Systems, methods, and apparatuses for stereoscopic imaging

• US 9,992,482 B2
• Filed: 08/28/2015
• Issued: 06/05/2018
• Est. Priority Date: 08/28/2015
• Status: Active Grant

• Current Assignee: ETH Zurich, Disney Enterprises Incorporated (The Walt Disney Company)
• Original Assignee: ETH Zurich, Disney Enterprises Incorporated (The Walt Disney Company)
• Inventors: Beardsley, Paul, Mora, Javier Alonso
• Primary Examiner(s): Sosanya, Obafemi
• Application Number:
  US14/839,374
• Publication Number:
  US 20170064290A1
• Time in Patent Office: 1,012 Days
• CPC Class Codes: G02B 17/061 on-axis systems with at least one of the mirrors having a central aperture
• CPC Class Codes: G02B 27/0012 Optical design, e.g. procedures, algorithms, optimisation routines
• CPC Class Codes: G06T 7/85 Stereo camera calibration
• CPC Class Codes: H04N 13/243 using three or more 2D image sensors
• CPC Class Codes: H04N 13/286 having separate monoscopic and stereoscopic modes
• CPC Class Codes: H04N 13/296 Synchronisation thereof; Control thereof
• CPC Class Codes: H04N 2213/001 Constructional or mechanical details
• CPC Class Codes: H04N 23/11 for generating image signals from visible and infrared light wavelengths
• CPC Class Codes: H04N 23/51 Housings

Abstract

An omnidirectional camera apparatus configured to facilitate omnidirectional stereo imaging is described. The apparatus may include a first convex mirror, a first camera disposed at the first convex mirror, a second convex mirror, and a second camera disposed at the second convex mirror. The first convex mirror and the second convex mirror may be arranged such that a first mirrored surface of the first convex mirror and a second mirrored surface of the second convex mirror may face each other. The first camera may capture imagery reflected off the second convex mirror. The second camera may capture imagery reflected off the first convex mirror. A method of calibrating an omnidirectional camera apparatus is also described.

Claims

1. An omnidirectional stereo camera system, comprising:

a first convex mirror having a first principle axis, a first mirrored surface, and a first central portion disposed along the first principle axis, the first central portion being configured to allow light to pass through the first central portion;

a second convex mirror having a second principle axis, a second mirrored surface, and a second central portion disposed along the second principle axis, the second central portion being configured to allow light to pass through the second central portion, the first convex mirror and the second convex mirror being arranged such that the first principle axis and the second principle axis are aligned and the first mirrored surface and the second mirrored surface face each other without obstruction of a space between the first mirrored surface and the second mirrored structure;

a first camera disposed behind the first convex mirror and aligned with the first principle axis such that light passing through the first central portion of the first convex mirror impinges on the first camera; and

a second camera disposed behind the second convex mirror and aligned with the second principle axis such that light passing through the second central portion of the second convex mirror impinges on the second camera; and

wherein the first camera disposed behind the first convex mirror is configured to capture imagery reflected by the second mirrored surface, and wherein the second camera disposed behind the second convex mirror is configured to capture imagery reflected by the first mirrored surface.

2. The omnidirectional stereo camera system of claim 1, wherein the first central portion is an aperture in the first convex mirror, and wherein the second central portion is an aperture in the second convex mirror.

3. The omnidirectional stereo camera system of claim 1, wherein the first central portion is a transparent or semitransparent portion of the first convex mirror, and wherein the second central portion is a transparent or semitransparent portion of the second convex mirror.

4. The omnidirectional stereo camera of claim 1, wherein the first convex mirror, the first camera, the second convex mirror, and the second camera comprise part of a movable robot.

5. The omnidirectional stereo camera of claim 1, further comprising:

a spherical shell housing at least the first convex mirror, the first camera, the second convex mirror, and the second camera; and

wherein the positioning of the first convex mirror, the first camera, the second convex mirror, and the second camera within the spherical shell is such that the center of gravity of the omnidirectional stereo camera system is offset from a center point of the spherical shell.

6. The omnidirectional stereo camera of claim 5, wherein the first convex mirror, the first camera, the second convex mirror, and the second camera comprise part of a unitary structure within the spherical shell, and wherein the shell rotates independently from the unitary structure.

7. The omnidirectional stereo camera of claim 6, wherein the unitary structure includes a drive mechanism configured to drive rotational motion of the spherical shell independently from the unitary structure to facilitate traversal of the omnidirectional stereo camera over a surface.

8. The omnidirectional stereo camera of claim 1, wherein the first convex mirror is defined by a cross-sectional profile, wherein the profile comprises a first portion defined by a hyperbolic function, the first portion encompassing a first area between an edge of the first convex mirror and an intermediate location located between the edge and a central portion of the first convex mirror, and second portion defined by a linear or quadratic function, the second portion encompassing a second area between the intermediate location and the central portion.

9. The omnidirectional stereo camera of claim 1, further comprising one or more physical processors coupled to the first camera and/or second camera, wherein the one or more physical processors are configured by computer-readable instructions to:

receive first information from the first camera and second information from the second camera, the first information describing a first image captured by the first camera, the first image depicting a first object reflected off the second convex mirror, the second information describing a second image captured by the second camera, the second image depicting the first object reflected off the first convex mirror; and

determine a position and/or orientation of the first object within three-dimensional space based on the received first and second information.