Stereo image capturing system having two identical panorama image capturing units arranged at a common support structure

• US 10,708,519 B2
• Filed: 12/13/2016
• Issued: 07/07/2020
• Est. Priority Date: 01/15/2016
• Status: Active Grant

• Current Assignee: Fachhochschule Nordwestschweiz FHNW
• Original Assignee: Fachhochschule Nordwestschweiz FHNW
• Inventors: Nebiker, Stephan
• Primary Examiner(s): Prince, Jessica M
• Application Number:
  US16/070,120
• Publication Number:
  US 20190020829A1
• Time in Patent Office: 1,302 Days
• Field of Search: 348 36
• CPC Class Codes: B60R 11/04 Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• CPC Class Codes: B60R 2011/004 outside the vehicle
• CPC Class Codes: H04N 13/243 using three or more 2D image sensors
• CPC Class Codes: H04N 23/50 Constructional details
• CPC Class Codes: H04N 23/60 Control of cameras or camera modules
• CPC Class Codes: H04N 23/698 for achieving an enlarged field of view, e.g. panoramic image capture
• CPC Class Codes: H04N 23/90 Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums

Abstract

A stereo image capturing system includes two identical panorama image capturing units arranged at different end sections of a common support structure. Each panorama image capturing unit includes first image capturing sensors including corresponding first optical elements and a second image capturing sensor including corresponding second optical elements. A second imaging plane is determined by the second capturing image sensor and respective first imaging planes are determined by the first image sensors. The identical panorama image capturing units are arranged at different end sections of a common support structure. The end sections and the panorama image capturing units are arranged on a connection axis, such that the panorama image capturing units are aligned in such a manner that the two second imaging planes lie parallel to each other.

Claims

1. A stereo image capturing system, comprising:

two identical panorama image capturing units, each of which comprises a plurality of first image capturing sensors including corresponding first optical elements and a second image capturing sensor including corresponding second optical elements, a second imaging plane being determined by the second capturing image sensor and respective first imaging planes being determined by the first image sensors such that the second imaging plane is aligned orthogonally to all of the first imaging planes and such that the first imaging planes are inclined relative to one another,

wherein the two identical panorama image capturing units are arranged at different end sections of a common support structure,

wherein the end sections and the panorama image capturing units are arranged on a connection axis, such that the panorama image capturing units are aligned in such a manner that the two second imaging planes lie parallel to each other and such that images of the surroundings from diametrically different directions can be captured by each of the second image capturing sensors using each of the second optical elements,

wherein the two identical panorama image capturing units are arranged at the common support structure such that the two second imaging planes intersect the connection axis orthogonally.

2. The stereo image capturing system of claim 1, wherein the two identical panorama image capturing units are aligned relative to each other such that respective ones of the first imaging planes are aligned equally in pairs with regard to a connection plane which includes the connection axis and lies orthogonally to the second imaging plane.

3. The stereo image capturing system of claim 1, wherein the two identical panorama image capturing units each comprise four or more first image capturing sensors, and wherein four or more first imaging planes of each panorama image capturing unit are arranged along sides of a regular polygon lying orthogonally to the connection axis.

4. The stereo image capturing system of claim 1, wherein at each panorama image capturing unit, respective first optical axes of the first optical elements with respect to an orthogonal second optical axis of the second optical elements point in different radial directions, and wherein two adjacent first optical axes include an angle in the range from 30°

to 90°

.

5. The stereo image capturing system of claim 4, wherein the connection axis includes the second optical axes of the second optical elements of the two identical panorama image capturing units.

6. The stereo image capturing system of claim 1, wherein the two identical panorama image capturing units are arranged along the connection axis in a first distance from each other.

7. The stereo image capturing system of claim 1, further comprising at least two separate image capturing units including a respective third image capturing sensor and corresponding third optical elements, wherein a respective third imaging plane is determined by the third image sensors.

8. The stereo image capturing system of claim 7, wherein the third imaging planes of two image capturing units are aligned parallel to each other, and wherein the image capturing units are arranged in a distance to each other extending orthogonally to the direction of the connection axis of the two identical panorama image capturing units.

9. The stereo image capturing system of claim 7, wherein two separate image capturing units are allocated to each of the two identical panorama image capturing units such that the two separate image capturing units each comprise a substantially equal alignment of their third optical axes like the second optical axis of an allocated panorama image capturing unit.

