WO2017200289A1 - Module de lentilles capable de construire une image à 360 degrés, procédé de construction d'une image à 360 degrés, programme informatique pour la mise en oeuvre de ce procédé, et support d'enregistrement pour enregistrer un programme informatique - Google Patents

Module de lentilles capable de construire une image à 360 degrés, procédé de construction d'une image à 360 degrés, programme informatique pour la mise en oeuvre de ce procédé, et support d'enregistrement pour enregistrer un programme informatique Download PDF

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Publication number
WO2017200289A1
WO2017200289A1 PCT/KR2017/005106 KR2017005106W WO2017200289A1 WO 2017200289 A1 WO2017200289 A1 WO 2017200289A1 KR 2017005106 W KR2017005106 W KR 2017005106W WO 2017200289 A1 WO2017200289 A1 WO 2017200289A1
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WO
WIPO (PCT)
Prior art keywords
image
lens module
lens
smart terminal
fisheye
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/KR2017/005106
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English (en)
Korean (ko)
Inventor
박철진
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.)
Ubiq Micro Systems Co Ltd
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Ubiq Micro Systems Co Ltd
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Filing date
Publication date
Application filed by Ubiq Micro Systems Co Ltd filed Critical Ubiq Micro Systems Co Ltd
Publication of WO2017200289A1 publication Critical patent/WO2017200289A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • 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
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/565—Optical accessories, e.g. converters for close-up photography, tele-convertors, wide-angle convertors
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
    • G02B7/003—Alignment of optical elements
    • G02B7/005—Motorised alignment
    • 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
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
    • H04N13/106—Processing image signals
    • H04N13/128—Adjusting depth or disparity

