JP2020052151A - Omnidirectional camera device, omnidirectional camera device design method - Google Patents
Omnidirectional camera device, omnidirectional camera device design method Download PDFInfo
- Publication number
- JP2020052151A JP2020052151A JP2018179609A JP2018179609A JP2020052151A JP 2020052151 A JP2020052151 A JP 2020052151A JP 2018179609 A JP2018179609 A JP 2018179609A JP 2018179609 A JP2018179609 A JP 2018179609A JP 2020052151 A JP2020052151 A JP 2020052151A
- Authority
- JP
- Japan
- Prior art keywords
- mirror
- camera device
- omnidirectional camera
- omnidirectional
- image
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Lenses (AREA)
- Studio Devices (AREA)
Abstract
【課題】二葉双曲面ミラーを用いるより安価で、歪みが少ない全方位カメラ装置を得る。【解決手段】本発明の全方位カメラ装置は、鏡面加工された曲面を有するミラーによって反射された像を当該ミラーに対向して設置されたカメラモジュールで撮影し、全方位画像を取得する。前記曲面は球面の半分未満であることを特徴とする。例えば、ミラーは、半球面から不鮮明な画像が映される外周部分のあらかじめ定めた部位を取り除いた形状である。特に、ミラーとして二葉双曲面に近い球面ミラーを用いればよい。【選択図】図１An omnidirectional camera device that is less distorted and less expensive than using a two-leaf hyperbolic mirror is obtained. An omnidirectional camera device of the present invention acquires an omnidirectional image by photographing an image reflected by a mirror having a mirror-finished curved surface with a camera module installed facing the mirror. The curved surface is characterized by being less than half a spherical surface. For example, the mirror has a shape obtained by removing a predetermined portion of the outer peripheral portion where an unclear image is projected from a hemispherical surface. In particular, a spherical mirror close to a two-leaf hyperboloid may be used as the mirror. [Selection drawing] Fig. 1
Description
本発明は、周囲３６０度の画像を取得する全方位カメラ装置および全方位カメラ装置の設計方法に関する。 The present invention relates to an omnidirectional camera device that acquires a 360-degree surrounding image and a method of designing the omnidirectional camera device.
近年、災害の監視、交通システム、テレビ会議、観光宣伝など多くの新しい情報システムへの応用に関連し、全方位カメラ装置の性能が期待されている。全方位カメラ装置とは周囲３６０度の画像の画像を取得するカメラである。これには大きく分けて２種類あり、ステレオカメラと同様の技術を用いたものと、反射ミラーを用いた屈折反射光学系によるものがある。屈折反射光学系の全方位カメラは凸面鏡の鉛直下方にカメラを上向きに設置したもので、外から入ってくる光線が回転対称な凸面鏡によって反射されカメラの視点に集中することによって周囲の画像を取得するものが一般的である。反射ミラーを用いた屈折反射光学系による全方位カメラは周囲画像を実時間観測できることから遠隔操作や自律行動を行う移動ロボットの視覚センサとして相応しい。使用するカメラが1台で済むため、コスト削減が望まれ、また、遠隔地の映像の取得が実時間で行われる事から遠隔操作や自律移動を効率的に行うことができるからである。 In recent years, the performance of an omnidirectional camera device has been expected in connection with application to many new information systems such as disaster monitoring, traffic systems, videoconferencing, and tourism advertising. The omnidirectional camera device is a camera that acquires an image of an image around 360 degrees. These are roughly classified into two types, one using the same technology as a stereo camera and one using a refraction / reflection optical system using a reflection mirror. The omnidirectional camera of the refraction / reflection optical system has the camera installed vertically below the convex mirror, and the surrounding light is reflected by the rotationally symmetric convex mirror and concentrated at the camera's viewpoint to acquire the surrounding image What you do is common. An omnidirectional camera using a refracting and reflecting optical system using a reflecting mirror can observe surrounding images in real time, so it is suitable as a visual sensor for a mobile robot that performs remote operation or autonomous action. This is because only one camera is required, so that cost reduction is desired, and remote operation and autonomous movement can be performed efficiently because acquisition of a video in a remote place is performed in real time.
