-light 3D surveillance and thermal light sensor be used to provide night vision 3D surveillance.
  • Fig. 1 illustrates a perspective view of a setup to acquire 3D line-scan image data according to the present invention
  • Fig. 2 illustrates a perspective view of two line-scan sensors arranged vertically on a rotary stage with a tilt-able holder
  • Fig. 3a to Fig. 3c illustrate a perspective view of stage goniometer in action
  • Fig. 4a to Fig. 4c illustrate a perspective view of sensor goniometer in action
  • Fig. 5 illustrates a perspective view of time integration volume produced by two line scan sensors
  • Fig. 6 illustrates two different perspective images captured by the two sensors
  • Fig. 7 illustrates a diagram for pixel data flow of captured image to 3D data image.
  • Fig. 1 there is illustrated an embodiment of the present invention to capture three dimensional (3D) image data of the environment.
  • Two sensors 20, 21 are arranged vertically and tilted to capture an object of interest 22.
  • the two sensors 20, 21 that capture the object of interest 22 are high speed line scan sensors.
  • line-scan sensors are used in this setup, image data are captured on a line-by-line basis.
  • the cumulative temporal line information forms a spatial 2D image as an output.
  • the object of interest 22 is any object where its 3D range data is desired to be obtained.
  • the sensors 20, 21 are tilted to capture different perspective of the object of interest 22.
  • Each sensor 20, 21 has a lens 24.
  • a tilt-able holder 26 is used to tilt the sensors 20, 21 to control the area of coverage.
  • the tilt-able holder 26 can be moved vertically along a rotary stage 28.
  • the rotary stage 28 rotates to capture a panoramic image.
  • Fig. 2 shows an expanded view of a tilt-able holder 26 to tilt sensor to cover desired area.
  • the tilt-able holder 26 mainly comprises of stage goniometer 30, sensor goniometers 32 and stepper motors 34. Stepper motors 34 are used to control sensor goniometers 32.
  • a laser pointer 36 is used to set image reference point.
  • Stage goniometer 30 allows the sensors 20, 21 to be tilted vertically to move the two sensors 20, 21 together to a desired angle, as shown in Fig. 3a to Fig. 3c. Stage goniometer 30 is used when a different angle and field of view of the subject of interest is desired. Stage goniometer 30 twists the angle of both sensors 20, 21 together.
  • sensor goniometers 32 allow the sensors to be rotated vertically to change the field of view of the sensors individually, as shown in Fig. 4a and Fig. 4b. Sensor goniometers 32 are used when a different field of view of the subject of interest is desired. Sensor goniometers 32 may also be rotated horizontally to change the field of view of sensors, as shown in Fig. 4c. This is used to control the parallax information in the resultant images.
  • Fig. 5 shows the time integration volume produced by the two sensors 20, 21.
  • the upper sensor 20 creates a time integration volume 40 different from the lower sensor 21 as both the sensors cover different perspectives.
  • the time integration volume 40 formed by the upper sensor 20 can be tilted with the time integration volume 42 formed by the lower sensor 21 as a whole.
  • the difference between volume produced by sensor 20, 21 creates the 3D view of the scene of interest.
  • the image is captured digitally.
  • High speed line scan CMOS or CCD sensors can be used to capture the digital image.
  • the first image 44 and second image 46 are 2D images that have a different perspective of the object of interest 22.
  • the two 2D images 44, 46 can be used to construct and produce a single 3D image using a 3D formatter 48, as shown in Fig. 7.
  • the pixel data of a 2D image from the first image 44 and second image 46 can be processed and 3D information can be derived, and the parallax between two resultant images can produce 3D range data 50 for that object of interest 22.
  • the invention has a simple setup of two cameras, positioned vertically, tilted, and rotated to capture two different perspectives of panoramic image to generate a 3D image of the object of interest.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
  • Studio Devices (AREA)

Abstract

A method and apparatus to setup three dimensional image capture and processing is described. A first image (44) of an object of interest (22) and a second image (46) of the object of interest (22), which has a different perspective from the first image (44), is captured at the same time. Both the images (44, 46) are interlaced, and the parallax between the two resultant images (44, 46) is used to produce a three dimensional range data (50). The three dimensional range data (50) represents the three dimensional range data of the object of interest (22). The apparatus setup to capture three dimensional image according to the present invention comprises of a tilt-able upper sensor (20) for capturing a first image (44) of an object of interest (22), a tilt-able lower sensor (21) for capturing a second image (46) of the object of interest (22), and a three dimensional formatter (48) to combine the first and second images (44, 46) into three dimensional data. The upper and lower sensors (20, 21 ) are aligned on a common vertical axis, whereby two different perspectives of images are desired to be captured at the same time.