Definitions

  • the present invention relates to a lens module capable of forming a 360 degree image and a 360 degree image forming method.
  • Virtual reality is emerging.
  • Virtual reality refers to a replica of a real or virtual environment, and broadly refers to a technology of replicating a relationship between a user's actual existence and a user or a user and a specific object in order to form a mutual relationship.
  • Virtual reality provides the user with a sense of artificially formed vision, touch, hearing and smell.
  • visual contents based on reality are formed by using a 360 degree camera.
  • the 360 degree camera forms an external image using a plurality of lenses, performs an image processing process, forms an image that is viewed in a direction provided by the user, and then provides the image to the user.
  • the conventional 360-degree camera has a high price since the optical component, the imaging component, the image processing component, and the like are integrally formed. Therefore, the cost for consumers to pay for the 360-degree image is high. Furthermore, according to a camera that forms a conventional 360-degree image, in order for a user to upload a 360-degree image to the web or deliver it to others, the user removes the memory from the camera after shooting and reads the memory from a terminal such as a computer. It was difficult to send immediately after shooting because it must be uploaded or sent.
  • the lens module and the application according to the present embodiment are to solve the above-mentioned difficulties of the prior art, and provide a 360-degree lens module and an application that can be economically formed in a portable smart terminal such as a mobile phone to form a 360-degree image. Is one of the main purposes of this embodiment.
  • the 360-degree lens module has a housing having a light outlet, a pair of fisheye lenses facing in opposite directions, and a path of light provided by a pair of fisheye lenses. It includes a reflective member for changing the direction to provide the outside of the housing through the light exit and the fixing member is formed in the housing to fix the lens module to the smart terminal.
  • the 360-degree image forming method includes the steps of: (a) acquiring a pair of circular electronic images obtained by a lens module coupled to a smart terminal and provided to the smart terminal camera including a pair of fisheye lenses; (b) converting the electronic images into equivalent rectangular image data, wherein converting the equivalent rectangular data into: (b1) a pair of pairs corresponding to the image coordinates of the pixels forming the equivalent square image; Calculating coordinates of the pixels forming the circular electronic images, and (b2) writing the pixel values of the calculated coordinates as pixel values of the pixels forming the equivalent rectangular image.
  • the 360-degree lens module and the 360-degree image forming method according to the present embodiment can be mounted on a smart terminal widely used in recent years, and can form a 360-degree image by using the computing power of the smart terminal.
  • the advantage is that a 360 degree image can be formed.
  • the photographed 360-degree image is stored in the smart terminal, it is provided with the advantage that it can be uploaded or transmitted to the web after shooting using the smart terminal.
  • FIG. 1 is a view schematically showing an optical path of a lens module according to the present embodiment.
  • FIG 2 and 3 are views showing one side and the other side of the lens module according to the present embodiment.
  • FIG. 4 is a diagram schematically illustrating an optical path of a fisheye lens.
  • FIG. 5 is a view showing a state in which the lens module is mounted on the smart terminal.
  • FIG. 6 is a view showing that the light provided by the lens module according to the present embodiment is provided to the camera formed in the smart terminal through the light exit.
  • FIG. 7 is a flowchart schematically illustrating each step of a driving process of an application according to the present embodiment.
  • FIG. 8 is a diagram illustrating an electronic image obtained by photographing an optical image provided to a camera by a lens module.
  • FIG. 9 is a diagram illustrating a state where the optical axis of the fisheye lens and the optical axis of the sensor plane are not aligned with each other.
  • FIG. 10 shows an overview of equivalent rectangular image data and a spherical object plane when the fisheye lens is at the center.
  • FIG. 11 is a diagram illustrating a state in which a coordinate axis is rotated.
  • FIG. 13 is an equivalent square image formed of a fisheye lens image without distortion correction and an equivalent rectangle image formed from a fisheye lens image with distortion correction.
  • first and second are intended to distinguish one component from another component, and the scope of rights should not be limited by these terms.
  • first component may be named a second component, and similarly, the second component may also be named a first component.
  • each step may occur differently from the stated order unless the context clearly dictates the specific order. That is, each step may occur in the same order as specified, may be performed substantially simultaneously, or may be performed in the reverse order.
  • the lens module according to the present embodiment includes a housing in which a light exit E is formed, and a pair of fisheye lenses 100a and 100b facing in opposite directions.
  • the reflection member 200 and the housing H which change the path of the light provided by the pair of fisheye lenses 100a and 100b in the same direction and provide the light exit E to the outside of the housing H through the light exit E. It is formed in the fixing member 400 for fixing the lens module to the smart terminal.
  • the housing H accommodates the reflective member 200 therein, and provides a light path through which the light collected by the fisheye lenses 100a and 100b can travel.
  • the housing H is formed of a material having good workability, such as synthetic resin and die casting aluminum.
  • FIG. 4 is a view schematically showing the optical path of the fisheye lens f.
  • the fisheye lenses 100a and 100b have a wider field of view (FOV) than the other lenses by distorting the incident angle.
  • the relationship between the separation distance R, the focal length f, and the incident angle f according to the characteristics of the fisheye lens is shown in Table 1 below.