これまでの全方位カメラの反射ミラーの多くは特許文献１及び特許文献２のように二葉双曲面形状であり、支持構造には、反射ミラーに映りこまないようアクリル、またはガラスが使用される場合が多い。反射ミラーには鉛直方向に回転対称な曲面が使用されるが、二葉双曲面ミラーは円錐ミラーのように側面方向に広い視野を持ち、さらに足元にも視野を持つなど広い視野を確保できる。また、二葉双曲面ミラーを用いた場合、物体の３次元座標から二葉双曲面の鏡面上に映る点の延長線上に焦点があり、これはほかの曲面ミラーには無い特性であり、これにより透視投影変換を簡便に行うことができる。 Many reflection mirrors of conventional omnidirectional cameras have a two-lobed hyperboloid shape as in Patent Documents 1 and 2, and when the support structure is made of acrylic or glass so as not to be reflected on the reflection mirror. There are many. The reflecting mirror uses a curved surface that is rotationally symmetric in the vertical direction, but the bilobal hyperboloid mirror has a wide field of view in the lateral direction like a conical mirror, and can also have a wide field of view such as a foot field. In addition, when a bilobal hyperboloid mirror is used, the focal point is located on an extension of a point reflected on the mirror surface of the bilobal hyperboloid from the three-dimensional coordinates of the object, and this is a characteristic that other curved mirrors do not have. Projection conversion can be performed easily.
屈折反射光学系による全方位カメラ装置の多くに採用されている二葉双曲面形状のミラーでは、全体に焦点が合わない、撮像範囲が限定的である、周辺部の情報は極端に多いが中心部では少ない、などの欠点が指摘されている。また、二葉双曲面形状は製造の難しさから非常に高価格であり、容易に使用することが困難となっている。 In a two-lobed hyperboloid mirror used in many omnidirectional camera devices using a refracting and reflecting optical system, the entire area is not focused, the imaging range is limited, and the peripheral information is extremely large, but the central part is extremely large. However, it is pointed out that there are few disadvantages. Further, the bilobal hyperboloidal shape is very expensive due to difficulty in manufacturing, and it is difficult to use it easily.
コストに関する対策より、二葉双曲面形状のミラーではなく、単純な半球ミラーを用いた全方位撮影システムも提案されているが、この場合、半球ミラー外周部には映った映像を認識できない部位がある。 Due to cost-related measures, an omnidirectional imaging system using a simple hemispherical mirror instead of a bilobal hyperboloidal mirror has been proposed, but in this case, there is a part that cannot recognize the reflected image on the outer periphery of the hemispherical mirror. .
全方位カメラを移動ロボット等の入力装置として利用する場合、小型なものは、とりつけ可能な場所を選定する上で有用である。それゆえに可能な限り小型化することが好まれる。 When an omnidirectional camera is used as an input device of a mobile robot or the like, a small camera is useful for selecting a place where the camera can be mounted. Therefore, miniaturization as much as possible is preferred.
本発明は、上記に鑑みてなされたものであって、二葉双曲面ミラーを用いるより安価で、歪みが少ない全方位カメラ装置を得ることを目的とする。 The present invention has been made in view of the above, and an object of the present invention is to provide an omnidirectional camera device that is less expensive and has less distortion than using a two-lobed hyperboloid mirror.
本発明の全方位カメラ装置は、鏡面加工された曲面を有するミラーによって反射された像を当該ミラーに対向して設置されたカメラモジュールで撮影し、全方位画像を取得する。前記曲面は球面の半分未満であることを特徴とする。 The omnidirectional camera device of the present invention captures an image reflected by a mirror having a mirror-finished curved surface with a camera module installed opposite to the mirror to obtain an omnidirectional image. The curved surface is less than half of a spherical surface.
本発明の全方位カメラ装置は、ミラーが球面なので、加工しやすいため安価になる。また、歪み方が球面とは反対の二葉双曲面に近づくので歪みが小さくなる。 The omnidirectional camera device of the present invention is inexpensive because it is easy to process because the mirror is spherical. Further, since the distortion approaches a two-lobed hyperboloid opposite to the spherical surface, the distortion is reduced.
以下、本発明の実施の形態について、図面に基づいて詳細に説明する。なお、本発明は、この実施の形態のみに限定されるものではない。 Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited to only this embodiment.
