Systems and methods for generating spherical images
First Claim
1. An imaging system, comprising:
- a support frame;
four image sensors carried by the support frame;
each image sensor comprising a lens system having an optical axis and a focal plane array aligned with the optical axis of the lens system;
each image sensor having a field of view that is at least substantially coterminous with the field of view of each adjacent image sensor;
the image sensors arranged so that;
the optical axis of each lens system is substantially collinear with a median of a common notional regular tetrahedron;
each focal plane array is positioned between the lens system of its respective image sensor and a centroid of the notional tetrahedron; and
each image sensor faces outwardly relative to the centroid of the notional tetrahedron.
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Abstract
An imaging system comprises four image sensors each pointing outwardly from the vertices of a notional tetrahedron with the optical axes of the image sensors substantially collinear with respective medians of the notional tetrahedron, with the focal plane array of each image sensor positioned between the lens system of its respective image sensor and the centroid of the notional tetrahedron. The imaging system and can be used to obtain image data for generating a spherical image of the space surrounding the imaging system. A method for generating a spherical image from this image data assigns spherical coordinates to the pixels in the images according to a cylindrical projection that is individually aligned with the image plane of each image, and blends overlapping pixels and fills blank pixel spaces. The method can be applied to image data representing outward views from the vertices or centroids of faces of any Platonic solid.
34 Citations
30 Claims
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1. An imaging system, comprising:
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a support frame; four image sensors carried by the support frame; each image sensor comprising a lens system having an optical axis and a focal plane array aligned with the optical axis of the lens system; each image sensor having a field of view that is at least substantially coterminous with the field of view of each adjacent image sensor; the image sensors arranged so that; the optical axis of each lens system is substantially collinear with a median of a common notional regular tetrahedron; each focal plane array is positioned between the lens system of its respective image sensor and a centroid of the notional tetrahedron; and each image sensor faces outwardly relative to the centroid of the notional tetrahedron. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method for generating a spherical image, comprising:
receiving four images; each image defining an image plane representing a field of view from a unique vertex of a notional regular tetrahedron outwardly along an optical axis that is substantially collinear with a notional line between a centroid of the notional tetrahedron and the respective vertex; the field of view of each image being at least substantially coterminous with the field of view of each adjacent image; assigning, to each pixel in each image, a spherical coordinate on a notional sphere according to a cylindrical projection aligned with the image plane for that image; and using the spherical coordinates to assign colours derived from the pixels to pixel positions in a spherical image according to a spherical image template; wherein; the notional sphere intersects the vertices of the notional tetrahedron; the notional sphere is centred on the centroid of the notional tetrahedron; and the image plane of each image is substantially tangential to the notional sphere; and and wherein the cylindrical projection is aligned with the image plane for that image by a notional cylinder of the cylindrical projection having its cylinder wall substantially tangential to the image plane and its longitudinal axis intersecting the centroid of the notional tetrahedron. - View Dependent Claims (8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A method for generating a spherical image, comprising:
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receiving a set of images; each image defining an image plane representing a field of view from a unique surrounding point of a notional Platonic solid outwardly along an optical axis substantially collinear with a notional line between a centroid of the notional Platonic solid and the respective surrounding point; each surrounding point being a member of a set of surrounding points selected from the group consisting of; (a) the set of all vertices of the notional Platonic solid; and (b) the set of all centroids of faces of the notional Platonic solid; the number of images in the set being equal to the number of surrounding points in the selected set of surrounding points for the notional Platonic solid; the field of view of each image being at least substantially coterminous with the field of view of each adjacent image; assigning, to each pixel in each image, a spherical coordinate on a notional sphere according to a cylindrical projection aligned with the image plane for that image; and using the spherical coordinates to assign colours derived from the pixels to pixel positions in the spherical image according to a spherical image template; wherein; the notional sphere intersects the vertices of the notional Platonic solid; the notional sphere is centred on the centroid of the notional Platonic solid; and the image plane of each image is substantially tangential to the notional sphere; and wherein the cylindrical projection is aligned with the image plane for that image by a notional cylinder of the cylindrical projection having its cylinder wall substantially tangential to the image plane and its longitudinal axis intersecting the centroid of the notional Platonic solid. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 30)
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Specification