  • the distance f from the focus of the fisheye lens to the imaging surface is a unique value of the lens and is a fixed value. Therefore, if the angle of incidence f of light entering the fisheye lens from the object P can be grasped, the position R at which the image of the object forms at the intersection of the sensor image plane and the optical axis can be obtained regardless of the type of the fisheye lens. . It can be seen that the position R is a function of the incident angle f, hereinafter denoted by R (f).
  • the reflective member 200 may include a first reflective member that reflects the light collected by the fisheye lenses 100a and 100b in a direction perpendicular to the optical axis of the fisheye lenses. 200a and a second reflecting member 200b reflecting the light reflected by the first reflecting member 200b to the light exit and providing the light to the outside of the housing.
  • the first reflective member 200a and the second reflective member 200b may be mirrors as illustrated in FIG. 1. According to another embodiment not shown, the first reflective member 200a and the second reflective member 200b may be prisms.
  • a plurality of alignment marks 300 are formed on a surface where the fisheye lenses 100a and 100b are located.
  • the alignment marks 300 are located at a predetermined position, and the coordinates of the alignment marks 300 are stored in the application in the image photographed using the fisheye lenses 100a and 100b.
  • the alignment marks 300 may be displayed in different forms according to the surface where the fisheye lens is located.
  • the alignment between the fisheye lenses 100a and 100b and the reflective member 200 is misaligned, or the light exit in the process of mounting the lens module according to the present embodiment to the smart terminal.
  • the optical axis between E) and the camera c is misaligned.
  • the application driven by the controller 40 of the smart terminal s may correct the distortion of the image generated by misalignment using the alignment marks 300.
  • the alignment marks 300 are formed on the same plane as the fisheye lenses 100a and 100b, but the viewing angles of the fisheye lenses 100a and 100b are 180 ° or more, and the alignment marks 300 are the fisheye lenses 100a and 100b. 100b) can be taken.
  • the alignment marks illustrated in FIGS. 2 and 3 are marked by a pattern, this is only an example, and may be formed in a protrusion shape or a concave shape in the plane where the fisheye lenses 100a and 100b are located.
  • the housing of the lens module may be formed with a fixing member 400 that can be mounted on the smart terminal (s).
  • the fixing member 400 has a clip shape for fixing the lens module to the smart terminal s as shown in FIG. 5, and fixes the lens module to the smart terminal s by using an elastic member such as a spring.
  • the fixing member 400 may be a slot (slot) that can be fixed by inserting the smart terminal (s) to the lens module, the portion that the fixing member and the smart terminal is in contact
  • the fixing member 500 may be integrally formed with the housing H, and may be coupled to the housing H as another example.
  • the smart terminal s means a terminal having a computing power capable of driving an application according to the present embodiment and including a camera capable of obtaining a static image and a dynamic image from the camera.
  • the smart terminal s may be a terminal such as a lap top computer, a mobile phone, or a tablet.
  • the light exit (E) may be a correction lens 500 for adjusting the path of the light provided to the camera (c) or the image provided to the camera.
  • the correction lens 500 may be a composite lens in which a concave lens and a convex lens are combined, and may be any one of a concave lens and a convex lens.
  • 7 is a flowchart schematically illustrating each step of the application driving process according to the present embodiment.
  • the lens module acquires electronic images by capturing a pair of optical images acquired by the lens module and provided to the camera c of the smart terminal s (S100).
  • the optical image provided to the camera by the fisheye lens is circular as shown in FIG. 8, and the application controls the smart terminal s to electronically display two circular optical images provided by a pair of fisheye lenses included in the lens module. Form with data.
  • FIG. 9 is a diagram illustrating a case in which the optical axis of any one fisheye lens is aligned with the optical axis of the sensor plane, in a state in which the optical axis and the imaging plane of the sensor are aligned as shown in the upper view (a) of FIG. 9.
  • the alignment display 300 is photographed with a fisheye lens, a digital image having a vertically symmetrical shape as shown in FIG. 9B can be obtained.
  • the optical axis of the fisheye lens and the sensor image pickup surface are not aligned as illustrated in the upper drawing (b) of FIG. 9, the photographing using the fisheye lens is distorted as shown in the lower drawing (b) of FIG. 9. Get the image that occurred.
  • the distortion of the image may be corrected by performing a perspective transform.
  • the coordinates of the alignment marks are (x1 ', y1'), (x2 ', y2'), (x3 ', y3) in the image obtained when no distortion occurs.
  • the coordinates of the alignment marks in the distorted image are (x1, y1), (x2, y2), (x3, y3), and (x4, y4).
  • the distortion of the image due to misalignment may be corrected with a perspective transform as described above, and the perspective transition may be performed by mapping coordinates to a homography matrix represented by Equation 1 below.
  • Equation 2 the equation for moving the coordinate of any point having coordinates (x, y) to a new point (x ', y') has eight unknowns.
  • x1, y1, x2, y2, x3, y3, x4, and y4 which are coordinate values at which four pairs of alignment marks are positioned in the distorted image, may also be obtained. Therefore, the unknowns are a, b, c, d, e, f, g, h 8, which can be obtained by calculating the determinant of Equation 3 below.
  • Equation 2 Eight unknown values are obtained from Equation 3, and as a result, Equation 2 can be calculated to correct the image distortion caused by misalignment by performing a perspective transition process on the pixels included in the distorted image.
  • the distortion of the image is not only when the optical axis of the fisheye lens and the sensor plane are misaligned as illustrated, but also the misalignment between the fisheye lens and the reflective member, the lens module, and the camera of the smart terminal, or the plane on which the fisheye lens 100a is located. It may also occur due to the spacing between the planes on which the other fisheye lens 100b is located, and in this case, the influence of misalignment may be corrected through the above process.
  • the application executed by the controller processes the two circular image data to form an equivalent rectangular image.