10. The stereo image capturing system of claim 7, wherein the common support structure is formed by a plurality of strut-like support elements and configured to attach the two identical panorama image capturing units on a movable or an immovable object.

11. The stereo image capturing system of claim 10, wherein the at least separate image capturing units are configured to be attached to or are attached at the common support structure.

12. The stereo image capturing system of claim 11, further comprising at least one computer unit including a display unit configured to control the two identical panorama image capturing units.

13. The stereo image capturing system of claim 12, further comprising:

at least one receiver configured to receive signals from navigation satellites;

a navigation processing unit configured to process the signals; and

an inertial measuring unit configured for direction determination and/or orientation determination, such that a position and orientation of the stereo image capturing system can be determined by navigation data and the data of the inertial measuring unit.

14. A road or railway vehicle comprising the stereo image capturing system of claim 1, the stereo image capturing system being attached to a roof of the vehicle or on a platform connected with the vehicle.

15. A stereo image capturing system, comprising:

two identical panorama image capturing units, each of which comprises a plurality of first image capturing sensors including corresponding first optical elements, respective first imaging planes being determined by the first image sensors and being inclined relative to one another,

wherein the two identical panorama image capturing units are arranged at different end sections of a common support structure,

wherein the end sections and the two identical panorama image capturing units are arranged on a connection axis such that the end sections are located between the two identical panorama image capturing units and the two identical panorama image capturing units form the respectively outmost element on the connection axis,

wherein respective first imaging planes of the two identical panorama image capturing units are aligned equally in pairs,

wherein the first imaging planes form tangential planes to a cylinder axis which extends parallel to the connection axis or is the connection axis,

wherein the two identical panorama image capturing units are arranged at the common support structure such that the two second imaging planes intersect the connection axis orthogonally.

16. The stereo image capturing system of claim 15, wherein the two identical panorama image capturing units are aligned relative to each other such that respective ones of the first imaging planes are aligned equally in pairs with regard to a connection plane which includes the connection axis and lies orthogonally to the second imaging plane.

17. The stereo image capturing system of claim 15, wherein the two identical panorama image capturing units each comprise four or more first image capturing sensors, and wherein the four or more first imaging planes of each panorama image capturing unit are arranged along sides of a regular polygon lying orthogonally to the connection axis.

18. The stereo image capturing system of claim 15, wherein at each panorama image capturing unit, respective first optical axes of the first optical elements with respect to an orthogonal second optical axis of the second optical elements point in different radial directions, wherein two adjacent first optical axes include an angle in the range from 30°

to 90°

.

19. The stereo image capturing system of claim 18, wherein the connection axis includes the second optical axes of the second optical elements of the two identical panorama image capturing units.

20. The stereo image capturing system of claim 15, wherein the two identical panorama image capturing units are arranged along the connection axis in a first distance from each other.

21. The stereo image capturing system of claim 15, further comprising at least two separate image capturing units including a respective third image capturing sensor and corresponding third optical elements, wherein a respective third imaging plane is determined by the third image sensors.

22. The stereo image capturing system of claim 21, wherein the third imaging planes of two image capturing units are aligned parallel to each other, and wherein the image capturing units are arranged in a distance to each other extending orthogonally to the direction of the connection axis of the two identical panorama image capturing units.

23. The stereo image capturing system of claim 21, wherein two separate image capturing units are allocated to each of the two identical panorama image capturing units such that the two separate image capturing units each comprise a substantially equal alignment of their third optical axes like the second optical axis of the allocated panorama image capturing unit.

24. The stereo image capturing system of claim 21, wherein the common support structure is formed by a plurality of strut-like support elements and configured to attach the two identical panorama image capturing units on a movable or an immovable object.

25. The stereo image capturing system of claim 24, wherein the at least separate image capturing units are configured to be attached to or are attached at the common support structure.

26. The stereo image capturing system of claim 25, further comprising at least one computer unit including a display unit configured to control the two identical panorama image capturing units.

27. The stereo image capturing system of claim 26, further comprising:

at least one receiver configured to receive signals from navigation satellites;

a navigation processing unit configured to process the signals; and

an inertial measuring unit configured for direction determination and/or orientation determination, such that a position and orientation of the stereo image capturing system can be determined by navigation data and the data of the inertial measuring unit.

28. A road or railway vehicle comprising the stereo image capturing system of claim 15, the stereo image capturing system being attached to a roof of the vehicle or on a platform connected with the vehicle.