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WO2011014053A1 - Capture d’image panoramique - Google Patents

Capture d’image panoramique Download PDF

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Publication number
WO2011014053A1
WO2011014053A1 PCT/MY2010/000126 MY2010000126W WO2011014053A1 WO 2011014053 A1 WO2011014053 A1 WO 2011014053A1 MY 2010000126 W MY2010000126 W MY 2010000126W WO 2011014053 A1 WO2011014053 A1 WO 2011014053A1
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WO
WIPO (PCT)
Prior art keywords
visual
image
camera
reflector
correction
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.)
Ceased
Application number
PCT/MY2010/000126
Other languages
English (en)
Inventor
Hon Hock Woon
Yong Yen San
Then Siu Jing
Chan Ching Hau
Nabilah Khairiyah Binti Shahabudin
Adrian Goh Han Wee
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mimos Bhd
Original Assignee
Mimos Bhd
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 Bhd filed Critical Mimos Bhd
Publication of WO2011014053A1 publication Critical patent/WO2011014053A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B13/00—Optical objectives specially designed for the purposes specified below
    • G02B13/06—Panoramic objectives; So-called "sky lenses" including panoramic objectives having reflecting surfaces

Definitions

  • the present invention relates to an optical device and a method that are adapted in the field of omnidirectional imaging.
  • Non- perspective imaging devices that are adapted to capture a wide field of view is often referred as non- perspective imaging devices. They are also generally referred as omnidirectional imaging devices, wide-angle imaging devices or panoramic imaging devices. In practice, these imaging devices can be adapted in a wide variety of usages, which include surveillance, teleconferencing and many other applicable usages.
  • a normal camera can only obtain a field of view that is limited from a few degrees up to 180 degrees.
  • light can enter the camera's lens through a semi-sphere thereof, usually at the camera's focal point and therefore, clear images can be produced without any distortion.
  • a wide-angle or panoramic imaging device can be adapted to capture a field of view approximately greater than 60 degrees.
  • the omnidirectional imaging devices are generally referred to non-perspective systems that can be adapted to obtain a 360-degree field of view. As such, some wide-angle imaging devices cover only approximately a semi-sphere or more, whilst the omnidirectional imaging devices can cover almost the entire sphere.
  • a reflector is usually attached in front of the camera at the lens' side, reflecting the field of view, to form a panoramic camera-reflector imaging device.
  • panoramic camera-reflector scanning systems For these imaging devices that are consisted of a panoramic camera with a planar mirror, they may generally be referred as panoramic camera-reflector scanning systems.
  • the imaging devices that are consisted of a normal camera but with a substantially flat mirror they are usually called catadioptric-imaging devices.
  • the transformation for panoramic field of views into a perspective view for these camera-reflector imaging devices is usually required to be precise and is usually determined by a set of parameters.
  • Such an alignment of the reflector and the camera would prevent the converted perspective view from being distorted by means of the transformation of the panoramic field of view.
  • the camera and the reflector are required to be maintained only in a fixed arrangement to ensure a smooth field-of- view transformation.
  • an optical device that is comprised of a panoramic optical unit having a reflector and a visual-capturing component, a regulating unit, and an image-transforming component.
  • the reflector is provided to reflect a field of view whilst the visual-capturing component is adapted to obtain a visual substantially from the field of view through a visual-receiving portion thereof, and then to generate an omnidirectional visual for the filed of view.
  • the regulating unit is provided to move at least one of the reflector and the visual-capturing component in order to shift the field of view.
  • the present invention also provides the image-transforming component to transform the omnidirectional visual into a perspective visual in accordance to an image transformation.
  • the optical device of the present invention is further comprised of a correction system that is adapted to implement a visual correction.
  • the correction system is essentially comprised of a sensing component and a correcting component.
  • the sensing component is adapted to acquire data that are associated with at least one of the reflector, the visual- capturing component, and the regulating unit, whilst the correcting component is essentially provided to analyze the data, to determine the visual correction based on the data, and to adapt the visual correction onto the image transformation.
  • a method for implementing a visual correction is also provided.
  • the method is essentially comprised of the steps of actuating at least one of the reflector and the visual-capturing component; acquiring a visual substantially from the field of view by means of the visual-capturing component through the visual- receiving portion thereof, generating an omnidirectional visual by means of the visual- capturing component; and transforming the omnidirectional visual into a perspective visual according to an image by means of an image-transforming component.
  • the method is further comprised the steps of acquiring data that are associated with at least one of the reflector, the visual-capturing component, and the regulating unit; and analyzing the data and determining a visual correction based on the data by means of the correcting component; and adapting the visual correction onto the image transformation by means of the correcting component. It is an object of the present invention to provide a correction system that allows generation of undistorted images in a rectangular format from the omnidirectional images in a circular format obtained from a omnidirectional imaging device containing a visual-capturing component and a reflector in a flexible arrangement. It is also an object of the present invention to provide a correction system that allows generation of undistorted images in a rectangular format from the omnidirectional images in a circular format particularly when there is a change of field of view.