  • a controller 40 may be implemented including a microprocessor, a microcontroller, and the like.
  • FIG. 10A is a diagram showing an outline of equivalent rectangular image data
  • FIG. 10B is a diagram showing a spherical object plane when the fisheye lens is at the center.
  • the portion indicated on the Z axis shows an object plane photographed by any fisheye lens, which corresponds to the center portion in the equivalent square image of FIG. 10 (a).
  • the portion shown on the left side with respect to the Z axis shows the object plane photographed by another fisheye lens
  • FIG. 10 (a) corresponds to both parts in the equivalent rectangular image. .
  • one pixel P may be represented by coordinates of ⁇ and f representing longitude and latitude, respectively.
  • latitude is from + 90 ° to -90 °, but in the present specification, the latitude of the zenith is 0 for convenience and the latitude of the nadir is 180 °.
  • the coordinate system is rotated along the y axis as shown in FIG. 11.
  • the new coordinate axes formed by rotation are referred to as X ', Y', and Z ', and the coordinates of P points at X', Y 'and Z' are obtained as shown in Equation 5 below.
  • Equation 6 When calculating a spherical coordinate from the new coordinate pair obtained in Equation 5, Equation 6 below.
  • Atan2 (x, y) Function to find the angle between the X axis and the coordinates (x, y) on the XY plane
  • Equation 6 F 'obtained in Equation 6 is an incident angle when light is incident from the fisheye lens from the point P of the target plane, ⁇ ' is a rotation angle from the X 'axis, and ⁇ ' does not change even though it passes through the fisheye lens. Therefore, when the coordinates of the point P is obtained from the circular electronic images stored in the smart terminal s, Equation 7 below.
  • R (f) position function at which the image of the object forms at the intersection of the imaging plane and the optical axis in the fisheye lens (see Table 1)
  • Equation 8 After substituting the equations for ⁇ 'and f' in Equation 6 into Equation 7, the coordinates along the X ', Y', and Z 'axes are converted back to the coordinates along the X, Y, and Z axes, and ⁇ ' And f 'are replaced with the result of Equation 6 to obtain Equations 8 and 9. Further, the coordinates of the image point provided by the fisheye lens to which the point having the coordinates ⁇ and f of the equivalent rectangular image are mapped can be obtained from the results of Equations 8 and 9 (S200).
  • Equation 5 if the z 'coordinate value is negative, it corresponds to an image obtained from another fisheye lens, and x and y coordinates are calculated as shown in Equation 9 below (S200).
  • the application executed by the controller 40 of FIG. 4 forms a virtual spherical image from the formed equivalent rectangular image and performs a centripetal projection on the spherical image to display the image on the smart terminal. .
  • FIG. 12 is an image photographed using two fisheye lenses in a misaligned state.
  • the part shown by a circle is an alignment mark.
  • the fisheye lens image without performing the distortion correction is shown in FIG. 12A and FIG. 12B is a diagram showing the image on the image by distorting the yellow solid line before the distortion. It can be seen from FIG. 12 (b) that the perspective transformation was performed by accurately calculating the homography matrix.
  • FIG. 13A is an equivalent rectangular image formed of a fisheye lens image without distortion correction
  • FIG. 13B is an equivalent rectangular image formed with a fisheye lens image with distortion correction.
  • a step occurs at the portion where the two images are combined and shifted, but the step does not occur in the equivalent square image formed by the distortion-corrected image. .
  • the 360 degree image forming method according to the invention may be performed by computer program instructions. These computer program instructions may be mounted on a processor of a general purpose computer, special purpose computer, or other programmable data processing equipment such that the instructions executed through the processor of the computer or other programmable data processing equipment are described in each block or flowchart of the figure. It will create means for performing the functions described in the steps.
  • These computer program instructions may be stored in a computer usable or computer readable memory that can be directed to a computer or other programmable data processing equipment to implement functionality in a particular manner, and thus the computer usable or computer readable memory. It is also possible for the instructions stored therein to produce an article of manufacture containing instruction means for performing the functions described in each step of each block or flowchart of the figure.
  • Computer program instructions may also be mounted on a computer or other programmable data processing device, such that a series of operating steps may be performed on the computer or other programmable data processing device to create a computer-implemented process to produce a computer or other programmable data.
  • the instructions for performing the processing equipment may also provide steps for performing the functions described in each block of the figure and in each step of the flowchart.
  • each block or step may represent a portion of a module, segment, or code that includes one or more executable instructions for executing a specified logical function (s).
  • the computer program instructions may be stored in a computer readable medium in the form of code.
  • the computer readable medium may include program instructions, data files, data structures, etc. alone or in combination.
  • the program instructions recorded on the media may be those specially designed and constructed for the present invention, or they may be of the kind well-known and available to those having skill in the computer software arts.
  • Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tape, optical media such as CD-ROMs, DVDs, and magnetic disks, such as floppy disks.
  • the medium may be a transmission medium such as an optical or metal wire, a waveguide, or the like including a carrier wave for transmitting a signal specifying a program command, a data structure, or the like.
  • Examples of program instructions include not only machine code generated by a compiler, but also high-level language code that can be executed by a computer using an interpreter or the like.
  • the hardware device described above may be configured to operate as one or more software modules to perform the operations of the present invention, and vice versa.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Studio Devices (AREA)

