Compact high resolution panoramic viewing system

• US 6,195,204 B1
• Filed: 08/28/1998
• Issued: 02/27/2001
• Est. Priority Date: 08/28/1998
• Status: Expired due to Term

• Current Assignee: FullView, Inc.
• Original Assignee: Lucent Technologies, Inc. (Nokia Corporation)
• Inventors: Nalwa, Vishvjit Singh
• Primary Examiner(s): Chang, Audrey
• Assistant Examiner(s): WINSTEDT, JENNIFER E
• Application Number:
  US09/141,885
• Time in Patent Office: 914 Days
• Field of Search: 359/367, 359/402, 359/403, 359/431, 359/618, 359/627, 359/725, 359/726, 359/727, 359/831, 359/834, 359/835, 359/836, 348/36, 348/218, 348/264, 353/30, 353/37, 353/94, 353/98, 353/99
• US Class Current: 359/403
• CPC Class Codes: G02B 27/1066 for enhancing image performance, like resolution, pixel numbers, dual magnifications or dynamic range, by tiling, slicing or overlapping fields of view
• CPC Class Codes: G02B 27/143 using macroscopically faceted or segmented reflective surfaces
• CPC Class Codes: G03B 17/17 with reflectors arranged in beam forming the photographic image, e.g. for reducing dimensions of camera
• CPC Class Codes: G03B 37/04 with cameras or projectors providing touching or overlapping fields of view
• CPC Class Codes: G06T 3/403 Edge-driven scaling; Edge-based scaling
• CPC Class Codes: G06T 3/4038 Image mosaicing, e.g. composing plane images from plane sub-images
• CPC Class Codes: H04N 7/181 for receiving images from a plurality of remote sources

Abstract

A compact high resolution omnidirectional or panoramic viewer has several cameras with a common virtual optical center. The field of view of each of the cameras is arranged to form a continuous 360 degree view of an area when taken as a whole. The cameras are positioned so that they each view a different reflective surface of a polyhedron such as a pyramid. This results in each camera having a virtual optical center positioned within the pyramid. The cameras may be positioned so that their virtual optical centers are offset from each other. The offsets produce narrow blind regions that remove image distortions received from the edges of the pyramid'"'"'s reflective surfaces. The reflective pyramids may be stacked base to base or nested within each other to produce a more compact panoramic viewer. Using two or more reflective pyramids in such close proximity permits using many cameras with the same virtual optical center. Using many cameras divides a large viewing area into many smaller areas where an individual camera views each smaller area. Since each camera views a smaller area, increased resolution is provided to the user.

Claims

1. A panoramic viewing apparatus, comprising:

a plurality of first image processing devices, each having an optical center and a field of view;

a plurality of second image processing devices, each having an optical center and a field of view; and

a first and a second reflective element each being at least partially polyhedral arranged adjacent to each other, the first reflective element having a plurality of first reflective facets facing in different directions, each of at least two of the plurality of first reflective facets redirecting a field of view of one of the plurality of first image processing devices to create a plurality of first virtual optical centers, and the second reflective element having a plurality of second reflective facets facing in different directions, each of at least two of the plurality of second reflective facets redirecting a field of view of one of the plurality of second image processing devices to create a plurality of second virtual optical centers, the plurality of first and second virtual optical centers being substantially co-located.

2. The panoramic viewing apparatus of claim 1, wherein the plurality of first virtual optical centers are substantially co-located.

3. The panoramic viewing apparatus of claim 1, wherein the plurality of second virtual optical centers are substantially co-located.

4. The panoramic viewing apparatus of claim 1, wherein at least two of the plurality of first virtual optical centers are offset from each other to create a first blind region that encompasses at least one edge of a first reflective facet that redirects a field of view of a first image processing device associated with a first virtual optical center, where the first reflective facet belongs to the plurality of first reflective facets, the first image processing device belongs to the plurality of first image processing devices, and the first virtual optical center belongs to the plurality of first virtual optical centers, and at least two of the plurality of second virtual optical centers are offset from each other to create a second blind region that encompasses at least one edge of a second reflective facet that redirects a field of view of a second image processing device associated with a second virtual optical center, where the second reflective facet belongs to the plurality of second reflective facets, the second image processing device belongs to the plurality of second image processing devices, and the second virtual optical center belongs to the plurality of second virtual optical centers.

5. The panoramic viewing apparatus of claim 1, wherein the first image processing devices are image capture devices.

6. The panoramic viewing apparatus of claim 1, wherein the first image processing devices are image producing devices.

7. The panoramic viewing apparatus of claim 1, wherein the second image processing devices are image capture devices.

8. The panoramic viewing apparatus of claim 1, wherein the second image processing devices are image producing devices.

9. The panoramic viewing apparatus of claim 1, wherein the first reflective element contacts the second reflective element.