  • FIG. 1 shows the panoramic camera-reflector imaging device of the present invention being movably mounted onto a regulating unit for movement thereof.
  • FIG. 2 shows the field of view that can be covered by the panoramic camera-reflector imaging device of the present invention.
  • FIG. 3 shows one of the preferred arrangements of the camera and the planar mirror of the present invention.
  • FIG. 4 shows the possible new radius for each predetermined angle, ⁇ , ranging from 0° to 360° in the obtained omnidirectional image of the present invention.
  • FIG. 5 shows the triangle that can be extracted from the omnidirectional image for the calculation of the new radius.
  • FIG. 6 shows the transformed image in the rectangular format before remapping.
  • FIG. 7 shows the transformed image in the rectangular format after remapping and stretching.
  • FIG. 8 shows the effect on the usable area of the omnidirectional image if the separation between the camera lens and the mirror increases.
  • FIG. 9 shows the camera's centre self-blocking effect of the omnidirectional image if the separation between the camera lens and the mirror increases.
  • FIG. 10 shows other effects on the omnidirectional image if the mirror is displaced or rotated on at least one axis in relative to the camera lens.
  • FIG. 11 is shows the results of the transformation based on the center point of the omnidirectional image each according to the corresponding location of the camera lens in the omnidirectional image.
  • FIG. 12 shows the two omnidirectional images each where a possible transformation may be based on a reference point according to the location of the camera lens therein.
  • FIG. 13 shows a flowchart of the method for implementing a visual correction of the present invention.
  • FIG. 14 shows an example of a circle used for a preferred computation for the visual correction.
  • FIG. 15 shows another example of a circle used for a preferred computation for the visual correction.
  • FIG. 16 shows one of the examples of a circle used for a preferred computation for the visual correction.
  • FIG. 17 shows one of the examples of a circle used for a preferred computation for the visual correction.
  • the present invention relates to an optical device 100 and a method that are adapted in the field of omnidirectional imaging. More particularly, the present invention relates to an optical device 100 and a method that are adapted in the field of omnidirectional imaging.
  • an optical device and a method therefor shall be described according to the preferred embodiments of the present invention and by referring to the accompanying description and drawings.
  • limiting the description to the preferred embodiments of the invention and to the drawings is merely to facilitate discussion of the present invention and it is envisioned that those skilled in the art may devise various modifications without departing from the scope of the appended claim.
  • the transformation of an omnidirectional image in the circular format into an undistorted image in the rectangular format is based on a fixedly aligned camera- reflector arrangement.
  • the camera and the reflector in these devices are therefore retained in a fixed arrangement to avoid any misalignment therebetween.
  • the reflector or the camera can move in such a manner that the reflector is allowed to reflect a field of view from other direction to the camera.
  • such a change of field of view would inevitably cause the camera and the reflector to misalign.
  • the transformed perspective image tends to distort due to the misalignment.
  • the optical device 100 of the present invention is provided to overcome the difficulties to obtain an undistorted perspective image normally associated to panoramic imaging device with flexible camera-reflector arrangement.
  • the optical device 100 of the present invention in light of the above, is preferably adapted for determining and adapting a transformation onto a substantially omnidirectional image in a substantially circular format 90, based on a predetermined reference point identified from the omnidirectional image, in order to obtain an undistorted perspective image in a rectangular format 110.
  • the omnidirectional image is herein described as in substantially circular format 90, it should also be noted that the omnidirectional image might be of elliptical shape as the omnidirectional image obtained in the present invention may be from a misaligned camera-reflector arrangement.
  • the optical device 100 of the present invention is shown.
  • the optical device 100 is essentially adaptable into a panoramic imaging device with flexible camera-reflector arrangement.
  • the optical device 100 is also adaptable into such a device that allows change of field of view.
  • the optical device 100 of the present invention allows acquisition of data that are associated with the motion or the position of at least one of the reflector or the visual-capturing component, the relative position or the orientation of the reflector and the visual-capturing component, the control output of the regulating unit, or any data that is associated with the visual-capturing component and the reflector and can also determine the appropriate transformation based on these data in order to obtain an undistorted perspective image.
  • the optical device (100) of the present invention is provided to conveniently perform the transformation without human intervention and also on a real-time basis.
  • the optical device 100 can be adjusted height-wise to increase the field-of-view coverage. The higher the optical device 100 is adjusted, the larger field of view the optical device 100 can cover.