図１は、全方位カメラシステムの全体構成を示した図である。カメラ周囲の情景は球面ミラー１によって球面に映る画像として変形される。球面ミラー１は周囲画像を透過するミラー・カメラモジュール接続手段２を介してカメラモジュール１０を底部に納めたカメラモジュール支持手段３に連結されている。カメラモジュール支持手段３の中心部に開孔部分がありこの部分を通してカメラモジュール１０は球面ミラー１の表面に映る画像を撮影する。この場合、カメラモジュールの種類によって、静止画像、動画像あるいは赤外線画像等の画像を取得することが可能であるが、ファイバースコープ先端部のような撮影装置を実装しても良い。これらの装置全体は設置手段４の上部に構成されており、設置手段４を介して様々な場所、機械に容易に取り付けることができる。また、設置手段４にはカメラからの映像信号用ケーブルを接続しやすい配線孔５が設けられている。 FIG. 1 is a diagram showing the overall configuration of the omnidirectional camera system. The scene around the camera is transformed by the spherical mirror 1 as an image reflected on a spherical surface. The spherical mirror 1 is connected to a camera module supporting means 3 having a camera module 10 at the bottom through a mirror / camera module connecting means 2 for transmitting a surrounding image. There is an opening in the center of the camera module support means 3, through which the camera module 10 captures an image reflected on the surface of the spherical mirror 1. In this case, an image such as a still image, a moving image, or an infrared image can be acquired depending on the type of the camera module. However, an imaging device such as a fiberscope tip may be mounted. The whole of these devices is configured on the upper part of the installation means 4, and can be easily attached to various places and machines via the installation means 4. The installation means 4 is provided with a wiring hole 5 for easily connecting a video signal cable from the camera.
球面ミラー１は通常ステンレス等を鏡面研磨した半球ミラーの外周部を切削したもので構成される。図２はこの半球ミラーの切削を説明するための図である。鏡面加工された半球ミラーは図２中の７で表され、これに対向して設置されたカメラモジュールが図２中の１０で表され、カメラモジュール１０の主軸は６で表される。このときカメラモジュール１０に至る球面ミラー７の接線は図２中の９で表され、図２中の網掛け部分８はカメラモジュール１０によって取得することが不可能な領域のため不要である。このように、球面ミラー１の曲面は、球面の半分未満である。また、接点付近は光学的に歪みが大きく、不鮮明な画像が映される外周部分である。球面ミラー１は、不鮮明な画像が映される外周部分のあらかじめ定めた部位を取り除いている。この部位の大きさはカメラモジュール１０固有の画角と焦点距離と球面ミラー１の半径から、幾何的にあらかじめ定めればよい。 The spherical mirror 1 is generally formed by cutting the outer periphery of a hemispherical mirror obtained by mirror-polishing stainless steel or the like. FIG. 2 is a view for explaining the cutting of the hemispherical mirror. The mirror-finished hemispherical mirror is represented by 7 in FIG. 2, the camera module installed opposite thereto is represented by 10 in FIG. 2, and the main axis of the camera module 10 is represented by 6. At this time, the tangent line of the spherical mirror 7 reaching the camera module 10 is represented by 9 in FIG. 2, and the hatched portion 8 in FIG. 2 is unnecessary because it cannot be acquired by the camera module 10. Thus, the curved surface of the spherical mirror 1 is less than half of the spherical surface. The vicinity of the contact point is an outer peripheral portion where an optically large distortion is present and an unclear image is projected. The spherical mirror 1 removes a predetermined portion of the outer peripheral portion where an unclear image is projected. The size of this portion may be determined geometrically in advance from the angle of view and focal length of the camera module 10 and the radius of the spherical mirror 1.
上述のように既存の多くの全方位カメラ装置ではミラーの形状として二葉双曲面が使われている。そして、二葉双曲面ミラーを使ったときのカメラモジュールの配置なども確立されている。ここでは、二葉双曲面ミラーを使う前提でカメラモジュールの配置が決められている全方位カメラ装置において、ミラーを球面に変更する場合に最適な球面ミラーの形状を説明する。図３は二葉双曲面ミラーと球面ミラーを説明するための、ｘｚ平面図である。二葉双曲面は図３中の点線１１で表され、次式（１）で表現される双曲線をｚ軸回転することで得られる。
（ｘ／ａ）２−（ｚ／ｂ）２＝−１ （１）
ただし、ａは虚軸（共役軸）の半分、ｂは実軸（主軸）の半分である。また、ｃは、ｃ＝（ａ２＋ｂ２）１／２の関係を満たしている。この場合、カメラモジュール１０のレンズの中心はＯＣに置かれ、ＯＭは二葉双曲面ミラーの焦点である。図３中の実線１３は二葉双曲面の漸近線である。
As described above, many existing omnidirectional camera devices use a two-lobed hyperboloid as a mirror shape. The arrangement of camera modules when using a bilobal hyperboloid mirror has been established. Here, in an omnidirectional camera device in which the arrangement of camera modules is determined on the premise that a two-lobed hyperboloid mirror is used, the shape of a spherical mirror that is optimal when the mirror is changed to a spherical surface will be described. FIG. 3 is an xz plan view for explaining a two-lobed hyperboloid mirror and a spherical mirror. The bilobal hyperboloid is represented by a dotted line 11 in FIG. 3, and is obtained by rotating a hyperbola expressed by the following equation (1) along the z axis.
