Three-dimensional vision system for displaying images taken from a moving vehicle

• US 8,780,174 B1
• Filed: 10/12/2010
• Issued: 07/15/2014
• Est. Priority Date: 10/12/2010
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Rawdon, Blaine K.
• Primary Examiner(s): Czekaj, Dave
• Assistant Examiner(s): SULLIVAN, TYLER
• Application Number:
  US12/903,010
• Time in Patent Office: 1,372 Days
• Field of Search: None
• US Class Current: 348/43
• CPC Class Codes: H04N 13/211 using temporal multiplexing
• CPC Class Codes: H04N 13/221 using the relative movement between cameras and objects
• CPC Class Codes: H04N 23/6812 based on additional sensors, e.g. acceleration sensors
• CPC Class Codes: H04N 23/683 performed by a processor, e.g. controlling the readout of an image memory

Abstract

A three-dimensional vision system, device, and methods using the same are disclosed. The system or device includes an image device capable of capturing a plurality of sequential individual or scanned images of a field-of view, a buffer that stores the images for a predetermined time delay, first and second image stabilizers coupled to the buffer, and a display. The predetermined time delay signals the buffer to transmit an older image and a newer image, sequentially separated in time by the predetermined time of the predetermined time delay. The display is coupled to the first and second image stabilizers to present the images to a viewer in a format that enables the viewer to see a three-dimensional image. At least one of the first and second image stabilizers adjust the orientation of either the older image or the newer image to correspond to the orientation of the other image.

Claims

1. A three-dimensional vision system comprising:

a single image device configured to capture a plurality of images of a field-of view comprised of individual or scanned images temporally separated from one another by a preselected time period while the image device is moved with a velocity;

wherein the plurality of images of the field-of view are taken from a moving vehicle having a gyroscope;

a buffer that stores the images therein, wherein a first time signal having a first time period signals the buffer to transmit a newer image therefrom and a second time signal having a second time period that is longer than the first time period signals the buffer to transmit an older image therefrom that are sequentially separated in time by a time difference of the second time signal from the first time signal;

a display coupled to the buffer, wherein the display receives the older image and the newer image and presents the older and newer images in a binocular format to a viewer that enables the viewer to see a three-dimensional image of the field-of-view;

wherein the time difference is set relative to a selected interpupillary distance between the older image and the new image for the binocular format; and

a user-adjustable input controller in communication with at least the second time signal to adjust the time difference thereby adjusting the sensation of three-dimensional depth perception;

a first gyroscope buffer and a second gyroscope buffer coupled to the gyroscope, wherein the first and second gyroscope buffers both receive and store the same data characteristic of the orientation of the moving vehicle from the gyroscope, the data corresponding in time to the generation of the images of the field-of-view;

a first image stabilizer coupled to the buffer, wherein the newer image is transmitted to the first image stabilizer; and

a second image stabilizer coupled to the buffer, wherein the older image is transmitted to the second image stabilizer, and at least one of the first and second image stabilizers adjusts the orientation of either the older image or the newer image to correspond to the orientation of the other image; and

wherein the first and second gyroscope buffers and the first and second image stabilizers are included in or are connected to a processor, wherein the processor receives data from the first gyroscope buffer that corresponds in time to the first time signal and receives data from the second gyroscope buffer that corresponds in time to the second time signal and determines any change in the data during the time difference and transmits the change to one or more of the first and second image stabilizers; and

wherein at least one of the first and second image stabilizers receives the change in the data for adjusting the orientation of either the older image or the newer image; and

thereafter sends the older image and the newer image, post-adjustment, to the display.

2. The system of claim 1, wherein at least one of the first and second image stabilizers adjusts at least one of the older and newer images to compensate for higher frequency angular motions of the moving vehicle.

3. The system of claim 1, wherein the moving vehicle is an aircraft and the data from the gyroscope includes pitch, roll and yaw thereof.

4. The system of claim 1, further comprising an image recorder upstream of the buffer and coupled thereto.

5. The system of claim 1, further comprising an image recorder downstream from the first and second image stabilizers but upstream of the display, the image recorder having a first channel for recording the newer image and a second channel for recording the older image.

6. The system of claim 5, wherein the display includes a stereo video display.

7. The system of claim 1, wherein the imaging device is a camera or sensor mounted on a vehicle.

8. The system of claim 7, wherein the camera or sensor collects images of the field-of-view that are generally perpendicular to the forward or backward direction of movement of the vehicle.

9. The system of claim 1, further comprising a pan processor coupled between the first and second image stabilizers and the display, a zoom processor coupled between the first and second image stabilizers and the display, and a zoom controller coupled to the zoom processor and a pan controller coupled to the pan processor.

10. The system of claim 9, further comprising a convergence controller coupled to the pan processor, wherein the convergence controller adjusts the lateral position of either one or both of the older image and the newer image relative to each other.

11. The system of claim 10, wherein the convergence controller adjusts the lateral position of the older image and the newer image in opposite directions.