  • a microphone ring and an Infra-Red Light Emitting Diodes (LED) ring can be attached to the optical device depending to the embodiment of the present invention.
  • the optical device 100 is preferably comprised of a reflector, a visual-capturing component, and a regulating unit.
  • the reflector is adapted to reflect a field of view whilst the visual-capturing component is adapted to obtain a visual from the reflected field of view through a visual-receiving portion. Normally, from the obtained visual, an omnidirectional visual would be generated therefrom.
  • the regulating unit (not shown) is preferably adapted to move either the reflector or the visual-capturing component in order to shift the field of view.
  • the optical device 100 of the present invention further comprises an image-transforming component (not shown) and a correction system (not shown).
  • the image- transforming component is adapted to transform the omnidirectional visual into a perspective visual.
  • the correction system is essentially adapted for implementing a visual correction.
  • the correction system is essentially comprised of a sensing component and a correcting component.
  • the sensing component is adapted to acquire data associated with either the reflector or the visual-capturing component.
  • the sensing component can also be adapted to acquire data from the output of the regulating unit, as will be hereinafter described in more detail.
  • the correcting component is preferably adapted to analyze the data, to determine the visual correction based on the data, and to adapt the visual correction onto the image transformation.
  • the visual-capturing component is a camera that can be adapted to obtain either images or videos. It is also preferred that the camera that can record videos is a video camera.
  • the camera preferably constitutes a lens in the visual-receiving portion thereof.
  • the omnidirectional image would be preferably acquired for the transformation whereas for the video, the transformation would be preferably applied to the omnidirectional visual thereof in order to obtain the perspective video in rectangular format.
  • each successive omnidirectional images or frames of the video would also be preferably acquired for the transformation, depending on the embodiment of the present invention.
  • the camera is preferably a panoramic camera 20 with a wide-angle lens 30 whilst the reflector is a planar mirror 10.
  • the regulating unit is generally provided to move or displace either one of the planar mirror 10 or the panoramic camera 20.
  • either the planar mirror 10 or the panoramic camera 20 is preferably allowed to rotate about at least one axis, and can be displaced in order to shift the field of view by means of the regulating unit.
  • the regulating unit allows the plane of the planar mirror 10 to lie in the range from substantially parallel to substantially perpendicular to the optical axis of the wide-angle lens 30.
  • the planar mirror 10 and the panoramic camera 20 are allowed to tilt and pan or to be displace in relative to each other depending on the preferred embodiment of the present invention. Furthermore, an application for moderating a controlling mechanism for the physical movement of the mirror 10 (or the camera 20) to achieve different field of view, with the automatic control, is preferably incorporated into the regulating unit.
  • the flexible panoramic camera-planar mirror arrangement when the mirror size is constant, the increase in separation between the wide-angle lens 20 and the mirror 10 would reduce the usable area in the omnidirectional image, as indicated from left to right in FIG. 8. In addition, when the said separation increases, the centre camera's self-blocking effect would be reduced, as indicated from left to right in FIG. 9. As such, different level of adjustment control of the mirror's reflection and thus, the coverage/field of view of the panoramic camera 20 would be affected.
  • FIG. 10 the tilt effect of the mirror 10 with respect to the camera 20 is shown.
  • the centre of the rotation cannot be adopted as the reference point, as illustrated in FIG. 10.
  • the transformation fixedly based on the fixedly aligned camera-mirror configuration is adopted, if the camera 20 and the mirror 10 are both in an aligned position, then the resultant transformed perspective image 94 (in the rectangular format 110) as shown in FIG. 11 can be obtained. If the mirror 10 and the camera 20 either one has been moved to a misaligned position, the reference point in the omnidirectional image 92 can be displaced, as shown in FIG. 11, resulting the resultant transformed perspective image 112 to appear distorted.
  • the said original transformation is based on a reference point that is the centre of the circle (the omnidirectional image in the circular format 90). As shown in FIG. 12, when the mirror is tilted, the centre point would appear to no longer at the centre of the circle, instead there would be an offset. This offset would create complexity to the transformation to the transformation as the radius for each transformation would no longer be a constant and the radius, as it appears, changes according to the angle, as shown in FIG. 12. With that, based on the two constraints above, a new transformation with correction is required and will be introduced hereinafter in more detail. Referring now to FIG. 4 to 7, the correcting component is preferably adapted to determine the substantially center point of the omnidirectional image 70 and the location of the substantially center point of the lens 80 from the omnidirectional image.
  • the correcting component utilizes a computational algorithm application to address the above- mentioned constraints.
  • the application preferably takes into account the camera-mirror setup variable and creates a new transformation according to the position of the mirror, as will be hereinafter described in grater detail.
  • FIG. 4 to 7 and FIG. 12 when the center of the omnidirectional image 70 is changed, the radius for reference also changes, as shown in FIG. 12.
  • a triangle can be extracted from the omnidirectional image.