(X / a) 2 − (z / b) 2 = −1 (1)
Here, a is half of the imaginary axis (conjugate axis), and b is half of the real axis (main axis). Further, c satisfies the relationship c = (a 2 + b 2 ) 1/2 . In this case, the center of the lens of the camera module 10 is placed in O C, O M is the focal point of the hyperboloidal mirror Futaba. A solid line 13 in FIG. 3 is an asymptote of a bilobal hyperboloid.
図３中の実線１２は球面ミラーの球面を表す。同様に、球面ミラーの曲面は次式（２）の一部をｚ軸回転することで得られる。
ｘ２＋（ｚ−ｈ）２＝ｒ２ （２）
なお、球面ミラーの外周円の半径（半球を切断した後の切断面の円の半径）をｒ’とすると、カメラの画角が４２度から７２度である場合、ｒ’／ｒの値は０．８から０．９３の値をとる。この球面の中心はカメラ主軸上に存在し、原点Ｏからの距離がｈである。
The solid line 12 in FIG. 3 represents the spherical surface of the spherical mirror. Similarly, the curved surface of the spherical mirror can be obtained by rotating a part of the following equation (2) in the z-axis.
x 2 + (z−h) 2 = r 2 (2)
In addition, assuming that the radius of the outer peripheral circle of the spherical mirror (the radius of the circle of the cut surface after cutting the hemisphere) is r ', when the angle of view of the camera is 42 to 72 degrees, the value of r' / r is Take a value from 0.8 to 0.93. The center of this sphere exists on the camera main axis, and the distance from the origin O is h.
式（１）をｚについて式変形したものが次式（３）であり、ｚｈｙｐは各ｘ座標での二葉双曲面のｚ座標の値である。
Ｚｈｙｐ＝ｂ（１＋（ｘ／ａ）２）１／２ （３）
一方、式（２）をｚについて式変形したものが次式（４）であり、ｚｓｐｈはｘ座標での球面のｚ座標の値である。
Ｚｓｐｈ＝−（ｒ２−ｘ２）１／２＋ｈ （４）
The following equation (3) is obtained by transforming equation (1) with respect to z, and z hyp is the value of the z-coordinate of the bilobal hyperboloid at each x-coordinate.
Z hyp = b (1+ (x / a) 2 ) 1/2 (3)
On the other hand, the following equation (4) is obtained by transforming equation (2) with respect to z, and z sph is the value of the z coordinate of the spherical surface at the x coordinate.
Z sph = − (r 2 −x 2 ) 1/2 + h (4)
ｘｚ平面上での二葉双曲面と球面の位置の差の積分をＥＲＲＯＲＳＩＺＥとするとｚｈｙｐとＺｓｐｈを用いて、次式（５）によって得られる。
既に二葉双曲面パラメータａ，ｂは決定されているため、原点Ｏとカメラのレンズ中心ＯＣの距離であるｃが決まる。距離ｈと距離ｃの和から球面の半径ｒを引いたものが主軸上のカメラモジュールのレンズ中心ＯＣと球面ミラー表面との距離である。 Already two-sheet hyperboloid parameters a, b because it is determined, c is determined the distance of the origin O and the camera lens center O C of. Minus the distance h and distance radius r from the sum of the spherical surface of c is the distance between the lens center O C and the spherical mirror surface of the camera module on the main shaft.
主軸上の球面ミラー１とカメラモジュール１０との距離は、ミラー・カメラモジュール接続手段２の長さによって調整される。 The distance between the spherical mirror 1 on the main axis and the camera module 10 is adjusted by the length of the mirror / camera module connection means 2.