12. The system of claim 1, wherein the image device is a scanner capable of scanning that scans a motion picture into sequential scanned images.

13. The system of claim 1, wherein the system is contained within a housing connectable to a user or hand-holdable by the user to move with the user.

14. The system of claim 1, wherein the buffer includes a first buffer portion that stores the images therein and a second buffer portion that stores the images therein also, and wherein the first time signal signals the first buffer portion to transmit the older image and the second time signal signals the second buffer portion to transmit the newer image therefrom.

15. The system of claim 1, wherein the orientation adjustment includes alignment of the older image and the newer image to account for the angular motion of the image device.

16. The system of claim 1, wherein the single imaging device is mounted to the moving vehicle, and the time difference is set relative to an interpupillary distance that exceeds the length of the moving vehicle upon which the single imaging device is mounted.

17. A portable device connectable to a user or hand-holdable by a user to move with the user, the portable device comprising:

a housing enclosing components of a three-dimensional vision system, the three-dimensional vision system comprising;

a single image device configured to capture a plurality of sequential individual images of a field-of view that are temporally separated from one another by a preselected time period while the image device is moved with a velocity;

a buffer that stores the plurality of images, wherein a time delay signal instructs the buffer to transmit an older image and a newer image therefrom that are sequentially separated in time by a predetermined amount of time; and

a display coupled to the buffer, wherein the display receives the older image and the newer image and presents the older and newer images to a viewer in a binocular format that enables the viewer to see a three-dimensional image of the field-of-view;

wherein the predetermined time delay is set relative to a selected interpupillary distance between the older image and the new image for the binocular format;

wherein the buffer includes a first buffer portion that stores the images therein and a second buffer portion that stores the images therein also and wherein the predetermined amount of time is set according to a first predetermined time delay and a second predetermined time delay that are different from one another, and wherein the first predetermined time delay signals the first buffer portion to transmit an older image and the second predetermined time delay signals the second buffer portion to transmit a newer image therefrom; and

a first image stabilizer coupled to the buffer, wherein the newer image is transmitted to the first image stabilizer; and

a second image stabilizer coupled to the buffer, wherein the older image is transmitted to the second image stabilizer, and at least one of the first and second image stabilizers adjusts the orientation of either the older image or the newer image to correspond to the orientation of the other image;

a gyroscope;

a first gyroscope buffer and a second gyroscope buffer coupled to the gyroscope, wherein the first and second gyroscope buffers both receive from the gyroscope and store the same data characteristic of the orientation of the housing, the data corresponding in time to the generation of the images of the field-of-view;

wherein the first and second gyroscope buffers and the first and second image stabilizers are included in or are connected to a processor, wherein the processor receives data from the first gyroscope buffer that corresponds in time to the capture of the newer image and receives data from the second gyroscope buffer that corresponds in time to the capture of the older image and determines any change in the data during the predetermined amount of time and transmits the change to one or more of the first and second image stabilizers;

wherein at least one of the first and second image stabilizers receives the change in the data and adjusts the orientation of either the older image or the newer image; and

thereafter sends the older image and the newer image, post-adjustment, to the display; and

wherein the housing is connectable to a user or hand-holdable by the user to move with the user.

18. The device of claim 17, wherein the display comprises a first display and a second display oriented such that the first display is alignable with a right eye of the user and the second display is alignable with a left eye of the user.

19. A method for presenting two-dimensional images for visualization of a three-dimensional image, the method comprising:

providing a three-dimensional imaging system comprising at least one buffer, at least one image stabilizer, a display or a recorder, an adjustable time signal, and an input controller adjustable by a user of the display or recorder;

storing a plurality of sequential images of a field-of-view in the buffer, wherein the sequential images are temporally separated from one another by a preselected time period;

transmitting from the buffer to the image stabilizer an older image and a newer image that are separated from one another by a predetermined time delay based upon the adjustable time signal;

optionally, aligning the orientation of at least one of the older and newer images relative to the other to provide a binocular effect;

setting the adjustable time signal to establish the predetermined time delay, wherein the predetermined time delay is set relative to a selected interpupillary distance between the older image and the new image for a binocular format;

providing the input controller configured for the user to change the adjustable time signal to change the interpupillary distance thereby adjusting the sensation of three-dimensional depth perception;

displaying or recording the older and newer images in the binocular format enabling a viewer thereof to see a three-dimensional image;

capturing the plurality of sequential images using an image device mounted on a vehicle having a gyroscope, wherein the capturing occurs while the vehicle is moving; and

storing the same data from the gyroscope in both a first gyroscope buffer and a second gyroscope buffer;

wherein the aligning step includes;

determining any change in the data from the gyroscope during the predetermined time delay; and

adjusting the orientation of at least one of the older image and newer image relative to the other image to compensate for any change in the orientation of the vehicle.

20. The method of claim 19, further comprising:

adjusting the lateral position of at least one of the older and newer images relative to the other image to align objects present in the images.