STEREO CAMERA HAVING 360 DEGREE FIELD OF VIEW

• US 20090122133A1
• Filed: 11/09/2007
• Published: 05/14/2009
• Est. Priority Date: 11/09/2007
• Status: Active Grant

• Current Assignee: Honeywell International Inc.
• Original Assignee: Honeywell International Inc.
• Inventors: Hartman, Randolph G.
• Granted Patent: US 8,174,562 B2
• Time in Patent Office: Days
• US Class Current: 348/42
• CPC Class Codes: H04N 13/218 using spatial multiplexing

Abstract

A stereo camera comprises at least one image sensor; a first surface configured to direct a first view of an area to the at least one image sensor, the first view comprising an approximately 360 degree view of the area; and a second surface configured to direct a second view of the area to the at least one image sensor, the second view comprising an approximately 360 degree view of the area; wherein the at least one image sensor is configured to capture the first and second views in at least one image.

Claims

1. A navigation system comprising:

a stereo camera configured to capture a first and a second view of an area at a common moment in time, each of the first and second views comprising an approximately 360 degree view of the area; and

a processor configured to calculate the location of objects which exist in both views.

2. The navigation system of claim 1, wherein the processor is further configured to calculate the range and angular orientation to the objects along the horizon which exist in both views.

3. The navigation system of claim 1, further comprising at least one of, a global positioning satellite (GPS) sensor configured to provide position data to the processor, a heading sensor configured to provide heading data to the processor, a speed sensor configured to provide speed data to the processor, an altimeter sensor configured to provide altitude data to the processor, and an inertial measurement unit (IMU) configured to provide location data to the processor.

4. The navigation system of claim 1, further comprising a memory configured to store the location of mapped objects.

5. The navigation system of claim 1, wherein the stereo camera further comprises:

a first reflective surface configured to reflect the first view of the area; and

a second reflective surface configured to reflect the second view of the area.

6. The navigation system of claim 5, wherein the stereo camera further comprises an image sensor configured to capture the first and second reflected views in a single image.

7. The navigation system of claim 5, wherein the stereo camera further comprises:

a first image sensor configured to capture the first reflected view in a first image; and

a second image sensor configured to capture the second reflected view in a second image.

8. The navigation system of claim 5, wherein the first and second reflective surfaces are separated along a common axis.

9. A stereo camera comprising:

at least one image sensor;

a first surface configured to direct a first view of an area to the at least one image sensor, the first view comprising an approximately 360 degree view of the area; and

a second surface configured to direct a second view of the area to the at least one image sensor, the second view comprising an approximately 360 degree view of the area;

wherein the at least one image sensor is configured to capture the first and second views in at least one image.

10. The stereo camera of claim 9, wherein the at least one image sensor comprises one of a charge-coupled device (CCD) and a complementary metal-oxide-semiconductor (CMOS) sensor.

11. The stereo camera of claim 9, wherein each of the first and second surfaces comprise one of:

a reflective surface; and

an ultra-wide angle lens.

12. The stereo camera of claim 9, wherein the first and second surfaces are separated along a common axis.

13. The stereo camera of claim 9, wherein the at least one image sensor comprises one image sensor configured to capture the first and second views in a single image.

14. The stereo camera of claim 9, wherein the at least one image sensor comprises:

a first image sensor configured to capture the first view in a first image; and

a second image sensor configured to capture the second view in a second image

15. A method of determining a relative location of at least one object in an area with respect to a host unit, the method comprising:

directing a first view of the area to at least one image sensor via a first surface, wherein the first view comprises an approximately 360 degree view of the area;

directing a second view of the area to the at least one image sensor via a second surface, wherein the reflected second view comprises an approximately 360 degree view of the area;

capturing, with the at least one image sensor, the first and second views in at least one image; and

analyzing the position of the at least one object identified in both the first and second views to determine the relative location of the at least one object with respect to the host unit.

16. The method of claim 15, wherein analyzing the position of the at least one object further comprises at least one of:

determining the location of the host unit based on a known location of the at least one object and the relative location of the at least one object with respect to the host unit; and

determining the location of the at least one object based on a known location of the host unit and the relative location of the at least one object with respect to the host unit.

17. The method of claim 15, wherein capturing the reflected first and second views in at least one image comprises capturing the first view in a first image with a first image sensor;

and capturing the second view in a second image with a second image sensor.

18. The method of claim 15, wherein directing the first view of the area to the at least one image sensor via the first surface comprises one of:

reflecting the first view of the area to the at least one image sensor via a first reflective surface; and

refracting the first view of the area to the at least one image sensor via a first ultra-wide angle lens; and

wherein directing the second view of the area to the at least one image sensor via the second surface comprises one of;

reflecting the second view of the area to the at least one image sensor via a second reflective surface; and

refracting the second view of the area to the at least one image sensor via a second ultra-wide angle lens.

19. The method of claim 15, wherein analyzing the position of the at least one object comprises:

correlating the position of the at least one object in the first image with the position of the at least one object in the second image;

determining one or more relative measurements between the at least one object and the first and second surfaces based on the correlation of the position of the at least one object in the first and second images; and

calculating the distance from the host unit to the at least one object based on the relative measurements.

20. The method of claim 15, wherein analyzing the position of the at least one object further comprises one of:

determining the velocity of the host unit relative to the at least one object based on changes in position of the at least one object in the at least one image after a period of time; and

determining the velocity of the at least one object relative to the host unit based on changes in position of the at least one object in the at least one image after a period of time.