このようにして設計された球面ミラー１は、二葉双曲面ミラーと比較して撮像範囲が広く、半球ミラーと比較して小型で画像の歪みが少ない特性を持った装置として構成される。また、本発明の全方位カメラ装置は、ミラーが球面なので、加工しやすいため安価になり、かつ歪み方が球面とは反対の二葉双曲面に近づくので歪みが小さくなる。 The spherical mirror 1 designed in this manner is configured as a device having characteristics that the imaging range is wider than that of a two-lobed hyperboloid mirror, that is smaller than that of a hemispherical mirror, and that has less image distortion. Further, in the omnidirectional camera device of the present invention, since the mirror is a spherical surface, it is easy to process and the cost is low. In addition, since the distortion approaches a two-lobed hyperboloid opposite to the spherical surface, the distortion is reduced.
図４〜９を用いて、上記の効果の中の撮像範囲と歪み率について詳細に説明する。図４は撮影対象までの距離が５０ｃｍの場合の画像と歪み率を示す図であり、図５は撮影対象までの距離が５０ｃｍの場合の垂直方向の歪み率の変化を示す図である。図６は撮影対象までの距離が１００ｃｍの場合の画像と歪み率を示す図であり、図７は撮影対象までの距離が１００ｃｍの場合の垂直方向の歪み率の変化を示す図である。図８は撮影対象までの距離が１５０ｃｍの場合の画像と歪み率を示す図であり、図９は撮影対象までの距離が１５０ｃｍの場合の垂直方向の歪み率の変化を示す図である。 The imaging range and the distortion rate in the above-described effects will be described in detail with reference to FIGS. FIG. 4 is a diagram illustrating an image and a distortion rate when the distance to the imaging target is 50 cm, and FIG. 5 is a diagram illustrating a change in the distortion rate in the vertical direction when the distance to the imaging target is 50 cm. FIG. 6 is a diagram illustrating an image and a distortion rate when the distance to the imaging target is 100 cm, and FIG. 7 is a diagram illustrating a change in the distortion rate in the vertical direction when the distance to the imaging target is 100 cm. FIG. 8 is a diagram illustrating an image and a distortion rate when the distance to the imaging target is 150 cm, and FIG. 9 is a diagram illustrating a change in the distortion rate in the vertical direction when the distance to the imaging target is 150 cm.
図４，６，８の上側の写真は、全方位カメラ装置で撮影した画像である。（１）は二葉双曲面ミラーを用いたときの画像、（２）はＥＲＲＯＲＳＩＺＥが最小となる球面ミラーを用いたときの画像、（３）は半球の球面ミラーを用いたときの画像である。各画像の上側には黒色と灰色が交互に重なったブロックが配置されている。このブロックが撮影対象であり、どれも同じブロックの画像であり、各ブロックの幅は約１６ｃｍ、厚さ（高さ）は約５ｃｍである。二葉双曲面ミラーを用いた場合は、各ブロックの層が厚く映っている。逆に球面ミラーを用いた場合は、多くのブロックが映っている。つまり、球面ミラーの方が、二葉双曲面ミラーよりも、全方位カメラ装置の水平方向に置かれた物を垂直方向に広く撮像できる（撮像範囲が広い）。 The upper photographs in FIGS. 4, 6, and 8 are images taken by the omnidirectional camera device. (1) is an image when a two-lobed hyperboloid mirror is used, (2) is an image when a spherical mirror that minimizes ERRORSIZE is used, and (3) is an image when a hemispherical spherical mirror is used. On the upper side of each image, blocks in which black and gray alternately overlap are arranged. This block is an object to be photographed, and all are images of the same block. Each block has a width of about 16 cm and a thickness (height) of about 5 cm. In the case of using a bilobal hyperboloidal mirror, the layers of each block appear thick. Conversely, when a spherical mirror is used, many blocks are shown. In other words, the spherical mirror can take a wider image of the object placed in the horizontal direction of the omnidirectional camera device in the vertical direction (wider imaging range) than the two-lobe hyperboloid mirror.