Description

SETUP FOR THREE DIMENSIONAL IMAGE CAPTURE
The present invention relates generally to capturing and processing three dimensional (3D) image data, more particularly to capturing and creating a three- dimensional scene through vertical line-scan parallax.
BACKGROUND TO THE INVENTION
Panoramic image is a kind of image obtained by capturing and merging multiple photographs or digital images to produce a seamless 360° view of a scene. Usually a camera is rotated around a focal point and a sequence a camera shot is obtained. The captured images are than arranged and stitched to form a smooth transition of image of a two dimensional description of the environment.
Currently, panoramic image of three dimensions (3D) range is receiving a lot of research attention. A 3D description of the environment is desired for virtual reality applications, architectural modeling and computer graphics special effects. Virtual world and virtual objects can be built using 3D panorama range data.
To form 3D panorama image, usually more than one camera are utilized. US Patent 6,023,588 describes a setup of side by side camera in imitating a human viewer. The cameras are displaced vertically along the same axis. The camera set is swiveled as the conventional two dimensional (2D) panorama setup. The captured images are than stitched to form 3D image. The 3D range value of an object point measured by the camera is defined with respect to the local 3D coordinate system in relative to the stereo camera. Hence, distortion appears when a sequence of 3D images is used to describe an object.
US Patent 6,677,982 describes a method of forming 3D spatial panorama. It projects the 3D range data by providing displacement data of scene depth of an image, generating depth values for each stereo image with respect to local coordinate system, selecting a reference point, transforming the generated depth value in respect to the reference point, warping the transformed image into a cylindrical surface and forming a plurality of warped images, forming a 3D panorama using warped images. The method involves a great deal of processing power for computation. A simpler setup for capturing and modeling 3D panorama is desired. It is described in the present invention.
SUMMARY OF THE INVENTION
The present invention is conceived to provide a setup to monitor volume of space of a 3D environment. Two line-scan cameras are arranged vertically, tilted, and pointing at different perspectives to acquire image data from different perspectives. The image from two different perspectives can be processed and the parallax information from the two resultant images can be derived in order to create the desired volume data of a three dimensional (3D) environment.
It is an object of the invention to provide a means to acquire 3D information from the parallax exhibited by vertically arranged line-scan cameras through time integration.
It is a further object of the invention to provide a tilt-able holder for a user to control the coverage of an image. The 3D field of a view can be moved up and down to cover select the desirable area by controlling the tilt-able holder.
It is also an object of the invention to use cameras of visible light sensor or thermal sensor. The visible light sensor can be used to monitor day-light 3D surveillance and thermal light sensor be used to provide night vision 3D surveillance.
BRIEF DESCRIPTION OF THE DRAWINGS
The present invention will now be described in greater detail, by way of an example, with reference to the accompanying drawings, in which:
Fig. 1 illustrates a perspective view of a setup to acquire 3D line-scan image data according to the present invention;
Fig. 2 illustrates a perspective view of two line-scan sensors arranged vertically on a rotary stage with a tilt-able holder;
Fig. 3a to Fig. 3c illustrate a perspective view of stage goniometer in action;
Fig. 4a to Fig. 4c illustrate a perspective view of sensor goniometer in action; Fig. 5 illustrates a perspective view of time integration volume produced by two line scan sensors;
Fig. 6 illustrates two different perspective images captured by the two sensors; and
