WO2009017332A1 - Procédé pour l'obtention d'images panoramiques au moyen d'un objectif grand-angle à symétrie de rotation et appareils à cet effet - Google Patents

Procédé pour l'obtention d'images panoramiques au moyen d'un objectif grand-angle à symétrie de rotation et appareils à cet effet Download PDF

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WO2009017332A1
WO2009017332A1 PCT/KR2008/004339 KR2008004339W WO2009017332A1 WO 2009017332 A1 WO2009017332 A1 WO 2009017332A1 KR 2008004339 W KR2008004339 W KR 2008004339W WO 2009017332 A1 WO2009017332 A1 WO 2009017332A1
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given
image
plane
angle
coordinate
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Gyeong-Il Kweon
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Nanophotonics Co Ltd
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Nanophotonics Co Ltd
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Priority claimed from KR1020080022039A external-priority patent/KR100882011B1/ko
Application filed by Nanophotonics Co Ltd filed Critical Nanophotonics Co Ltd
Priority to CN2008801085476A priority Critical patent/CN101809993B/zh
Priority to US12/670,319 priority patent/US8482595B2/en
Priority to AU2008283197A priority patent/AU2008283197B9/en
Publication of WO2009017332A1 publication Critical patent/WO2009017332A1/fr
Anticipated expiration legal-status Critical
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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformations in the plane of the image
    • G06T3/04—Context-preserving transformations, e.g. by using an importance map
    • G06T3/047—Fisheye or wide-angle transformations
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B13/00—Optical objectives specially designed for the purposes specified below
    • G02B13/04—Reversed telephoto objectives
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING SYSTEMS, e.g. PERSONAL CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
    • G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
    • G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
    • G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
    • G08B13/19617—Surveillance camera constructional details
    • G08B13/19626—Surveillance camera constructional details optical details, e.g. lenses, mirrors or multiple lenses
    • G08B13/19628—Surveillance camera constructional details optical details, e.g. lenses, mirrors or multiple lenses of wide angled cameras and camera groups, e.g. omni-directional cameras, fish eye, single units having multiple cameras achieving a wide angle view
    • 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

Definitions

  • a catadioptric panoramic imaging system(lOO) of prior arts includes as constituent elements a rotationally symmetric panoramic mirror(lll), of which the cross-sectional profile is close to an hyperbola, a lens(112) that is located on the rotational-symmetry axis(l ⁇ l) of the mirror(lll) and oriented toward the said mirror(lll), and an image acquisition means that includes a camera body(114) having an image sensor(113) inside.
  • FIG. 1 is a conceptual drawing of an exemplary rural landscape obtainable using the catadioptric panoramic imaging system(lOO) of prior art schematically shown in Fig. 1. As illustrated in Fig.
  • a photographic film or an image sensor(213) has a square or a rectangular shape, while a panoramic image(233) obtained using a panoramic imaging system(lOO) has an annular shape.
  • Non-hatched region in Fig. 2 constitutes the panoramic image, and the hatched circle in the center corresponds to the area at the backside of the camera, which is not captured because the camera body occludes its view. Within this circle lies the image of the camera itself reflected by the mirror(lll).
  • the hatched regions at the four corners originate from the fact that the diagonal field of view of the camera lens(112) is larger than the field of view of the panoramic mirror(111). In this region lies the image of the area at the front side of the camera observable in absence of the panoramic mirror.
  • the nodal point is the position of a pinhole when the camera is approximated as an ideal pinhole camera.
  • the distance from the nodal point to the focal plane(132) is approximately equal to the effective focal length f of the refractive lens(112).
  • f the effective focal length of the refractive lens(112).
  • FIG. 6 is a schematic diagram illustrating the degree of pixel utilization on the sensor plane(613) of an image sensor having the standard 4:3 aspect ratio.
  • Image sensors with the ratio of the lateral side B to the longitudinal side V equal to 1:1 or 16:9 are not many in kinds nor cheap in price, and most of the image sensors are manufactured with the ratio of 4:3.
  • the area Ai of the image sensor plane(613) is given by Eq. 5.
  • the panoramic image(633) is formed between the outer rim(633b) and the inner rim(633a) of an annular region, where the two rims constitute concentric circles.
  • the said sensor plane(613) coincides with a part of the focal plane(632) of the len, and the said panoramic image(633) exists on a part of the sensor plane(613).
  • the outer radius of the panoramic image(633) is r 2
  • the inner radius is ri. Therefore, the area A2 of the panoramic image is given by Eq. 6.
  • the height of the unwrapped panoramic image is given by the difference between the outer radius and the inner radius, in other words, by r2 - r lt
  • the lateral dimension of the unwrapped panoramic image is given by 2 ⁇ ri or 2 ⁇ r2, depending on which radius is taken as a base. Therefore, the outer radius r2 and the inner radius n must have an appropriate ratio, and 2:1 can be considered as a proper ratio.
  • a fisheye lens with a wide field of view For example, the entire sky and the horizon can be captured in a single image by pointing a camera equipped with a fisheye lens with 180° FOV toward the zenith (i.e., the optical axis of the camera is aligned perpendicular to the ground plane).
  • fisheye lenses have been often referred to as "all-sky lenses”.
  • a high-end fisheye lens by Nikon namely, 6mm f/5.6 Fisheye- Nikkor, has a FOV of 220 ° .
  • a camera mounted with this lens can capture even a portion of the backside of the camera as well as the front side of the camera. Then, a panoramic image can be obtained from thus obtained fisheye image by the same methods as illustrated in Fig. 2 and Fig. 3.
  • imaging systems are installed on vertical walls. Imaging systems installed on the outside walls of a building for the purpose of monitoring the surroundings, or a rear view camera for monitoring the backside of a passenger car are such examples.
  • pan • tilt • zoom camera An example of an imaging system, which can be installed on an interior wall for the purpose of monitoring the entire room, is given by a pan • tilt • zoom camera.