また、撮像できたブロックの中で最も厚く映っているブロックの厚さを１００％とし、他のブロックの厚さとの比を歪み率（％）として評価した結果が、図４，６，８の下の表である。図５，７，９は、段数ごとの歪み率の変化を示している。（１）は二葉双曲面ミラーを用いたときの歪み率の変化、（２）はＥＲＲＯＲＳＩＺＥが最小となる球面ミラーを用いたときの歪み率の変化、（３）は半球の球面ミラーを用いたときの歪み率の変化である。二葉双曲面ミラーの場合は、上側のブロックの方が厚く映っているので、３段目または４段目が１００％となっている。球面ミラーの場合は、下側のブロックの方が厚く映っているので、１段目または２段目が１００％となっている。つまり、二葉双曲面と球面では歪み方が反対である。ＥＲＲＯＲＳＩＺＥは、二葉双曲面に近い球面を求めるためのパラメータである。よって、本発明の全方位カメラ装置であれば、歪み方が球面とは反対の二葉双曲面に近づくので歪みが小さくなる。図５，７，９でも半球の球面ミラーよりもＥＲＲＯＲＳＩＺＥを最小にした場合の球面ミラーの方が、歪み率が小さくなっていることが分かる。なお、二葉双曲面に近くなる範囲で球面を半球よりも小さくすれば、上記の効果が得られる。 The results of evaluating the thickness of the thickest block among the blocks that can be imaged as 100% and evaluating the ratio to the thickness of the other blocks as the distortion rate (%) are shown in FIGS. This is the table below. FIGS. 5, 7, and 9 show changes in the distortion rate for each number of stages. (1) Change in distortion rate when using a two-leaf hyperboloidal mirror, (2) Change in distortion rate when using a spherical mirror that minimizes ERRORSIZE, (3) using a hemispherical spherical mirror The change of the distortion rate at the time. In the case of a two-lobed hyperboloid mirror, the third or fourth stage is 100% because the upper block is reflected thicker. In the case of a spherical mirror, since the lower block is thicker, the first or second stage is 100%. That is, the distortion is opposite between the two-lobed hyperboloid and the spherical surface. ERRORSIZE is a parameter for obtaining a sphere close to a two-lobed hyperboloid. Therefore, in the omnidirectional camera device according to the present invention, the distortion approaches the two-lobed hyperboloid opposite to the spherical surface, so that the distortion is reduced. Also in FIGS. 5, 7, and 9, it can be seen that the distortion rate is smaller in the spherical mirror when ERRORSIZE is minimized than in the hemispherical spherical mirror. The above effect can be obtained by making the spherical surface smaller than the hemisphere within a range close to the two-lobe hyperboloid.
本発明は、全方位の撮像に適しており、特に、画像監視装置や移動ロボットの視覚システム等に適用できる。 INDUSTRIAL APPLICABILITY The present invention is suitable for omnidirectional imaging, and is particularly applicable to an image monitoring device, a visual system of a mobile robot, and the like.
１ 球面ミラー
２ ミラー・カメラモジュール接続手段
３ カメラモジュール支持手段
４ 設置手段
５ 配線孔
６ カメラモジュールの主軸
７ 鏡面研磨した半球ミラー
８ カメラモジュールによって取得することが不可能な領域
９ カメラモジュールに至る半球ミラーの接線
１０ カメラモジュール
１１ 二葉双曲面
１２ 球面
１３ 二葉双曲面の漸近線
DESCRIPTION OF SYMBOLS 1 Spherical mirror 2 Mirror / camera module connection means 3 Camera module support means 4 Installation means 5 Wiring hole 6 Main axis of camera module 7 Mirror-polished hemisphere mirror 8 Area that cannot be acquired by camera module 9 Hemisphere reaching camera module Mirror tangent 10 camera module 11 bilobal hyperboloid 12 sphere 13 asymptote of bilobal hyperboloid
Claims (5)
前記曲面は球面の半分未満である
ことを特徴とする全方位カメラ装置。 An omnidirectional camera device that captures an image reflected by a mirror having a mirror-finished curved surface with a camera module installed to face the mirror and obtains an omnidirectional image,
The omnidirectional camera device, wherein the curved surface is less than half a spherical surface.
前記ミラーは、半球面から外周部分のあらかじめ定めた部位を取り除いた形状である
ことを特徴とする全方位カメラ装置。 The omnidirectional camera device according to claim 1,
The omnidirectional camera device, wherein the mirror has a shape obtained by removing a predetermined portion of an outer peripheral portion from a hemisphere.