10. A panoramic viewing apparatus, comprising:

a plurality of first image processing devices, each having an optical center and a field of view;

a plurality of second image processing devices, each having an optical center and a field of view;

a first reflective element being at least partially polyhedral; and

a second reflective element being at least partially polyhedral with at least a portion of the second reflective element being positioned within the first reflective element, the first reflective element having a plurality of first reflective facets facing in different directions, each of at least two of the plurality of first reflective facets redirecting a field of view of one of the plurality of first image processing devices to create a plurality of first virtual optical centers, and the second reflective element having a plurality of second reflective facets facing in different directions, each of at least two of the plurality of second reflective facets redirecting a field of view of one of the plurality of second image processing devices to create a plurality of second virtual optical centers.

11. The panoramic viewing apparatus of claim 10, wherein the plurality of first virtual optical centers are substantially co-located.

12. The panoramic viewing apparatus of claim 10, wherein the plurality of second virtual optical centers are substantially co-located.

13. The panoramic viewing apparatus of claim 10, wherein the plurality of first and second virtual optical centers are substantially co-located.

14. The panoramic viewing apparatus of claim 10, wherein at least two of the plurality of first virtual optical centers are offset from each other to create a first blind region that encompasses at least one edge of a first reflective facet that redirects a field of view of a first image processing device associated with a first virtual optical center, where the first reflective facet belongs to the plurality of first reflective facets, the first image processing device belongs to the plurality of first image processing devices, and the first virtual optical center belongs to the plurality of first virtual optical centers, and at least two of the plurality of second virtual optical centers are offset from each other to create a second blind region that encompasses at least one edge of a second reflective facet that redirects a field of view of a second image processing device associated with a second virtual optical center, where the second reflective facet belongs to the plurality of second reflective facets, the second image processing device belongs to the plurality of second image processing devices, and the second virtual optical center belongs to the plurality of second virtual optical centers.

15. The panoramic viewing apparatus of claim 10, wherein the first image processing devices are image capture devices.

16. The panoramic viewing apparatus of claim 10, wherein the first image processing devices are image producing devices.

17. The panoramic viewing apparatus of claim 10, wherein the second image processing devices are image producing devices.

18. The panoramic viewing apparatus of claim 10, wherein the second image processing devices are image capture devices.

19. The panoramic viewing apparatus of claim 10, further comprising a third image processing device positioned within the second reflective element.

20. The panoramic viewing apparatus of claim 10, further comprising:

a third image processing having a field of view in the direction of the first reflective element; and

a reflective surface facing the third image processing device and positioned between the third image processing device and the first reflective element.

21. The panoramic viewing apparatus of claim 20, further comprising a fourth image processing device positioned within the second reflective element.

22. The panoramic viewing apparatus of claim 20, wherein the reflective surface is curved.

23. A panoramic viewing apparatus, comprising:

a plurality of first image processing devices, each having an optical center and a field of view;

a plurality of second image processing devices, each having an optical center and a field of view; and

a first and a second pyramid shaped element arranged base to base, the first pyramid shaped element having a plurality of first reflective side facets facing in different directions, each of at least two of the plurality of first reflective side facets redirecting a field of view of one of the plurality of first image processing devices to create a plurality of first virtual optical centers, and the second pyramid shaped element having a plurality of second reflective side facets facing in different directions, each of at least two of the plurality of second reflective side facets redirecting a field of view of one of the plurality of second image processing devices to create a plurality of second virtual optical centers.

24. The panoramic viewing apparatus of claim 23, wherein the plurality of first virtual optical centers are substantially co-located.

25. The panoramic viewing apparatus of claim 23, wherein the plurality of second virtual optical centers are substantially co-located.

26. The panoramic viewing apparatus of claim 24, wherein the plurality of first and second virtual optical centers are substantially co-located.

27. The panoramic viewing apparatus of claim 23, wherein at least two of the plurality of first virtual optical centers are offset from each other to create a first blind region that encompasses at least one edge of a first reflective side facet that redirects a field of view of a first image processing device associated with a first virtual optical center, where the first reflective facet belongs to the plurality of first reflective facets, the first image processing device belongs to the plurality of first image processing devices, and the first virtual optical center belongs to the plurality of first virtual optical centers, and at least two of the plurality of second virtual optical centers are offset from each other to create a second blind region that encompasses at least one edge of a second reflective side facet that redirects a field of view of a second image processing device associated with a second virtual optical center, where the second reflective facet belongs to the plurality of second reflective facets, the second image processing device belongs to the plurality of second image processing devices, and the second virtual optical center belongs to the plurality of second virtual optical centers.