  • a camera is comprised of a video camera, which is equipped with an optical zoom lens, mounted on a pan • tilt stage.
  • Pan is an operation of rotating in the horizontal direction for a given angle
  • tilt is an operation of rotating in the vertical direction for a given angle.
  • the theoretical range of pan operation is 360°
  • the theoretical range of tilt operation is 180° .
  • an imaging system is described in reference 3 that is able to perform pan • tilt • zoom operations without a physically moving part.
  • the said invention uses a camera equipped with a fisheye lens with more than 180° FOV in order to take a picture of the environment. Then, the user designates a principal direction of vision using various devices such as a joystick, upon which, the computer extracts a rectilinear image from the fisheye image that could be obtained by heading a distortion-free camera to that particular direction.
  • this invention creates a rectilinear image corresponding to the particular direction the user has designated using devices such as a joystick or a computer mouse.
  • Such a technology is essential in the field of virtual reality, or when it is desirable to replace mechanical pan • tilt ⁇ zoom camera, and the keyword is "interactive picture".
  • this technology there are no physically moving parts in the camera. As a consequence, the system response is fast, and there is less chance of mechanical failure.
  • equi-rectangular projection scheme is the projection scheme most familiar to us when we describe the geography on the earth, or when we draw the celestial sphere in order to make a map of the constellation.
  • the reference point on the equator having a longitude 0 ° and a latitude 0 ° has a corresponding point O on the planar map, and this corresponding point O is the origin of the rectangular coordinate system.
  • the same interval in the longitude i.e., the same angular distance along the equator
  • the lateral coordinate x on the planar map(834) is proportional to the longitude.
  • Fig. 9 is a conceptual drawing of a cylindrical projection scheme or a panoramic perspective.
  • an imaginary observer is located at the center N of a celestial sphere(931) with a radius S, and it is desired to make a map of the celestial sphere centered on the observer, the map covering most of the region excluding the zenith and the nadir.
  • the span of the longitude must be 360 ° ranging from -180 ° to +180° , but the range of the latitude can be narrower including the equator within its span.
  • the span of the latitude can be assumed as ranging from - ⁇ to + ⁇ , where ⁇ must be smaller than 90° .
  • Such a cylindrical projection scheme is the natural projection scheme for a panoramic camera that produces a panoramic image by rotating in the horizontal plane. Especially, if the lens mounted on the rotating panoramic camera is a distortion-free rectilinear lens, then the resulting panoramic image exactly follows a cylindrical projection scheme. In principle, such a cylindrical projection scheme is the most accurate panoramic projection scheme. However, the panoramic image appears unnatural when the latitudinal range is large, and thus it is not widely used in practice.
  • Unwrapped panoramic image thus produced and having a cylindrical projection scheme has a lateral width W given by Eq. 11.
  • the range of the latitude is from to 82, then the longitudinal height of the unwrapped panoramic image is given by Eq. 15. [Math Figure 15]
  • the lateral size is 2192 pixels, and the longitudinal size is 440 pixels. Therefore, 4.98 is obtained by calculating the LHSdeft hand side) of Eq. 16.
  • the exemplary panoramic image in Fig. 10 does not satisfy the proportionality relation given by Eq. 16.
  • the lateral size is 2880 pixels, and the longitudinal size is 433 pixels. Therefore, 6.65 is obtained by calculating the LHS of Eq. 16.
  • Panoramic lenses described in references 7 and 8 take panoramic images in one shot with the optical axes of the panoramic lenses aligned vertical to the ground plane.
  • a cheaper alternative to the panoramic image acquisition method by the previously described camera with a horizontally- rotating lens consist of taking an image with an ordinary camera with the optical axis horizontally aligned, and repeating to take pictures after horizontally rotating the optical axis by a certain amount.
  • Four to eight pictures are taken in this way, and a panoramic image with a cylindrical projection scheme can be obtained by seamlessly joining the pictures consecutively.
  • Such a technique is called stitching.
  • QuickTime VR from Apple computer inc. is commercial software supporting this stitching technology. This method requires a complex, time-consuming, and elaborate operation of precisely joining several pictures and correcting the lens distortion.
  • another method of obtaining a panoramic or an omnidirectional image is to take a hemispherical image by horizontally pointing a camera equipped with a fisheye lens with more than 180° FOV, and then point the camera to the exact opposite direction and take another hemispherical image.
  • one omnidirectional image having the views of every direction i.e., 4 ⁇ steradian
  • the user can select his own viewpoint from the received omnidirectional image according to his own personal interest, and image processing software on the user's computing device can extract a partial image corresponding to the user-selected viewpoint, and a perspectively correct planar image can be displayed on the computing device. Therefore, using the image processing software, the user can make a choice of turning around(pan), looking-up or down(tilt), or taking a close (zoom in) or a remote (zoom out) view as if the user is actually present at the specific place in the image.
  • This method has a distinctive advantage of multiple users accessing the same Internet site being able to take looks along the directions of their own choices. This advantage cannot be enjoyed in a panoramic imaging system employing a motion camera such as a pan -tilt camera.
  • References 10 and 11 describe a method of obtaining an omnidirectional image providing the views of every direction centered on the observer.
  • the projection scheme provided by the said references is one kind of equidistance projection schemes in essence.
  • the techniques described in the documents make it possible to obtain an omnidirectional image from a real environment or from a cubic panorama, but the obtained omnidirectional image follows an equidistance projection scheme only and its usefulness is thus 1 imited.
  • reference 12 provides an algorithm for projecting an Omnimax movie on a semi-cylindrical screen using a fisheye lens.
  • a method is described for locating the position of the object point on the film corresponding to a certain point on the screen whereon an image point is formed. Therefore, it is possible to calculate what image has to be on the film in order to project a particular image on the screen, and such an image on the film is produced using a computer.