  • the new radius 60, given as c, of the circle is shown, having different length in each of the directions. As shown in FIG.
  • the distance 40 between the substantially center point of the omnidirectional image 70 and the substantially center point of the lens 80 is given as a, whilst the radius 50 of the circle is given as b.
  • the application will acquire said distance 40, a, and the radius 50, b.
  • the application will then calculate the new radius 60, c, with the knowledge of values of the distance 40, a, and the radius 50, b.
  • the predetermined angle ⁇ is formed between the distance 40, a, and the radius 50, b.
  • the new radius 60, c, for each triangle thereof is calculated at each angle ⁇ increased in stepwise manner from 0° to 360°.
  • the circular images 90 are transformed into rectangular images 110 using the new radius 60, c.
  • the new radius 60, c are remapped to a new buffer.
  • FIG. 6 shows the image after remap, which is now a perspective image in the rectangular format 110.
  • the white part in the image 110 is the lens part, or it is contributed by the new radius 60, c, at the portion near the reference point of the lens 80.
  • This part containing the short radius 60, c, is required to be stretched such that the image 110 will appear undistorted.
  • the image of Region OF Interest (ROI) is then set whereby the image in the ROI will be stretches.
  • the short radius 60, c, will become stretches to fit into the new buffer, as shown in FIG. 7.
  • the transformation can betide to an automatic control mechanism, where the output of the rotator is used to control the application's transformation, such that the image transformation will look seamless as the mirror is rotated to cover different field of view.
  • the correcting component of the present invention further comprises an associating component (not shown).
  • the associating component is preferably incorporated in the application.
  • the associating component is adapted to associate the angle, ⁇ with a corresponding image correction (the calculation of the new radius 60, c), and to generate a list of the angles, ⁇ and the corresponding image correction for implementation of the transformation with the said image correction.
  • the associating component is further adapted to associate the corresponding image correction with the data that are associated with the motion of at least one of the reflector and the camera, the position of at least one of the reflector and the camera, the relative position of the reflector and the camera, the control output of the regulating unit, and the orientation of at least one of the reflector and the camera.
  • a method to convert the omnidirectional image in a circular format 90 into an undistorted perspective image in the rectangular format 110 is shown according to the flowchart.
  • either the planar mirror 10 or the panoramic camera 20 is allowed to be actuated such that the mirror 10 is allowed to reflect a field of view.
  • a visual substantially from the reflected field of view is preferably acquired through the lens 30 by means of the camera 20.
  • the camera 20 preferably then generates an omnidirectional image substantially in a circular format 90.
  • a circular omnidirectional image 90 is inputted or acquired.
  • the substantially center point 70 of the circular image 90 and the location of the substantially center point of the lens 80 from the circular image 90 are preferably acquired by means of the computational algorithm application.
  • the distance 40 between the substantially center point of the omnidirectional image 70 and the substantially center point of the lens 80 is preferably then acquired.
  • the radius 50 of the circular image 90 is also preferably acquired.
  • the new radius 60 for each predetermined angle, ⁇ is preferably acquired.
  • the predetermined angle, ⁇ that is formed between the distance (40) and the radius (50), and is increased from 0° to 360° preferably in a stepwise manner.
  • a list of the angles, ⁇ and the corresponding correction, which is according to the new radius 60, is generated.
  • the angle, ⁇ is also associated with the said corresponding image correction.
  • the destination maps from X and Y positions are then preferably initialized.
  • the destination maps from X and Y positions are applied according to a Cartesian coordinate system.
  • the circular image 90 is then preferably mapped to the corrected perspective image by using the new radius 60, c.
  • the circular image 90 is preferably separated into two hemispherical portion.
  • the circular image 90 is also allowed to be separated into more substantially semi-spherical portions.
  • the said portions are then preferably decomposed and straightened into columnized image data, as indicated in the FIG. 13.
  • the circular image 90 is converted into a undistortedly corrected perspective image in the rectangular format 110 as shown in FIG. 7.
  • the optical device 100 of the present invention is preferably adapted in a panoramic camera-reflector imaging device (not shown) consisting of a normal camera with a normal lens, and a substantially flat mirror.
  • the normal camera preferably replaces the panoramic camera 20 and a substantially flat mirror is preferably used.
  • the regulating unit is allowed to move or displace the camera or the substantially flat mirror.
  • the regulating unit in this embodiment allows the optical axis of the substantially normal lens to lie in a range from substantially parallel to substantially perpendicular to the principal axis of the substantially flat mirror.
  • the regulating unit also allows that either the substantially flat mirror or the normal camera to rotate about at least one axis, and to be displaced in order to shift the field of view.
  • the same controlling mechanism by means of the regulating unit the same movement of either the mirror or the camera, and the transformation which includes the correction are still preferably applied in this embodiment.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Stereoscopic And Panoramic Photography (AREA)
  • Studio Devices (AREA)

