System and method for panoramic imaging

• US 7,123,777 B2
• Filed: 09/26/2002
• Issued: 10/17/2006
• Est. Priority Date: 09/27/2001
• Status: Expired due to Fees

• Current Assignee: 360ai Solutions LLC
• Original Assignee: EyeSee360, Inc.
• Inventors: Herman, Herman, Singh, Sanjiv, Rondinelli, Michael
• Primary Examiner(s): Couso, Yon J.
• Application Number:
  US10/256,743
• Publication Number:
  US 20030068098A1
• Time in Patent Office: 1,482 Days
• Field of Search: 382/284, 382/276, 382/167, 382/274, 382294-300, 348 36- 39, 359725-728, 359/364, 359/402, 359/403, 359/618, 358/516, 345/649, 345/656, 345/657
• US Class Current: 382/284
• CPC Class Codes: G02B 13/06 Panoramic objectives; So-called "sky lenses" including panoramic objectives having reflecting surfaces
• CPC Class Codes: G03B 37/06 involving anamorphosis G03B37/02, G03B37/04 take precedence
• CPC Class Codes: G06T 3/12 Panospheric to cylindrical image transformations

Abstract

The present invention provides a system for processing panoramic photographic images. The system includes a mirror for reflecting an image of a scene, a mounting assembly for mounting the mirror on an axis, a camera for capturing the image reflected by the mirror, a digital converter device for producing pixel data representative of the captured image, and means for radially linearly mapping the pixel data into a viewable image. The mirror includes a convex reflective surface defined by rotating around the axis: an equi-angular shape or a compensated equi-angular shape. Methods for processing images in accordance with the system are also provided.

Claims

1. A system for processing images, the system comprising:

a mirror for reflecting an image of a scene;

a mounting assembly for mounting the mirror on an axis, wherein the mirror includes a convex reflective surface defined by rotating around the axis;

an equi-angular shape or a compensated equi-angular shape;

a camera for capturing the image reflected by the minor;

a digital conveder device for producing pixel data representative of the captured image; and

means for radially linearly mapping the pixel data into a viewable image comprising;

means for retrieving a source image file including the pixel data of the captured image;

a processor for creating a destination image file buffer, for mapping the pixel data of the captured image to the destination image file buffer, and for outputting pixel data from the destination image file buffer as a destination image file; and

means for displaying a viewable image defined by the destination file, wherein the destination image file comprises one of;

a cylindrical panoramic projection image file, a perspective panoramic projection image file, an equi-rectangular panoramic projection image file, and an equi-angular panoramic projection image file.

2. The system of claim 1, wherein the minor has a compensated equi-angular shape described by the equation:

$\frac{d<br><br>r}{d<br><br>\left(\mathrm{\theta <br><br>}+\frac{A}{\mathrm{\alpha <br><br>}}\right)}=r<br><br><br><br>\cot <br><br><br><br>\left(k<br><br><br><br>\tan <br><br><br><br>\left(\mathrm{\theta <br><br>}+\frac{A}{\mathrm{\alpha <br><br>}}\right)+\frac{\mathrm{\pi <br><br>}}{2}\right)$

where θ

is the angle that a light ray makes with the axis as it reflects off of a point on the surface of the mirror and into the lens of the camera, r is the length of a light ray between the lens of the camera and a point on the surface of the minor, α

is a constant defining the gain, and k is a constant defined by (−

1−

α

)/2.

3. The system of claim 1, wherein the processor further serves as means for:

defining a first set of coordinates of pixels in the destination image file;

defining a second set of coordinates of pixels in the source image file;

identifying coordinates of the second set that correspond to coordinates of the first set; and

inserting pixel data for pixel locations corresponding to the second set of coordinates into pixel locations corresponding to the first set of coordinates.

4. The system of claim 1, wherein the processor further serves as means for interpolating the source image pixel data to produce pixel data for the destination image file buffer.