  • Reference 13 provides examples of stereo panoramic images produced by Professor Paul Bourke. Each of the panoramic images follows a cylindrical projection scheme, and a panoramic image of an imaginary scene produced by a computer as well as a panoramic image produced by a rotating slit camera are presented. For panoramic images produced by a computer or produced by a traditional method of rotating slit camera, the lens distortion is not an important issue. However, rotating slit camera cannot be used to take a real-time panoramic image(i.e., movie) of a real world.
  • the present invention provides image processing algorithms that are accurate in principle based on geometrical optics principle regarding image formation by wide-angle lenses with distortion and mathematical definitions of panoramic images. [Advantageous Effects]
  • Figure 1 is a schematic diagram of a catadioptric panoramic imaging system of a prior art.
  • Figure 2 is a conceptual drawing of an exemplary raw panoramic image acquired using the catadioptric panoramic imaging system schematically illustrated in Fig. 1.
  • Figure 4 is a conceptual drawing illustrating the shape of an object plane employed in a rectilinear panoramic imaging system.
  • Figure 5 is a conceptual drawing of a raw panoramic image corresponding to the object plane in Fig. 4.
  • Figure 6 is a schematic diagram illustrating the desirable location and the size of panoramic image on an image sensor plane.
  • Figure 7 is a conceptual drawing of the latitude and the longitude on a celestial sphere.
  • Figure 8 is a conceptual drawing of a map with the equi-rectangular projection scheme.
  • Figure 9 is a conceptual drawing illustrating a cylindrical projection scheme.
  • Figure 10 is an exemplary unwrapped panoramic image following a cylindrical projection scheme.
  • Figure 11 is another exemplary unwrapped panoramic image following a cylindrical projection scheme.
  • Figure 12 is a conceptual drawing illustrating a projection scheme most appropriate for the panoramic imaging system of the first embodiment of the present invention.
  • Figure 13 is a conceptual drawing of an uncorrected image plane according to the first embodiment of the present invention.
  • Figure 14 is a schematic diagram of a panoramic imaging system according to the first embodiment of the present invention.
  • Figure 15 is a conceptual drawing of a processed image plane that is displayed on an image displays means according to the first embodiment of the present invention.
  • Figure 16 is a conceptual drawing of a horizontal cross-section of an object plane according to the first embodiment of the present invention.
  • Figure 17 is a conceptual drawing of a vertical cross-section of an object plane according to the first embodiment of the present invention.
  • Figure 18 is a conceptual drawing illustrating a real projection scheme of a general rotational Iy symmetric lens.
  • Figure 19 is a diagram showing the optical structure of a fisheye lens with an equidistance projection scheme along with the traces of rays.
  • Figure 20 is a graph showing the real projection scheme of the fisheye lens in Fig. 19.
  • Figure 21 is a graph showing the difference between the real projection scheme of the fisheye lens in Fig. 19 and a fitted projection scheme using the least square error method.
  • Figure 22 is a conceptual drawing illustrating the conversion relation between the rectangular coordinate and the polar coordinate of an object point on an uncorrected image plane.
  • Figure 23 is a conceptual drawing of a digitized processed image plane.
  • Figure 24 is a conceptual drawing of a digitized uncorrected image plane for understanding the principle of distortion correction.
  • Figure 25 is a conceptual drawing for understanding the principle of bilinear interpolation.
  • Figure 26 is an exemplary fisheye image produced by a computer assuming that a fisheye lens with an equidistance projection scheme has been used to take the picture of an imaginary scene.
  • Figure 27 is a panoramic image following a cylindrical projection scheme extracted from the fisheye image given in Fig. 26.
  • Figure 28 is a schematic diagram showing the desirable size and the location of real image on an image sensor plane.
  • Figure 29 is an exemplary image acquired using a fisheye lens.
  • Figure 30 is a graph showing the real projection scheme of the fisheye lens used to acquire the fisheye image given in Fig. 29.
  • Figure 31 is a panoramic image following a cylindrical projection scheme extracted from the fisheye image given in Fig. 29.
  • Figure 32 is a panoramic image following an equi-rectangular projection scheme extracted from the fisheye image given in Fig. 26.
  • Figure 33 is a panoramic image following a Mercator projection scheme extracted from the fisheye image given in Fig. 26.
  • Figure 34 is a conceptual drawing of a wide-angle camera of prior arts installed at an upper part of an interior wall for the purpose of monitoring the entire interior space.
  • Figure 35 is a schematic diagram showing the desirable size and the location of real image on an image sensor plane, which is most appropriate for the third embodiment of the present invention.
  • Figure 36 is a conceptual drawing of an horizontal installation of an ultra wide-angle camera for the purpose of monitoring the entire interior space.
  • Figure 37 is a schematic diagram of a car rear view camera employing a panoramic imaging system according to the fourth embodiment of the present invention.
  • Figure 38 is an example of an imaginary fisheye image captured by an inclined imaging system.
  • Figure 44 is a schematic diagram showing the desirable size and the location of real image on an image sensor plane, which is most appropriate for the sixth embodiment of the present invention.
  • Figure 45 is a schematic diagram of an imaging system according to the sixth embodiment of the present invention.
  • Figure 46 is a conceptual drawing illustrating the relation between the third rectangular coordinate system and the world coordinate system in the sixth embodiment of the present invention.
  • Figure 47 is an exemplary panoramic image following a cylindrical projection scheme according to the sixth embodiment of the present invention.
  • Figures 48 and 49 are conceptual drawings illustrating the relation between the first rectangular coordinate system and the world coordinate system in the seventh embodiment of the present invention.
  • Figure 50 is an example of an imaginary image captured by an inclined imaging system of the seventh embodiment of the present invention.
  • Figure 51 is an exemplary panoramic image following a cylindrical projection scheme according to the seventh embodiment of the present invention.
  • Figure 52 is a conceptual drawing of an object plane according to the eighth embodiment of the present invention.
  • Figure 53 is a diagram showing the optical structure of an exemplary dioptric fisheye lens with a stereograhic projection scheme along with the traces of rays.
  • Figure 54 is a diagram showing the optical structure of an exemplary catadioptric fisheye lens with a stereograhic projection scheme along with the traces of rays.