Abstract

La présente invention concerne un dispositif optique (100) qui comprend une unité optique panoramique munie d’un réflecteur et d’un composant de capture visuelle, une unité de régulation et un composant de transformation d’image. Ledit réflecteur sert à réfléchir un champ angulaire. Ledit composant de capture visuelle permet d’obtenir un visuel qui provient sensiblement du champ angulaire et qui passe par une partie de réception de visuel de ce composant, et il permet de produire un visuel omnidirectionnel. Ladite unité de régulation est conçue pour déplacer le réflecteur et/ou le composant de capture visuelle afin de décaler le champ angulaire. Le composant de transformation d’image sert à transformer le visuel omnidirectionnel en visuel en perspective selon une transformation d’image. Le dispositif optique comporte en outre un système de correction conçu pour mettre en œuvre une correction visuelle. Ce système de correction comprend : un composant de détection destiné à recueillir des données associées au réflecteur, au composant de capture visuelle et/ou à l’unité de régulation; et un composant de correction destiné à analyser les données afin de déterminer une correction visuelle basée sur les données, et à appliquer cette correction visuelle à la transformation d’image. Selon un autre aspect de la présente invention, un procédé permettant de mettre en œuvre une correction visuelle est également décrit.
PCT/MY2010/000126 2009-07-29 2010-07-20 Capture d’image panoramique Ceased WO2011014053A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
MYPI20093150 2009-07-29
MYPI20093150 MY147904A (en) 2009-07-29 2009-07-29 Optical device and method therefor

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WO2011014053A1 true WO2011014053A1 (fr) 2011-02-03

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PCT/MY2010/000126 Ceased WO2011014053A1 (fr) 2009-07-29 2010-07-20 Capture d’image panoramique

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107782322A (zh) * 2016-08-26 2018-03-09 光禾感知科技股份有限公司 室内定位方法与系统及其室内地图建立装置
TWI631861B (zh) * 2016-08-26 2018-08-01 光禾感知科技股份有限公司 室內定位方法與系統及其室內地圖建立裝置

Citations (4)

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Publication number Priority date Publication date Assignee Title
EP1178352A1 (fr) * 1996-06-24 2002-02-06 Behere Corporation Procédé et dispositif pour présenter des images panoramiques sur un recepteur local, et logiciel correspondant
WO2003026272A2 (fr) * 2001-09-18 2003-03-27 Wave Group Ltd. Systeme d'imagerie panoramique a zoom optique
US20060072216A1 (en) * 2004-10-01 2006-04-06 Diehl Bgt Defence Gmbh & Co., Kg Wide-angle optical system
WO2008066742A1 (fr) * 2006-11-22 2008-06-05 Geng Z Jason Réflecteur à large champ de visée, et procédé de conception et de fabrication de celui-ci

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1178352A1 (fr) * 1996-06-24 2002-02-06 Behere Corporation Procédé et dispositif pour présenter des images panoramiques sur un recepteur local, et logiciel correspondant
WO2003026272A2 (fr) * 2001-09-18 2003-03-27 Wave Group Ltd. Systeme d'imagerie panoramique a zoom optique
US20060072216A1 (en) * 2004-10-01 2006-04-06 Diehl Bgt Defence Gmbh & Co., Kg Wide-angle optical system
WO2008066742A1 (fr) * 2006-11-22 2008-06-05 Geng Z Jason Réflecteur à large champ de visée, et procédé de conception et de fabrication de celui-ci

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107782322A (zh) * 2016-08-26 2018-03-09 光禾感知科技股份有限公司 室内定位方法与系统及其室内地图建立装置
TWI631861B (zh) * 2016-08-26 2018-08-01 光禾感知科技股份有限公司 室內定位方法與系統及其室內地圖建立裝置
US10169914B2 (en) 2016-08-26 2019-01-01 Osense Technology Co., Ltd. Method and system for indoor positioning and device for creating indoor maps thereof

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