Fig. 7 illustrates a diagram for pixel data flow of captured image to 3D data image.
DETAILED DESCRIPTION OF THE DRAWINGS
Referring to Fig. 1, there is illustrated an embodiment of the present invention to capture three dimensional (3D) image data of the environment. Two sensors 20, 21 are arranged vertically and tilted to capture an object of interest 22.
The two sensors 20, 21 that capture the object of interest 22 are high speed line scan sensors. As line-scan sensors are used in this setup, image data are captured on a line-by-line basis. The cumulative temporal line information forms a spatial 2D image as an output.
Two types of sensors can be used in this setup; Visible light sensor is used to capture visible light images (daytime), whilst thermal sensor is used to capture thermal images (night vision). The object of interest 22 is any object where its 3D range data is desired to be obtained. The sensors 20, 21 are tilted to capture different perspective of the object of interest 22. Each sensor 20, 21 has a lens 24. A tilt-able holder 26 is used to tilt the sensors 20, 21 to control the area of coverage. The tilt-able holder 26 can be moved vertically along a rotary stage 28. The rotary stage 28 rotates to capture a panoramic image.
Fig. 2 shows an expanded view of a tilt-able holder 26 to tilt sensor to cover desired area. The tilt-able holder 26 mainly comprises of stage goniometer 30, sensor goniometers 32 and stepper motors 34. Stepper motors 34 are used to control sensor goniometers 32. A laser pointer 36 is used to set image reference point. In the middle of the rotary stage 28, there is a slip ring 38 which allows camera cable (not shown) and power supply cable (not shown) to go through to power the sensors 20, 21 with cable-entanglement free.
Stage goniometer 30 allows the sensors 20, 21 to be tilted vertically to move the two sensors 20, 21 together to a desired angle, as shown in Fig. 3a to Fig. 3c. Stage goniometer 30 is used when a different angle and field of view of the subject of interest is desired. Stage goniometer 30 twists the angle of both sensors 20, 21 together.
On the other hand, sensor goniometers 32 allow the sensors to be rotated vertically to change the field of view of the sensors individually, as shown in Fig. 4a and Fig. 4b. Sensor goniometers 32 are used when a different field of view of the subject of interest is desired. Sensor goniometers 32 may also be rotated horizontally to change the field of view of sensors, as shown in Fig. 4c. This is used to control the parallax information in the resultant images.
Fig. 5 shows the time integration volume produced by the two sensors 20, 21. The upper sensor 20 creates a time integration volume 40 different from the lower sensor 21 as both the sensors cover different perspectives. The time integration volume 40 formed by the upper sensor 20 can be tilted with the time integration volume 42 formed by the lower sensor 21 as a whole. The difference between volume produced by sensor 20, 21 creates the 3D view of the scene of interest. Usually, the image is captured digitally. High speed line scan CMOS or CCD sensors can be used to capture the digital image.
After a full 360 degree rotation of the rotary stage, two images are captured by sensors 20, 21, as shown in Fig. 6. The first image 44 and second image 46 are 2D images that have a different perspective of the object of interest 22.
The two 2D images 44, 46 can be used to construct and produce a single 3D image using a 3D formatter 48, as shown in Fig. 7. The pixel data of a 2D image from the first image 44 and second image 46 can be processed and 3D information can be derived, and the parallax between two resultant images can produce 3D range data 50 for that object of interest 22.
Accordingly, the invention has a simple setup of two cameras, positioned vertically, tilted, and rotated to capture two different perspectives of panoramic image to generate a 3D image of the object of interest. Although the descriptions above contain many specificities, these should not be construed as limiting the scope of the embodiment but as merely providing illustrations of some of the presently preferred embodiments.