28. The panoramic viewing apparatus of claim 23, wherein the plurality of first virtual optical centers are substantially co-located on a first line, the first line being perpendicular to a first base plane of the first pyramid and passing through a first vertex end of the first pyramid, and the plurality of second virtual optical centers are substantially co-located on a second line, the second line being perpendicular to a second base plane of the second pyramid and passing through a second vertex end of the second pyramid.

29. The panoramic viewing apparatus of claim 23, wherein the first image processing devices are image capture devices.

30. The panoramic viewing apparatus of claim 23, wherein the first image processing devices are image producing devices.

31. The panoramic viewing apparatus of claim 23, wherein the second image processing devices are image capture devices.

32. The panoramic viewing apparatus of claim 23, wherein the second image processing devices are image producing devices.

33. The panoramic viewing apparatus of claim 23, wherein a base of the first pyramid shaped element contacts a base of the second pyramid shaped element.

34. The panoramic viewing apparatus of claim 23, wherein the first pyramid shaped element is rotationally misaligned with respect to the second pyramid shaped element about a line passing through a vertex end of the first pyramid shaped element and a vertex end of the second pyramid shaped element.

35. A panoramic viewing apparatus, comprising:

a plurality of first image processing devices, each having an optical center and a field of view;

a plurality of second image processing devices, each having an optical center and a field of view;

a first pyramid shaped element having a first vertex end and a first base end; and

a second pyramid shaped element having a second vertex end and a second base end with at least a portion of the second pyramid shaped element being positioned within the first pyramid shaped element so that the first and second vertex ends point in the same direction, the first pyramid shaped element having a plurality of first reflective side facets facing in different directions, each of at least two of the plurality of first reflective side facets redirecting a field of view of one of the plurality of first image processing devices to create a plurality of first virtual optical centers, and the second pyramid shaped element having a plurality of second reflective side facets facing in different directions, each of at least two of the plurality of second reflective side facets redirecting a field of view of one of the plurality of second image processing devices to create a plurality of second virtual optical centers.

36. The panoramic viewing apparatus of claim 35, wherein the plurality of first virtual optical centers and the plurality of second virtual optical centers are substantially co-located on a line, the line being perpendicular to the first and second base end and passing through the first and second vertex ends.

37. The panoramic viewing apparatus of claim 35, wherein the plurality of first virtual optical centers are substantially co-located.

38. The panoramic viewing apparatus of claim 35, wherein the plurality of second virtual optical centers are substantially co-located.

39. The panoramic viewing apparatus of claim 35, wherein the plurality of first and second virtual optical centers are substantially co-located.

40. The panoramic viewing apparatus of claim 35, wherein at least two of the plurality of first virtual optical centers are offset from each other to create a first blind region that encompasses at least one edge of a first reflective side facet that redirects a field of view of a first image processing device associated with a first virtual optical center, where the first reflective facet belongs to the plurality of first reflective facets, the first image processing device belongs to the plurality of first image processing devices, and the first virtual optical center belongs to the plurality of first virtual optical centers, and at least two of the plurality of second virtual optical centers are offset from each other to create a second blind region that encompasses at least one edge of a second reflective side facet that redirects a field of view of a second image processing device associated with a second virtual optical center, where the second reflective facet belongs to the plurality of second reflective facets, the second image processing device belongs to the plurality of second image processing devices, and the second virtual optical center belongs to the plurality of second virtual optical centers.

41. The panoramic viewing apparatus of claim 35, wherein the first image processing devices are image capture devices.

42. The panoramic viewing apparatus of claim 35, wherein the first image processing devices are image producing devices.

43. The panoramic viewing apparatus of claim 35, wherein the second image processing devices are image producing devices.

44. The panoramic viewing apparatus of claim 35, wherein the second image processing devices are image capture devices.

45. The panoramic viewing apparatus of claim 35, wherein the first pyramid shaped element is rotationally misaligned with respect to the second pyramid shaped element about a line passing through the first and second vertex ends.

46. The panoramic viewing apparatus of claim 35, further comprising a third image processing device positioned within the second pyramid shaped element and having a field of view in the direction of the second base end.

47. The panoramic viewing apparatus of claim 35, further comprising:

a third image processing device having a field of view in the direction of the first vertex end and being positioned so that the first vertex end is between the third image processing device and the second vertex end; and

a reflective surface facing the third image processing device and positioned between the third image processing device and the first vertex end.

48. The panoramic viewing apparatus of claim 47, further comprising a fourth image processing device positioned within the second pyramid shaped element and having a field of view in the direction of the second base end.

49. The panoramic viewing apparatus of claim 47, wherein the reflective surface is curved.