  • the direction of the optical axis is the direction of the negative Z-axis of the world coordinate system. This is because, by the notational convention of imaging optics, the direction from the object(or, an object point) to the image planeCor, an image point) is the positive direction.
  • the optical axis we will describe the optical axis as coinciding with the Z-axis of the world coordinate system for the sake of simplicity in argument. This is because the current invention is not an invention about a lens design but an invention using a lens, and in the viewpoint of a lens user, it makes easier to understand by describing the optical axis as in the current embodiment of the present invention.
  • the image sensor plane(1213) is a plane having a rectangular shape and perpendicular to the optical axis, whereof the lateral dimension is B, and the longitudinal dimension is V.
  • the nodal point N of the lens is taken as the origin, and the optical axis(1201) is taken as the negative(-) z-axis.
  • the direction of the z-axis is the exact opposite direction of the Z-axis.
  • the intersection point between the z-axis and the image sensor plane(1213) is O.
  • the ⁇ -axis of the first rectangular coordinate system passes through the intersection point O and is parallel to the lateral side of the image sensor plane, and the y-axis passes through the intersection point O and is parallel to the longitudinal side of the image sensor plane.
  • this first rectangular coordinate system is a right-handed coordinate system.
  • the X-axis of the world coordinate system is parallel to the ⁇ -axis of the first rectangular coordinate system, and points in the same direction.
  • the Y-axis of the world coordinate system is parallel to the y-axis of the first rectangular coordinate system, but the direction of the Y-axis is the exact opposite of the direction of the y-axis. Therefore, in Fig. 12, the positive direction of the ⁇ -axis of the first rectangular coordinate system runs from the left to the right, and the positive direction of the y-axis runs from the top to the bottom.
  • intersection point O between the z-axis of the first rectangular coordinate system and the sensor plane(1213) - hereinafter referred to as the first intersection point - is not generally located at the center of the sensor plane, and it can even be located outside the sensor plane. Such a case can happen when the center of the image sensor is moved away from the center position of the lens - i.e., the optical axis - on purpose in order to obtain an asymmetric vertical or horizontal field of view.
  • the lateral coordinate x of an arbitrary point P - hereinafter referred to as the first point - on the sensor plane(1213) has a minimum value X 1 and a maximum value X2(i.e., X 1 ⁇ x ⁇ X2).
  • the longitudinal coordinate y of the first point P has a minimum value yi and a maximum value y 2 (i.e., yi ⁇ y ⁇ V2).
  • ⁇ i5i> it is not desirable to use a raw image acquired using a fisheye lens in order to obtain a horizontal field of view of 180° . This is because a natural-looking panoramic image cannot be obtained due to the previously mentioned barrel distortion.
  • a panoramic lens assuming object planes schematically shown in Fig. 4 through Fig. 9 follows a rectilinear projection scheme in the vertical direction, and by the inherent structure of the lens, follows an equidistance projection scheme in the horizontal direction. Therefore, it is desirable that a panoramic imaging system of the current invention follows an equidistance projection scheme in the horizontal direction, and follows a rectilinear projection scheme in the vertical direction.
  • Such a projection scheme corresponds to assuming a hemi- cylindrical object plane(1231) with a radius S and having the Y-axis as the rotational symmetry axis, and the image of an arbitrary point Q on the object plane(1231) - hereinafter referred to as an object point - appears as an image point on the said sensor plane(1213).
  • the image of an object on the hemi-cylindrical object plane(1231) is captured on the sensor plane(1213) with its vertical proportions preserved, and the lateral coordinate x of the image point is proportional to the horizontal arc length of the corresponding object point on the said object plane, and the image points on the image sensor plane by all the object points on the object plane(1231) collectively form a real image.
  • the image obtainable is, in effect, equivalent to selecting a portion of the image in Fig. 3 corresponding to a horizontal FOV of 180° .
  • FIG. 13 is a conceptual drawing of an uncorrected image plane(1334) prior to the image processing stage, which corresponds to the image sensor plane(1213). If the lateral dimension of the image sensor plane(1213) is B and the longitudinal dimension is V, then the lateral dimension of the uncorrected image plane is gB and the longitudinal dimension is gV, where g is proportionality constant.
  • Uncorrected image plane(1334) can be considered as the image displayed on the image display means without rectification of distortion, and is a magnified image of the real image on the image sensor plane by a magnification ratio g.
  • the image sensor plane of a 1/3-inch CCD sensor has a rectangular shape having a lateral dimension of 4.8mm, and a longitudinal dimension of 3.6mm.
  • the magnification ratio g is 100.
  • the side dimension of a pixel in a digital image is considered as 1.
  • a VGA-grade 1/3-inch CCD sensor has pixels in a two-dimensional array having 640 columns and 480 lows.
  • the uncorrected image plane(1334) is a distorted digital image obtained by converting the real image formed on the image sensor plane into electrical signals.
  • the said first intersection point O is the intersection point between the optical axis(1201) and the image sensor plane(1213). Therefore, a ray entered along the optical axis forms an image point on the said first intersection point O.
  • the horizontal incidence angle ⁇ and the vertical incidence angle ⁇ of a ray entered along the optical axis are both zero.
  • the point O' on the uncorrected image plane corresponding to the first intersection point O in the image sensor plane - hereinafter referred to as the second intersection point - corresponds to the image point by an incident ray having a horizontal incidence angle of O as well as a vertical incidence angle of 0.
  • x'-axis is taken as the axis that passes through the said second intersection point and is parallel to the lateral side of the uncorrected image plane(1334)
  • y'- axis is taken as the axis that passes through the said second intersection point and is parallel to the longitudinal side of the uncorrected image plane.
  • the positive direction of the x'-axis runs from the left to the right
  • the positive direction of the y'-axis runs from the top to the bottom.
  • FIG. 14 is a schematic diagram of a device using the image processing methods of the current embodiments of the present invention, wherein the device has an imaging system which mainly includes an image acquisition means(1410), an image processing means(1416) and image display means(1415, 1417).