5. The system of claim 1, wherein the source image file comprises a panoramic projection image file.

6. The system of claim 3, wherein the first set of coordinates are spherical coordinates and the second set of coordinates are rectangular coordinates.

7. The system of claim 5, wherein the panoramic projection image file comprises a partial equi-rectangular projection.

8. The system of claim 5, wherein the panoramic projection image file comprises a modified partial equi-rectangular projection.

9. The system of claim 1, further comprising a target apparatus attached to the mirror.

10. The system of claim 1, further comprising:

means for transmitting the pixel data of the captured image to a server computer; and

means for processing the pixel data of the captured image on the server computer to obtain the viewable image.

11. A system for processing images, the system comprising:

a mirror for reflecting an image of a scene;

means for mounting the mirror on an axis, wherein the mirror includes a convex reflective surface defined by rotating around the axis;

an equi-angular shape or a compensated equi-angular shape;

means for capturing the image reflected by the mirror;

means for producing pixel data representative of the captured image; and

means for radially linearly mapping the pixel data into a viewable image comprising;

means for retrieving a source image file including the pixel data of the captured image;

a processor for creating a destination image file buffer, for mapping the pixel data of the captured image to the destination image file buffer, and for outputting pixel data from the destination image file buffer as a destination image file; and

means for displaying a viewable image defined by the destination file, wherein the destination image file comprises one of;

a cylindrical panoramic projection image file, a perspective panoramic projection image file, an equi-rectangular panoramic projection image file, and an equi-angular panoramic projection image file.

12. The system of claim 11, wherein the mirror has a compensated equi-angular shape described by the equation:

$\frac{d<br><br>r}{d<br><br>\left(\mathrm{\theta <br><br>}+\frac{A}{\mathrm{\alpha <br><br>}}\right)}=r<br><br><br><br>\cot <br><br><br><br>\left(k<br><br><br><br>\tan <br><br><br><br>\left(\mathrm{\theta <br><br>}+\frac{A}{\mathrm{\alpha <br><br>}}\right)+\frac{\mathrm{\pi <br><br>}}{2}\right)$

where θ

is the angle that a light ray makes with the axis as it reflects off of a point on the surface of the mirror and into the lens of the camera, r is the length of a light ray between the lens of the camera and a point on the surface of the mirror, α

is a constant defining the gain, and k is a constant defined by (−

1−

α

)/2.

13. The system of claim 11, wherein the processor further serves as means for:

defining a first set of coordinates of pixels in the destination image file;

defining a second set of coordinates of pixels in the source image file;

identifying coordinates of the second set that correspond to coordinates of the first set; and

inserting pixel data for pixel locations corresponding to the second set of coordinates into pixel locations corresponding to the first set of coordinates.

14. The system of claim 11, wherein the processor further serves as means for interpolating the source image pixel data to produce pixel data for the destination image file buffer.

15. The system of claim 11, wherein the source image file comprises a panoramic projection image file.

16. The system of claim 13, wherein the first set of coordinates are spherical coordinates and the second set of coordinates are rectangular coordinates.

17. The system of claim 15, wherein the panoramic projection image file comprises a partial equi-rectangular projection.

18. The system of claim 15, wherein the panoramic projection image file comprises a modified partial equi-rectangular projection.

19. The system of claim 11, further comprising a target apparatus attached to the mirror.

20. The system of claim 11, further comprising:

means for transmitting the pixel data of the captured image to a server computer; and

means for processing the pixel data of the captured image on the server computer to obtain the viewable image.

