Panoramic stereo catadioptric imaging
First Claim
Patent Images
1. A system, comprising:
- a sensor component that detects energy that impinges on the sensor component, wherein a vertical field-of-view for stereo vision is centered near a horizontal plane of the vertical field-of-view;
a spatial processor component that determines spatial information relating to the energy detected by the sensor component;
a refractive element component that refracts a first part of the energy associated with a point of a scene to impinge on the sensor component; and
a reflective element component that reflects a second part of the energy associated with the point of the scene to impinge on the sensor component, wherein the second part of the energy is different from the first part of the energy.
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Abstract
The disclosed subject matter relates to providing panoramic stereo vision captured with a single camera scheme employing a catadioptric optical path. In an aspect the presently disclosed subject matter can capture a stereo image over a full 360-degree horizontal field of view or portions thereof. Further, the vertical FOV is enlarged compared to conventional cata-fisheye schemes. A system according to the instant subject matter can be calibrated with a computational model that can accommodate a non-single viewpoint imaging model to conduct 3D reconstruction in Euclidean space.
35 Citations
24 Claims
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1. A system, comprising:
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a sensor component that detects energy that impinges on the sensor component, wherein a vertical field-of-view for stereo vision is centered near a horizontal plane of the vertical field-of-view; a spatial processor component that determines spatial information relating to the energy detected by the sensor component; a refractive element component that refracts a first part of the energy associated with a point of a scene to impinge on the sensor component; and a reflective element component that reflects a second part of the energy associated with the point of the scene to impinge on the sensor component, wherein the second part of the energy is different from the first part of the energy. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A method, comprising:
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receiving a set of imaged scene information related to an image of a scene, the image of the scene comprising at least a portion of a field of view of a refractive element and a portion of a field of view of a reflective element; determining a first set of image information for a point of the scene, the first set of image information being related to the field of view of the refractive element; determining a second set of image information for the point of the scene, the second set of image information being related to the field of view of the reflective element; and determining 3-dimensional spatial information for the point of the scene based on the first set of image information and the second set of image information. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22)
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23. A non-transitory computer-readable storage medium having computer-executable instructions that, in response to execution, cause a computing device including a processor to perform operations, comprising:
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receiving a scene image information comprising refractive element image information and reflective element image information of a scene; determining a first set of image information, for a point of the scene, related to the refractive element image information; determining a second set of image information, for the point of the scene, related to the reflective element image information; and determining 3-dimensional spatial information for the point of the scene based on the first set of image information and the second set of image information.
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24. A system, comprising:
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means for detecting energy impinging on a plane, wherein a vertical field-of-view for stereo vision is centered near a horizontal plane of the vertical field-of-view; means for determining 3-dimensional spatial information relating to the energy detected by the means for detecting energy; means for refracting at least some of the energy to impinge on the means for detecting energy; and means for reflecting at least some of the energy to impinge on the means for detecting energy.
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Specification