  • the image acquisition means(1410) includes a rotationally symmetric wide-angle lens(1412) and a camera body(1414) having an image sensor(1413) inside.
  • the said wide-angle lens can be a fisheye lens with more than 180 ° FOV and having an equidistance projection scheme, but it is by no means limited to such a fisheye lens.
  • a wide-angle lens is referred to as a fisheye lens.
  • Said camera body is either a digital camera or a video camera that can produce movie files, and contains an image sensor such as CCD or CMOS sensor.
  • the optical axis(1401) of the said fisheye lens is parallel to the ground plane(1417).
  • the real image(1433) of the objects on the object plane(1431) formed by the fisheye lens(1412) is converted by the image sensor(1413) into electrical signals, and displayed as an uncorrected image plane(1434) on the image display means(1415), wherein this uncorrected image plane contains a distortion aberration.
  • the said lens is a fisheye lens, then the distortion will be mainly a barrel distortion.
  • This distorted image can be rectified by the image processing means(1416), and then displayed as a processed image plane(1435) on an image display means(1417) such as a computer monitor or a CCTV monitor.
  • Said image processing can be a software image processing by a computer, or a hardware image processing by an FPGA(Field Programmable Gate Array).
  • the following table 1 summarizes corresponding variables in the object plane, the image sensor plane, the uncorrected image plane, and the processed image plane.
  • Figure 15 is a conceptual drawing of a rectified screen of the current invention, wherein the distortion has been removed.
  • the processed image plane(1535) has a rectangular shape, whereof the lateral side measures as W and the longitudinal side measures as H.
  • a third rectangular coordinate system is assumed wherein x' '-axis is parallel to the lateral side of the processed image plane, and y''-axis is parallel to the longitudinal side of the processed image plane.
  • the z''-axis of the third rectangular coordinate system is parallel to the z-axis of the first rectangular coordinate system and the z'-axis of the second rectangular coordinate system.
  • the intersection point O 1 ' between the said z'' ⁇ axis and the processed image plane can take an arbitrary position, and it can even be located outside the processed image plane.
  • the positive direction of the x"-axis runs from the left to the right, and the positive direction of the y''-axis runs from the top to the bottom.
  • the lateral coordinate x' ' of a third point P" on the processed image plane(1535) has a minimum value x''i and a maximum value x 1 ⁇ C i.e., x''i ⁇ x' ' ⁇ x M 2).
  • the longitudinal coordinate y' ' of the third point P'' has a minimum value y''i and a maximum value y' ⁇ Ci.e., y''i ⁇ y' ' ⁇ y 1 ⁇ ).
  • Fig. 17 shows the cross-section of the object plane in Fig. 12 in the Y-Z plane.
  • the radius of the said object plane(1731) is S
  • the height of the object plane is T.
  • the vertical incidence angle of an incident ray(1705) entering into a lens of the present invention which is the angle with respect to the Z-axis(i.e., the optical axis) in the Y-Z planeU.e., a plane containing a vertical line), is ⁇ .
  • the vertical incidence angle the said incident ray(1705) makes with the X-Z plane is ⁇ .
  • the minimum value of this vertical incidence angle is ⁇ 1( and the maximum value is ⁇ 2 (i.e., ⁇ i ⁇ ⁇ ⁇ ⁇ 2 ).
  • the height T of the object plane seen from the origin N of the said coordinate system is given by Eq. 19. [Math Figure 19]
  • Equation 21 can be obtained from Eqs. 17 and 18, wherein A is a constant.
  • Eq. 22 can be obtained from Eqs . 19 and 20.
  • ⁇ 2i2> The location of the object point Q on the object plane having said horizontal and vertical incidence angles can be obtained by the following method. Referring to Fig. 7, a vector from the origin N of the world coordinate system to an object point Q on the object plane having said horizontal and vertical incidence angles can be written as R . The direction of this vector is the exact opposite of the propagation direction of the incident ray(1605, 1705), and the said vector in the world coordinate system can be written as Eq. 30. [Math Figure 30]
  • R is the magnitude of the said vector ⁇
  • - ⁇ is the direction vector of the said vector.
  • the said direction vector can be given by Eq. 36 as a function of two incidence angles describing the projection scheme of the current invention, namely the horizontal incidence angle ⁇ and the vertical incidence angle ⁇ .
  • this coordinate system will be referred to as a cylindrical polar coordinate system.
  • the rectangular coordinate can be given as fol lows .
  • Figure 22 is a conceptual drawing illustrating the conversion relation between the rectangular coordinate and the polar coordinate of the second point P 1 on the uncorrected image plane(2234) corresponding to the first point on the sensor plane.
  • the two-dimensional rectangular coordinate (x 1 , y') of the second point on the uncorrected image plane can be obtained from the two-dimensional polar coordinate (r 1 , ⁇ ' ⁇ ) as in Eqs. 54 and 55.
  • the video signal (i.e., RGB signal) from the image point by the fisheye lens having this rectangular coordinate is given as the video signal for the image point on the panoramic image having the rectangular coordinate (x 11 , y' 1 ).
  • a panoramic image having an ideal projection scheme can be obtained by image processing for all the image points on the processed image plane by the above-described method.
  • Figure 23 is a schematic diagram of a digitized processed image plane
  • Fig. 24 is a schematic diagram of an uncorrected image plane.
  • Said processed image plane has pixels in the form of a two-dimensional array having J max columns in the lateral direction and I 013x lows in the longitudinal direction.
  • each pixel has a square shape with both the lateral dimension and the longitudinal dimension measuring as p, the lateral and the longitudinal dimensions of a pixel are considered as 1 in the image processing field.
  • the low number I and the column number J are used.
  • the coordinate of the said pixel P'' is given as (I, J). Therefore, the signal stored on this pixel can be designated as S(I, J).
  • a pixel has a finite area.
