Stereo camera having 360 degree field of view

• US 8,174,562 B2
• Filed: 11/09/2007
• Issued: 05/08/2012
• Est. Priority Date: 11/09/2007
• Status: Expired due to Fees

• Current Assignee: Honeywell International Inc.
• Original Assignee: Honeywell International Inc.
• Inventors: Hartman, Randolph G.
• Primary Examiner(s): Chan, Wing
• Assistant Examiner(s): YI, DAVID
• Application Number:
  US11/938,068
• Publication Number:
  US 20090122133A1
• Time in Patent Office: 1,642 Days
• Field of Search: 348/42
• 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;

wherein the stereo camera comprises;

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

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

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

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

wherein the processor is configured to calculate the location of objects which exist in both views by;

correlating the position of the objects in the first image with the position of the objects in the second image;

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

calculating the distance from the navigation system to the objects based on the relative measurements;

wherein the processor is further configured to determine one of the velocity of the navigation system relative to the objects or the velocity of objects relative to the navigation system based on changes in position of the objects in the first and second images after a period of time.

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 first and second reflective surfaces are separated along a common axis.

6. A stereo camera comprising:

a first image sensor;

a second image sensor;

a first surface configured to direct a first view of an area to the first image sensor configured to capture the first view in a first image, 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 second image sensor configured to capture the second view in a second image, the second view comprising an approximately 360 degree view of the area

wherein each of the first and second surfaces comprise one of a reflective surface and a refractive lens;

wherein each of the first image sensor and the second image sensor are configured to pass the first image and the second image, respectively, to a processor configured to;

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

determine one or more relative measurements between the objects and the first and second surfaces based on the correlation of the position of the objects in the first and second images;

calculate a distance to the at least one object based on relative measurements between the at least one object and the first and second surfaces; and

determine one of the velocity of a navigation system relative to the objects or the velocity of objects relative to the navigation system based on changes in position of the objects in the first and second images after a period of time.

7. The stereo camera of claim 6, wherein the at least one image sensor comprises one of a charge-coupled device (CCD) and a complementary metal-oxide-semiconductor (CMOS) sensor.

8. The stereo camera of claim 6, wherein the first and second surfaces are separated along a common axis.

9. 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 a first image sensor via one of a first reflective surface or a first ultra-wide angle lens, wherein the first view comprises an approximately 360 degree view of the area;

directing a second view of the area to a second image sensor via one of a second reflective surface or a second ultra-wide angle lens, wherein the second view comprises an approximately 360 degree view of the area;

capturing, with the first image sensor, the first view in a first image;

capturing the second view in a second image with the second image sensor; 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

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;

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 first and second images 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 first and second images after a period of time.

10. The method of claim 9, 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.