21. A method of processing images, the method comprising the steps of:

providing a mirror for reflecting an image of a scene;

mounting the mirror on an axis, wherein the mirror includes a convex reflective surface defined by rotating around the axis;

an equi-angular shape or a compensated equi-angular shape;

capturing the image reflected by the mirror;

producing pixel data representative of the captured image; and

radially linearly mapping the pixel data into a viewable image comprising;

retrieving a source image file including the pixel data of the captured image;

creating a destination image file buffer;

mapping the pixel data from the source image file to the destination image file buffer;

outputting pixel data from the destination image file buffer as a destination image file; and

displaying a viewable image defined by the destination file, wherein the destination image file comprises one of;

a cylindrical panoramic projection image file, a perspective panoramic projection image file, an equi-rectangular panoramic projection image file, and an equi-angular panoramic protection image file.

22. The method of claim 21, wherein the mirror has a compensated equi-angular shape described by the equation:

$\frac{d<br><br>r}{d<br><br>\left(\mathrm{\theta <br><br>}+\frac{A}{\mathrm{\alpha <br><br>}}\right)}=r<br><br><br><br>\cot <br><br><br><br>\left(k<br><br><br><br>\tan <br><br><br><br>\left(\mathrm{\theta <br><br>}+\frac{A}{\mathrm{\alpha <br><br>}}\right)+\frac{\mathrm{\pi <br><br>}}{2}\right)$

where θ

is the angle that a light ray makes with the axis as it reflects off of a point on the surface of the mirror and into the lens of the camera, r is the length of a light ray between the lens of the camera and a point on the surface of the mirror, α

is a constant defining the gain, and k is a constant defined by (−

1−

α

)/2.

23. The method of claim 21, wherein the step of mapping pixel data from the source image file to the destination image file buffer comprises the steps of:

defining a first set of coordinates of pixels in the destination image file;

defining a second set of coordinates of pixels in the source image file;

identifying coordinates of the second set that correspond to coordinates of the first set;

inserting pixel data for pixel locations corresponding the second set of coordinates into pixel locations corresponding to the first set of coordinates.

24. The method of claim 21, wherein the step of mapping the pixel data from the source image file to the destination image file buffer includes the step of:

interpolating the source image pixel data to produce pixel data for the destination image file buffer.

25. The method of claim 21, wherein the source image file comprises a panoramic projection image file.

26. The method of claim 23, wherein the first set of coordinates are spherical coordinates and the second set of coordinates are rectangular coordinates.

27. The method of claim 25, wherein the panoramic projection image file comprises a partial equi-rectangular projection.

28. The method of claim 25, wherein the panoramic projection image file comprises a modified partial equi-rectangular projection.

29. The method of claim 21, further comprising the steps of:

transmitting the pixel data of the captured image to a server computer; and

processing the pixel data of the captured image on the server computer to obtain the viewable image.

30. A system for processing images, the system comprising:

a minor for reflecting an image of a scene;

means for mounting the mirror on an axis, wherein the mirror includes a convex reflective surface defined by rotating around the axis;

an equi-angular shape or a compensated equi-angular shape;

means for capturing the image reflected by the mirror;

means for producing pixel data representative of the captured image; and

means for radially linearly mapping the pixel data into a viewable image comprising;

means for retrieving a source image file including the pixel data of the captured image;

a processor for creating a destination image file buffer, for mapping the pixel data of the captured image to the destination image file buffer, and for outputting pixel data from the destination image file buffer as a destination image file, wherein the processor further serves as means for interpolating the source image pixel data to produce pixel data for the destination image file buffer; and

means for displaying a viewable image defined by the destination file.

31. A method of processing images, the method comprising the steps of:

providing a minor for reflecting an image of a scene;

mounting the minor on an axis, wherein the mirror includes a convex reflective surface defined by rotating around the axis;

an equi-angular shape or a compensated equi-angular shape;

capturing the image reflected by the minor;

producing pixel data representative of the captured image; and

radially linearly mapping the pixel data into a viewable image comprising;

retrieving a source image file including the pixel data of the captured image, wherein the source image file comprises a panoramic projection image file;

creating a destination image file buffer;

mapping the pixel data from the source image file to the destination image file buffer;

outputting pixel data from the destination image file buffer as a destination image file; and

displaying a viewable image defined by the destination file.