  • int ⁇ x ⁇ is a function whose output is an integer closest to the real number x. Then, the signal value P(K, L) stored at that pixel is copied and assigned as the signal value S(I, J) for the corresponding pixel in the unwrapped panoramic image.
  • Unwrapped panoramic image that is image processed by this most simple method has a shortcoming in that the boundary between two different objects appear jagged like that of a saw tooth when the number of pixels is not sufficient in the image sensor, or when the unwrapped panoramic image is magnified.
  • bilinear interpolation method can be employed. Referring to Fig. 25, the position (x 1 , y') of the second point(2507) on the distorted uncorrected image plane corresponding to the pixel P'' having a coordinate (I, J) on the distortion-free processed image plane is marked as a dark triangle.
  • the lateral and the longitudinal intervals between neighboring pixels are all 1, and the said second point is separated from the pixel(2508) by ⁇ x pixel in the lateral direction and by ⁇ y pixel in the longitudinal direction.
  • Said pixel(2508) is a pixel, whereof the coordinate is given by an integer value (K, L) that is obtained by truncating the real numbered coordinate of the said second point.
  • K, L integer value
  • the largest integer 103 which is smaller than x' becomes the L value.
  • Figure 26 is an imaginary interior scene produced by professor Paul Bourke by using a computer, and it has been assumed that the lens used to capture the imaginary scene is a fisheye lens with 180° FOV having an ideal equidistance projection scheme.
  • Fig. 27 is a panoramic image following a cylindrical projection scheme that has been extracted from the image in Fig. 26, where the lateral and the longitudinal dimensions are all 250 pixels, and the third intersection point is located at the center of the processed image plane. Furthermore, the horizontal FOV of the processed image plane is 180° (i.e., ⁇ ). As can be seen from Fig. 27, all the vertical lines in the three walls, namely the front, the left, and the right walls in Fig. 26 appear as straight lines in Fig. 27. The fact that all the vertical lines in the world coordinate system appear as straight lines in the processed image plane is the characteristic of the present invention.
  • Figure 28 is a diagram schematically illustrating the desirable size and the location of real image(2833) on the image sensor plane(2813).
  • the fisheye lens suitable for the present embodiment is a fisheye lens with a FOV greater than 180° and following an equidistance projection scheme. Furthermore, the intersection point O between the optical axis of the fisheye lens and the image sensor plane is located at the center of the image sensor plane. Therefore, the range of the lateral coordinate is (-B/2 ⁇ x ⁇ B/2) , and the range of the longitudinal coordinate is (-V/2 ⁇ y ⁇ V/2).
  • the image cicle(2833) contacts the left edge(2813L) and the right edge(2813R) of the image sensor plane(2813).
  • the imaging system uses the most out of the pixels on the image sensor plane and provides a satisfactory processed image plane.
  • DI uint8(EI - 1);
  • Fig. 31 is an exemplary panoramic image extracted using this algorithm, where the rectangular processed image plane is 1600 pixels wide in the lateral direction, and 600 pixels high in the longitudinal direction. The coordinate of the origin is (800.5, 200.5), and the horizontal FOV is 180° . Slight errors noticeable in Fig. 31 is mainly due to the error in aligning the optical axis parallel to the ground plane and the error in locating the position of the second intersection point. ⁇ 370>
  • the cylindrical projection scheme of the first embodiment can be generalized as follows.
  • the lateral coordinate x' ' on the processed image plane is proportional to the horizontal incidence angle. Therefore, as in the first embodiment, a relation given in Eq. 75 holds. [Math Figure 75]
  • the real projection scheme of the lens refers to the image height r obtained as a function of the zenith angle ⁇ of the incident ray, and the magnification ratio g of the said camera is given by Eq. 89, wherein r' is a pixel distance on the uncorrected image plane corresponding to the image height r. [Math Figure 89]
  • the region(3463) captured by the camera can contain the entire interior space, but there is a large difference in distances between the closer and the further sides, and visual information for the further side can be insufficient.
  • Figure 37 is a schematic diagram of an ordinary car rear view camera(3710).
  • a car rear view camera it is rather common that a wide- angle lens with more than 150° FOV is used, and the optical axis of the lens is typically inclined toward the ground plane(3717) as illustrated in Fig. 37.
  • the lens surface is oriented downward toward the ground, precipitation of dust is prevented, and partial protection is provided from rain and snow.
  • Figure 39 is a panoramic image obtained using this method where a cylindrical projection scheme has been employed. As can be seen from Fig. 39, a panoramic image identical to that in the first embodiment has been obtained despite the fact that the optical axis is not parallel to the ground plane. Using such a panoramic imaging system as a car rear view camera, the backside of a vehicle can be entirely monitored without any dead spot.
  • the video signal S' (I, J) for the pixel in the mirrored (i.e., the left and the right sides are exchanged) processed image plane with a coordinate (I, J) is given by the video signal S(I, J max - J + 1) from the pixel in the processed image plane with a coordinate (I, J raax - J + 1).
  • an identical system can be installed near the room mirror, frontal bumper, or the radiator grill in order to be used as a recording camera connected to a car black box for the purpose of recording vehicle's driving history.
  • FIG. 40 is a conceptual drawing of such a device, and it shows an aerial view of the device seen from above.
  • image acquisition means of the present invention in other words, video cameras equipped with an equidistance projection fisheye lens with 180 ° FOV, are installed near the top of the front, the rear, and the two side walls of the said vehicle(4051) , then each camera monitors 180° on their respective walls without any dead spot, and as a whole, the entire surroundings of the vehicle can be monitored without any dead zone. Also, by installing cameras in the same way on the outer walls of a building, all the directions can be monitored without any dead zone.
  • the optical axes of the cameras can be parallel to the ground plane as in the first through the third embodiments of the present invention, or it can be slanted at an angle as in the fourth embodiment.