ａとｂを前記ミラーの代わりに二葉双曲面のミラーを使う場合の双曲線（ｘ／ａ）２−（ｚ／ｂ）２＝−１の形状を決めるパラメータ、ｒ’を前記二葉双曲面のミラーの外周円の半径、Ｚｈｙｐを前記双曲線上の点、Ｚｓｐｈを前記ミラー上の点、ｒを前記球面の半径、ｈを前記球面の中心と原点との距離とし、
Ｚｈｙｐ＝ｂ（１＋（ｘ／ａ）２）１／２
Ｚｓｐｈ＝−（ｒ２−ｘ２）１／２＋ｈ
前記ミラーは、前記ＥＲＲＯＲＳＩＺＥがｒ＝ｒ’，ｈ＝ｂ＋ｒの場合よりも小さくなるようにｒとｈを定めた形状である
ことを特徴とする全方位カメラ装置。 The omnidirectional camera device according to claim 1,
a and b are parameters that determine the shape of a hyperbola (x / a) 2 − (z / b) 2 = −1 when a mirror with a bilobal hyperboloid is used instead of the mirror, and r ′ is a mirror of the bilobal hyperboloid. The radius of the outer peripheral circle, Z hyp is a point on the hyperbola, Z sph is a point on the mirror, r is the radius of the spherical surface, h is the distance between the center of the spherical surface and the origin,
Z hyp = b (1+ (x / a) 2 ) 1/2
Z sph = − (r 2 −x 2 ) 1/2 + h
The omnidirectional camera device, wherein the mirror has a shape in which r and h are determined so that the ERRORSIZE is smaller than the case where r = r 'and h = b + r.
前記ミラーは、前記ＥＲＲＯＲＳＩＺＥが最小となるようにｒとｈを定めた形状である
ことを特徴とする全方位カメラ装置。 The omnidirectional camera device according to claim 3,
The omnidirectional camera device, wherein the mirror has a shape in which r and h are determined so that the ERRORSIZE is minimized.
前記曲面は球面であり、
ａとｂを前記ミラーの代わりに二葉双曲面のミラーを使う場合の双曲線（ｘ／ａ）２−（ｚ／ｂ）２＝−１の形状を決めるパラメータ、ｒ’を前記二葉双曲面のミラーの外周円の半径、Ｚｈｙｐを前記双曲線上の点、Ｚｓｐｈを前記ミラー上の点、ｒを前記球面の半径、ｈを前記球面の中心と原点との距離とし、
Ｚｈｙｐ＝ｂ（１＋（ｘ／ａ）２）１／２
Ｚｓｐｈ＝−（ｒ２−ｘ２）１／２＋ｈ
前記ＥＲＲＯＲＳＩＺＥが最小となるようにｒとｈを定めることで前記ミラーの形状を決める
ことを特徴とする全方位カメラ装置の設計方法。 A method for designing an omnidirectional camera device, in which an image reflected by a mirror having a mirror-finished curved surface is captured by a camera module installed facing the mirror and an omnidirectional image is obtained,
The curved surface is a spherical surface,
a and b are parameters that determine the shape of a hyperbola (x / a) 2 − (z / b) 2 = −1 when a mirror with a bilobal hyperboloid is used instead of the mirror, and r ′ is a mirror of the bilobal hyperboloid. The radius of the outer peripheral circle, Z hyp is a point on the hyperbola, Z sph is a point on the mirror, r is the radius of the spherical surface, h is the distance between the center of the spherical surface and the origin,
Z hyp = b (1+ (x / a) 2 ) 1/2
Z sph = − (r 2 −x 2 ) 1/2 + h
A method of designing an omnidirectional camera device, wherein the shape of the mirror is determined by determining r and h so that the ERRORSIZE is minimized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2018179609A JP7166607B2 (en) | 2018-09-26 | 2018-09-26 | Method for manufacturing omnidirectional camera device, method for designing omnidirectional camera device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2018179609A JP7166607B2 (en) | 2018-09-26 | 2018-09-26 | Method for manufacturing omnidirectional camera device, method for designing omnidirectional camera device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2020052151A true JP2020052151A (en) | 2020-04-02 |
| JP7166607B2 JP7166607B2 (en) | 2022-11-08 |
Family
ID=69996933
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2018179609A Active JP7166607B2 (en) | 2018-09-26 | 2018-09-26 | Method for manufacturing omnidirectional camera device, method for designing omnidirectional camera device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP7166607B2 (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006011103A (en) * | 2004-06-28 | 2006-01-12 | Yokogawa Electric Corp | Spherical mirror imaging apparatus |
| US20060072216A1 (en) * | 2004-10-01 | 2006-04-06 | Diehl Bgt Defence Gmbh & Co., Kg | Wide-angle optical system |
| JP2006209041A (en) * | 2005-01-25 | 2006-08-10 | Shoji Hoshi | Panorama lens |
| JP2006235509A (en) * | 2005-02-28 | 2006-09-07 | Yokogawa Electric Corp | Omni-directional imaging device |