Abstract

Dans un mode de réalisation, un module de lentilles à 360 degrés comprend : un boîtier ayant une sortie de lumière; une paire de lentilles de type oeil de poisson orientées dans des sens opposés; un élément réfléchissant destiné à modifier les trajets de la lumière fournie par la paire de lentilles de type oeil de poisson de façon à les orienter dans le même sens et à fournir la lumière à l'extérieur du boîtier par l'intermédiaire de la sortie de lumière; et un élément de fixation, disposé sur le boîtier, destiné à fixer le module de lentilles sur un terminal intelligent.
PCT/KR2017/005106 2016-05-17 2017-05-17 Module de lentilles capable de construire une image à 360 degrés, procédé de construction d'une image à 360 degrés, programme informatique pour la mise en oeuvre de ce procédé, et support d'enregistrement pour enregistrer un programme informatique Ceased WO2017200289A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2016-0060144 2016-05-17
KR1020160060144A KR101882977B1 (ko) 2016-05-17 2016-05-17 360도 이미지를 형성할 수 있는 렌즈 모듈 및 360도 이미지 형성 어플리케이션

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WO2017200289A1 true WO2017200289A1 (fr) 2017-11-23

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JP2005244861A (ja) * 2004-02-27 2005-09-08 Japan Science & Technology Agency 撮像装置及び撮像系パラメータ校正方法
KR20060041116A (ko) * 2004-11-08 2006-05-11 (주)아이디스 왜곡 영상 보정 장치 및 방법 및 이를 이용하는 영상디스플레이 시스템
JP2013157810A (ja) * 2012-01-30 2013-08-15 Toshiba Corp 画像センサシステム、情報処理装置、情報処理方法及びプログラム
KR20150124557A (ko) * 2014-04-28 2015-11-06 주식회사 테크웍스플러스 휴대용 전자기기를 위한 카메라용 액세서리
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KR101882977B1 (ko) 2018-07-27

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