  • Figure 41 illustrates an application example where the longitudinal side of the image sensor plane may not be perpendicular to the ground plane. If a wide-angle camera(4110) is installed on a motorcycle(4151) shown in Fig. 41 for the purpose of recording the driving history, the longitudinal side of the image sensor plane can happen to be not perpendicular to the ground plane(4117). Illustrated in Fig. 41 is a case where the X-axis of the world coordinate system that is fixed to the ground plane and the ⁇ -axis of the first rectangular coordinate system that is fixed to the motorcycle differ by an angle Y .
  • Figure 42 is an imaginary fisheye image acquired using an imaging system, whereof the longitudinal sides of the image sensor plane are slanted by 20° with respect to a vertical line.
  • Fig. 43 is a panoramic image following a cylindrical projection scheme described in the first embodiment extracted from the image given in Fig. 42. As can be seen from Fig. 43, the image appears quite unnatural. This is because the imaging systems in the first and the second embodiments are imaging systems that capture straight lines parallel to the longitudinal sides of the image sensor plane as straight lines, and therefore, desirable panoramic image cannot be obtained if a vertical line and the longitudinal sides of the image sensor plane are not parallel to each other.
  • Figure 44 is a diagram schematically illustrating the desirable size and the location of real image(4433) on the image sensor plane(4413) according to the sixth embodiment of the present invention.
  • the fisheye lens suitable for the present embodiment is a fisheye lens with a FOV greater than 180° and following an equidistance projection scheme. Furthermore, the intersection point O between the optical axis of the fisheye lens and the image sensor plane is located at the center of the image sensor plane. Therefore, the range of the lateral coordinate is (-B/2 ⁇ x ⁇ B/2), and the range of the longitudinal coordinate is (-V/2 ⁇ y ⁇ V/2) .
  • the image cicle(4433) contacts the top edge(4413T) and the bottom edge(4413B) of the image sensor plane(4413). In this configuration, always the same horizontal FOV can be obtained even if the imaging system is slanted at an arbitrary angle with respect to the ground plane.
  • Figure 45 is a schematic diagram of the sixth embodiment of the present invention, which is a device that mainly includes an image acquisition means(4510), an image processing means(4516), image display means(4517) as well as a direction sensing means(4561).
  • Said direction sensing means(4561) indicates the slanting angle y between the first rectangular coordinate system describing the said image acquisition means and the world coordinate system describing the objects around the imaging system.
  • the angle Y is the slanting angle between the X-axis of the world coordinate system and the ⁇ -axis of the first rectangular coordinate system, or the slanting angle between the Y-axis of the world coordinate system and the minus(-) y-axis of the first rectangular coordinate system.
  • the device of the sixth embodiment of the present invention is characterized in that it provides a panoramic image referencing on the Y-axis of the world coordinate system using the angle y obtained from the said direction sensing means.
  • the third point P' ' on the processed image plane(4635) has a rectangular coordinate (x 11 , y 1 ').
  • the coordinate of this third point will be comprised of a lateral coordinate x' 1 ' given by Eq. 134 and a longitudinal coordinate y' ' ' given by Eq. 135.
  • the signal value of the third point on the processed image plane having an ideal projection scheme must be the signal value of an image point on the image sensor plane formed by an incident ray originated from an object point on the object plane having a horizontal incidence angle(i.e., the longitude) given by Eq. 136 and a vertical incidence angle (i.e., the latitude) given by Eq. 137.
  • the zenith angle of this incident ray is given by Eq. 138
  • the azimuth angle is given by Eq. 139
  • the image height is given by Eq. 140.
  • the image point corresponding to an object point having these zenith and azimuth angles has a two-dimensional rectangular coordinate given by Eqs. 141 and 142 in the second rectangular coordinate system, which is a coordinate system with the axes rotated by angle y with respect to the Y- axis.
  • Eqs. 141 and 142 in the second rectangular coordinate system, which is a coordinate system with the axes rotated by angle y with respect to the Y- axis.
  • a coordinate system fixed to the airplane has been rotated by angle ⁇ around the X-axis of the world coordinate system.
  • This coordinate system is the first world coordinate system, and the three axes of this first world coordinate system are referred to as X', Y', and Z'-axis, respectively.
  • a coordinate system fixed to the airplane has been rotated by angle y around the Z'-axis of the first world coordinate system.
  • This coordinate system is called as the second world coordinate system, and the three axes of this second world coordinate system are referred to as X' ' , Y 1 ', and Z' '-axis, respectively.
  • the second world coordinate system is the first world coordinate system that has been rotated by angle Y around the Z'-axis of the first world coordinate system. Therefore, the coordinate of the said one point in the second world coordinate system is given by Eq. 151. [Math Figure 151]
  • a rotational operation by angle Y around the Z'-axis is a completely different operation from a rotational operation by angle Y around the Z-axis.
  • a rotational matrix referring to the axes in the first world coordinate system can be written in terms of rotational matrices in the world coordinate system.
  • the coordinate in the second world coordinate system can be written in terms of the coordinate in the world coordinate system as follows.
  • ⁇ 54i> Referring to Figs. 48 and 49, let's assume that an imaging system has been installed parallel to the airplane body, and let's further assume that it is desired to obtain a panoramic image that is parallel to the ground plane, irrespective of the inclination of the airplane to the ground plane. Such a configuration can be useful when it is required to monitor the area around the horizon at all times, including the time when the airplane is taking off from the ground, landing down, or making a turn. Also, the same demands may exist for motorcycles or ships, and it may be necessary to monitor the area around the horizon at all times by military purposes, such as by interceptor missiles.
  • a panoramic image can not be obtained from an image acquired using such a fisheye lens by the methods described in the first through the sixth embodiments of the present invention.
  • the following algorithm can be used to obtain a panoramic image that is parallel to the ground plane irrespective of the inclination angles of the device.
  • a direction sensing means as in the sixth embodiment, and this direction sensing means must provide two angular values ⁇ and Y to the image processing means.
  • Eq. 190 can be obtained from Eqs . 188 and 189.