Claims

1. A method to setup three dimensional image capture comprising the steps of;
S capturing a first image (44) of an object of interest (22); capturing a second image (46) of the object of interest (22) which has a different perspective from the first image (44), at the same time; spatial integrating a two dimensional image on a line-by-line basis over a certain period of time; 0 interlacing the first image (44) and the second image (46); and using the parallax between the two resultant images (44, 46) to produce a three dimensional range data (50), wherein the three dimensional range data (50) represents the three dimensional range data (50) of the objects of interest (22). 5
2. A method to setup three dimensional image capture according to claim 1, wherein the first image (44) and second image (46) are 360° panorama images from different perspectives. 0
3. A method to setup three dimensional image capture according to claim 1, wherein the first image (44) and the second image (46) are visible light images if a standard visible light line-scan sensor is used as the capturing device. 5
4. A method to setup three dimensional image capture according to claim 1, wherein the first image (44) and the second image (46) are thermal images if a standard thermal line-scan sensor is used as the capturing device. 0
5. An apparatus setup to capture three dimensional image comprising;
a tilt-able upper sensor (20) for capturing a first image (44) of an object of5 interest (22); a tilt-able lower sensor (21 ) for capturing a second image (46) of the object of interest (22); and a three dimensional formatter (48) to combine the first image (44) and the second image (46) into three dimensional data, wherein the upper and lower sensors (20, 21) are aligned on a common vertical axis and two different perspectives of images are desired to be captured at the same time.
6. An apparatus setup to capture three dimensional image according to claim 5, further comprising a rotary stage (28) for the sensors (20, 21 ) to capture panorama images.
7. An apparatus setup to capture three dimensional image according to claim 5, further compressing a slip ring (38) to avoid cable entanglement during high speed rotation.
8. An apparatus setup to capture three dimensional image according to claim 5, wherein both the tilt-able sensors (20, 21 ) are rotated by a stage goniometer (30) to twist the angle of both the sensors (20, 21 ).
9. An apparatus setup to capture three dimensional image according to claim 5, wherein either of the tilt-able sensors (20, 21 ) are rotated by a sensor goniometer (32) to change the field of view of the sensors (20, 21 ).
10. An apparatus setup to capture three dimensional image according to claim 5, further comprising lenses (24) for each of the sensors (20, 21 ) to focus the object of interest (22).
11. An apparatus setup to capture three dimensional image according to claim 5, further comprising a laser pointer (36) to set image of interest as a reference point.
12. An apparatus setup to capture three dimensional image according to claim 5, wherein the three dimensional formatter (48) interlace the first image (44) and the second image (46), and use of parallax between the two resultant images (44, 46) produces a three dimensional range data (50).
PCT/MY2008/000073 2007-07-20 2008-07-21 Setup for three dimensional image capture WO2009014416A1 (en)

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MYPI20071180A MY164503A (en) 2007-07-20 2007-07-20 Setup for three dimensional image capture
MYPI20071180 2007-07-20

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ITTO20090256A1 (en) * 2009-04-03 2010-10-04 Univ Degli Studi Torino STEREOSCOPIC RECOVERY SYSTEM
WO2017219021A1 (en) * 2016-06-17 2017-12-21 Schroeder James E Apparatus and method for imaging and modeling the surface of a three-dimensional (3-d) object

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4999713A (en) * 1988-03-07 1991-03-12 Sharp Kabushiki Kaisha Interlocked zooming apparatus for use in stereoscopic cameras
JPH11155153A (en) * 1997-09-09 1999-06-08 Samsung Aerospace Ind Ltd Stereoscopic video display device
EP0779535B1 (en) * 1995-12-11 2003-06-25 THOMSON multimedia Camera with variable deflection
KR20070021694A (en) * 2005-08-19 2007-02-23 주식회사 후후 Parallel Axis 3D Camera and Formation Method of 3D Image

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4999713A (en) * 1988-03-07 1991-03-12 Sharp Kabushiki Kaisha Interlocked zooming apparatus for use in stereoscopic cameras
EP0779535B1 (en) * 1995-12-11 2003-06-25 THOMSON multimedia Camera with variable deflection
JPH11155153A (en) * 1997-09-09 1999-06-08 Samsung Aerospace Ind Ltd Stereoscopic video display device
KR20070021694A (en) * 2005-08-19 2007-02-23 주식회사 후후 Parallel Axis 3D Camera and Formation Method of 3D Image

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ITTO20090256A1 (en) * 2009-04-03 2010-10-04 Univ Degli Studi Torino STEREOSCOPIC RECOVERY SYSTEM
WO2017219021A1 (en) * 2016-06-17 2017-12-21 Schroeder James E Apparatus and method for imaging and modeling the surface of a three-dimensional (3-d) object

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