Method and apparatus for panoramic imaging
First Claim
1. A panoramic imaging system for capturing a full or partial panoramic image, said camera comprising:
- a compound camera having an orientation axis extending through said compound camera from a first axis end to a second axis end, said compound camera comprising a plurality of cameras adapted to take a plurality of images, each single camera of said plurality of cameras having an image sensor for sensing an image, said image sensor having rows, wherein a predetermined row in said image sensor is defined as row one and said image sensor is oriented so as to scan said image with vertical scan lines, starting with said row one, and wherein said image sensor of said each single camera is oriented such that said row one is closer to said first axis end than any other row in said image sensor; and
a memory means for storage of said plurality of images.
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Abstract
Camera system and methods to capture panoramic imagery from a camera mounted on a moving platform, using low-cost digital image sensors. The panoramic imagery appears seamless and natural to the eye. The panoramic imaging system and methods are specifically designed to accommodate the long acquisition times of low-cost digital image sensors, despite the motion of the camera during image capture. Pairs of cameras are arranged about an axis and a pairwise firing sequence enables capturing a series of adjacent images without gap or overlap. Additionally, when combined with suitable supplemental sensors, the image data provide location information about objects in the image for use in elementary photogrammetry.
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Citations
18 Claims
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1. A panoramic imaging system for capturing a full or partial panoramic image, said camera comprising:
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a compound camera having an orientation axis extending through said compound camera from a first axis end to a second axis end, said compound camera comprising a plurality of cameras adapted to take a plurality of images, each single camera of said plurality of cameras having an image sensor for sensing an image, said image sensor having rows, wherein a predetermined row in said image sensor is defined as row one and said image sensor is oriented so as to scan said image with vertical scan lines, starting with said row one, and wherein said image sensor of said each single camera is oriented such that said row one is closer to said first axis end than any other row in said image sensor; and
a memory means for storage of said plurality of images. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A compound camera comprising:
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a housing;
a circuit board;
a plurality of single cameras;
wherein said circuit board is constructed as a flexible board with a plurality of camera mount sections, each mount section of said plurality of camera mount sections being adapted to receive one of said single cameras, wherein said flexible board is folded such that said plurality of cameras is brought into a radial arrangement about a center portion of said circuit board; and
wherein said circuit board is assembled in said housing so as to provide said plurality of single cameras arranged radially about an outer surface of said housing and facing outward.
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15. A method of capturing and processing images with a panoramic imaging system, so as to minimize the effects of motion, said method comprising steps of:
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(a) arranging a plurality of pairs of cameras that form a compound camera about an orientation axis, said orientation axis extending through said compound camera from a first axis end to a second axis end, each single camera of a pair of cameras being placed in mirror locations on opposite sides of said orientation axis, and each camera of said plurality of cameras having an image sensor, wherein said image sensor in each said single camera is oriented such that a pre-defined first row is oriented vertically and is closer to said first axis end than any other row in said image sensor;
(b) firing said pairs of cameras according to a pre-defined firing sequence, one pair of cameras at a time;
(c) capturing a first image from said each camera during said firing by scanning sequentially across said image sensor, row by row, wherein said scanning generates a plurality of vertical scan lines; and
(d) processing said first image of said each single camera to create an undistorted composite panoramic view. - View Dependent Claims (16, 17)
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18. The method of 17, said processing step further comprising the steps of:
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(d1) applying blending techniques to said first composite panoramic view; and
(d2) reprojecting said first composite panoramic view onto a final cylindrical format to create a composite panoramic view that has no visual discontinuities.
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Specification