  • the longitudinal dimension is I raax - 120 pixels
  • the lateral distance from the said reference point to the third point P' 1 on the processed image plane is proportional to the azimuth angle of the said object point(6004), and the longitudinal distance is proportional to an arbitrary monotonic function F( ⁇ ) of the elevation angle from the said tangential point(6009) to the said object point(6004), where the function is passing through the origin.
  • the said monotonic function can be given by Eqs. 205 or 206.
  • the reference angle x takes a value that is larger than -90° and smaller than 90° .
  • the azimuth angle corresponding to the third point is given by Eq. 212. [Math Figure 212]

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Abstract

La présente invention concerne des procédés d'obtention d'images panoramiques semblant tout à fait naturelles à l'œil nu par exécution d'une opération de traitement d'image mathématiquement précise sur une image grand-angle acquise avec un objectif grand-angle à symétrie de rotation autour d'un axe optique. L'invention concerne également des dispositifs mettant en œuvre de tels algorithmes. Les systèmes d'imagerie utilisant ce procédé conviennent non seulement à des applications de surveillance de sécurité pour des environnements d'intérieur et d'extérieur, mais également à divers domaines tels que la vidéophonie de concierge électronique, les caméras de rétrovision pour les automobiles, les capteurs optiques d'engins volants sans équipage et de robots automatiques, les téléphones à caméra, les caméras d'ordinateur, et les caméras de diffusion. L'invention convient également à l'obtention de photographies panoramiques au moyen d'appareils numériques.
PCT/KR2008/004339 2007-07-29 2008-07-24 Procédé pour l'obtention d'images panoramiques au moyen d'un objectif grand-angle à symétrie de rotation et appareils à cet effet Ceased WO2009017332A1 (fr)

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CN2008801085476A CN101809993B (zh) 2007-07-29 2008-07-24 利用旋转对称广角透镜获得全景图像的方法及其设备
US12/670,319 US8482595B2 (en) 2007-07-29 2008-07-24 Methods of obtaining panoramic images using rotationally symmetric wide-angle lenses and devices thereof
AU2008283197A AU2008283197B9 (en) 2007-07-29 2008-07-24 Methods of obtaining panoramic images using rotationally symmetric wide-angle lenses and devices thereof

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KR1020080022039A KR100882011B1 (ko) 2007-07-29 2008-03-10 회전 대칭형의 광각 렌즈를 이용하여 전방위 영상을 얻는 방법 및 장치

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CN102801905A (zh) * 2012-08-02 2012-11-28 镇江比太系统工程有限公司 一种新型网络全景快球摄像机
CN107613174A (zh) * 2017-10-09 2018-01-19 西安科技大学 一种全景摄影有线无人机及旅游直播方法
CN108876719A (zh) * 2018-03-29 2018-11-23 广州大学 基于虚拟相机模型的车辆全景图像拼接外部参数估计方法
FR3088754A1 (fr) * 2018-11-15 2020-05-22 Renault S.A. Methode de creation d’une vue a partir d’une image capturee par une camera grand angle inclinee
CN111598777A (zh) * 2020-05-13 2020-08-28 上海眼控科技股份有限公司 天空云图的处理方法、计算机设备和可读存储介质
CN112053369A (zh) * 2020-08-27 2020-12-08 西安迪威码半导体有限公司 一种低延时图像去畸变和桶形映射的融合算法
CN112419418A (zh) * 2019-08-22 2021-02-26 刘锐 一种基于摄像头机械瞄准的定位方法
CN114444199A (zh) * 2021-12-31 2022-05-06 优跑汽车技术(上海)有限公司 车门玻璃运动轨迹确认方法及系统
CN115150548A (zh) * 2022-06-09 2022-10-04 山东信通电子股份有限公司 一种基于云台输出输电线路全景图像的方法、设备及介质
CN119784577A (zh) * 2025-03-11 2025-04-08 深圳市其域创新科技有限公司 虚拟场景的全景图像生成方法、设备及存储介质

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CN102158646A (zh) * 2010-01-26 2011-08-17 索尼公司 成像控制设备、成像设备、成像控制方法及程序
CN102801905A (zh) * 2012-08-02 2012-11-28 镇江比太系统工程有限公司 一种新型网络全景快球摄像机
CN107613174A (zh) * 2017-10-09 2018-01-19 西安科技大学 一种全景摄影有线无人机及旅游直播方法
CN108876719B (zh) * 2018-03-29 2022-07-26 广州大学 基于虚拟相机模型的车辆全景图像拼接外部参数估计方法
CN108876719A (zh) * 2018-03-29 2018-11-23 广州大学 基于虚拟相机模型的车辆全景图像拼接外部参数估计方法
FR3088754A1 (fr) * 2018-11-15 2020-05-22 Renault S.A. Methode de creation d’une vue a partir d’une image capturee par une camera grand angle inclinee
CN112419418A (zh) * 2019-08-22 2021-02-26 刘锐 一种基于摄像头机械瞄准的定位方法
CN111598777A (zh) * 2020-05-13 2020-08-28 上海眼控科技股份有限公司 天空云图的处理方法、计算机设备和可读存储介质
CN112053369A (zh) * 2020-08-27 2020-12-08 西安迪威码半导体有限公司 一种低延时图像去畸变和桶形映射的融合算法
CN114444199A (zh) * 2021-12-31 2022-05-06 优跑汽车技术(上海)有限公司 车门玻璃运动轨迹确认方法及系统
CN115150548A (zh) * 2022-06-09 2022-10-04 山东信通电子股份有限公司 一种基于云台输出输电线路全景图像的方法、设备及介质
CN115150548B (zh) * 2022-06-09 2024-04-12 山东信通电子股份有限公司 一种基于云台输出输电线路全景图像的方法、设备及介质
CN119784577A (zh) * 2025-03-11 2025-04-08 深圳市其域创新科技有限公司 虚拟场景的全景图像生成方法、设备及存储介质
CN119784577B (zh) * 2025-03-11 2025-05-09 深圳市其域创新科技有限公司 虚拟场景的全景图像生成方法、设备及存储介质

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