| US20110018964A1 (en) * | 2007-09-21 | 2011-01-27 | The Trustees Of Columbia University In The City Of New York | Systems and methods for panoramic imaging |
| JP2017173771A (en) * | 2016-03-27 | 2017-09-28 | 日本電産コパル株式会社 | Lens unit and image capturing device |
-
2018
- 2018-09-26 JP JP2018179609A patent/JP7166607B2/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006011103A (en) * | 2004-06-28 | 2006-01-12 | Yokogawa Electric Corp | Spherical mirror imaging apparatus |
| US20060072216A1 (en) * | 2004-10-01 | 2006-04-06 | Diehl Bgt Defence Gmbh & Co., Kg | Wide-angle optical system |
| JP2006209041A (en) * | 2005-01-25 | 2006-08-10 | Shoji Hoshi | Panorama lens |
| JP2006235509A (en) * | 2005-02-28 | 2006-09-07 | Yokogawa Electric Corp | Omni-directional imaging device |
| US20110018964A1 (en) * | 2007-09-21 | 2011-01-27 | The Trustees Of Columbia University In The City Of New York | Systems and methods for panoramic imaging |
| JP2017173771A (en) * | 2016-03-27 | 2017-09-28 | 日本電産コパル株式会社 | Lens unit and image capturing device |
Also Published As
| Publication number | Publication date |
|---|---|
| JP7166607B2 (en) | 2022-11-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR100599423B1 (en) | Omni-directional imaging device | |
| CN101004538B (en) | Omnibearing vision sensor with no dead angle | |
| US8471892B2 (en) | Wide field-of-view reflector and method of designing and making same | |
| CN101363962B (en) | How to output images in perspective projection | |
| US10674121B2 (en) | Lens system for use in image capture device | |
| JP2002033943A (en) | Omnidirectional vision sensor | |
| Baker et al. | Single viewpoint catadioptric cameras | |
| WO2005067318A2 (en) | Multi-dimensional imaging apparatus, systems, and methods | |
| JP3752063B2 (en) | Omnidirectional stereo imaging device | |
| KR102176963B1 (en) | System and method for capturing horizontal parallax stereo panorama | |
| EP2040463A2 (en) | System for increasing horizontal field of view of a camera | |
| CN108604055A (en) | Omnidirection refringent/reflection lens with odd item aspherical profile or poly-lens | |
| JP2003344962A (en) | Omnidirectional video display system | |
| JP3054146B1 (en) | Panoramic image device | |
| JP5215097B2 (en) | Conversion method of captured image | |
| JP2011053352A (en) | Image pickup device | |
| JP7166607B2 (en) | Method for manufacturing omnidirectional camera device, method for designing omnidirectional camera device | |
| CN107003601B (en) | Omnidirection refracting-reflecting lens structure | |
| JPH1118007A (en) | Omnidirectional image display system | |
| Ohte et al. | A practical spherical mirror omnidirectional camera | |
| KR20170071010A (en) | Catadioptric Type Omnidirectional Optic Lens and Omni-directional Camera System Using the Same | |
| JP2007264402A (en) | Omniazimuth visual sensor | |
| JP2004309568A (en) | Omnidirectional imaging device | |
| JP2025035059A (en) | IMAGE PROCESSING SYSTEM, MOBILE BODY, IMAGE PROCESSING METHOD, AND COMPUTER PROGRAM | |
| JP2001257924A (en) | Wide-angle imaging device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A821 Effective date: 20180926 |
|
| A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20181029 |
|
| A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20210719 |
|
| A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20220629 |
|
| A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20220726 |
|
| A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20220912 |
|
| TRDD | Decision of grant or rejection written | ||
| A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20220927 |
|
| A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20221019 |
|
| R150 | Certificate of patent or registration of utility model |
Ref document number: 7166607 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |