Omniview motionless camera orientation system

• US 5,185,667 A
• Filed: 05/13/1991
• Issued: 02/09/1993
• Est. Priority Date: 05/13/1991
• Status: Expired

• Current Assignee: Sony Corporation (Sony Group Corp.)
• Original Assignee: Telerobotics International, Inc.
• Inventors: Zimmermann, Steven D.
• Primary Examiner(s): Groody, James J.
• Assistant Examiner(s): BURGESS, GLENTON B
• Application Number:
  US07/699,366
• Time in Patent Office: 638 Days
• Field of Search: 358/108, 358/87, 358/209, 358/85, 358/180, 358/229, 358/903, 358/160, 358/183, 359/718, 359/728, 359/364, 359/363, 382/44, 395/137-139
• US Class Current: 348/207.99
• CPC Class Codes: A61B 2090/0813 Accessories designed for easy sterilising, i.e. re-usable
• CPC Class Codes: G03B 37/06 involving anamorphosis G03B37/02, G03B37/04 take precedence
• CPC Class Codes: G06T 3/047 Fisheye or wide-angle transformations
• CPC Class Codes: G06T 3/12 Panospheric to cylindrical image transformations
• CPC Class Codes: G08B 13/19628 of wide angled cameras and camera groups, e.g. omni-directional cameras, fish eye, single units having multiple cameras achieving a wide angle view
• CPC Class Codes: H04N 1/2158 using a detachable storage unit
• CPC Class Codes: H04N 1/217 Interfaces allowing access to a single user
• CPC Class Codes: H04N 23/58 Means for changing the camera field of view without moving the camera body, e.g. nutating or panning of optics or image sensors
• CPC Class Codes: H04N 23/698 for achieving an enlarged field of view, e.g. panoramic image capture
• CPC Class Codes: H04N 25/00 Circuitry of solid-state image sensors [SSIS]; Control thereof
• CPC Class Codes: H04N 5/2628 Alteration of picture size, shape, position or orientation, e.g. zooming, rotation, rolling, perspective, translation
• CPC Class Codes: H04N 7/002 Special television systems not provided for by H04N7/007 - H04N7/18 still pictures via a television channel H04N1/00098
• CPC Class Codes: H04N 7/183 for receiving images from a single remote source

Abstract

A device for omnidirectional image viewing providing pan-and-tilt orientation, rotation, and magnification within a hemispherical field-of-view that utilizes no moving parts. The imaging device is based on the effect that the image from a fisheye lens, which produces a circular image of an entire hemispherical field-of-view, which can be mathematically corrected using high speed electronic circuitry. More specifically, an incoming fisheye image from any image acquisition source is captured in memory of the device, a transformation is performed for the viewing region of interest and viewing direction, and a corrected image is output as a video image signal for viewing, recording, or analysis. As a result, this device can accomplish the functions of pan, tilt, rotation, and zoom throughout a hemispherical field-of-view without the need for any mechanical mechanisms. The preferred embodiment of the image transformation device can provide corrected images at real-time rates, compatible with standard video equipment. The device can be used for any application where a conventional pan-and-tilt or orientation mechanism might be considered including inspection, monitoring, surveillance, and target acquisition.

Claims

1. A device for providing perspective corrected views of a selected portion of a hemispherical view in a desired format that utilizes no moving parts, which comprises:

a camera imaging system for receiving optical images and for producing output signals corresponding to said optical images;

fisheye lens means attached to said camera imaging system for producing said optical images, throughout said hemispherical field-of-view, for optical conveyance to said camera imaging system;

image capture means for receiving said output signals from said camera imaging system and for digitizing said output signals from said camera imaging system;

input image memory means for receiving said digitized signals;

image transform processor means for processing said digitized signals in said input image memory means according to selected viewing angles and magnification, and for producing output transform calculation signals according to a combination of said digitized signals, said selected viewing angles and said selected magnification;

output image memory means for receiving said output signals from said image transform processor means;

input means for selecting said viewing angles and magnification;

microprocessor means for receiving said selected viewing angles and magnification from said input means and for converting said selected viewing angles and magnification for input to said image transform processor means to control said processing of said transform processor means; and

output means connected to said output image memory means for recording said perspective corrected view according to said selected viewing angles and magnification.

2. The device of claim 1 wherein said output means includes image display means for providing a perspective corrected image display according to said selected viewing angle and said magnification.

3. The device of claim 1 wherein said input means further provides for input of a selected portion of said hemispherical view to said transform processor means.

4. The device of claim 1 wherein said input means further provides for input of a selected tilting of said viewing angle through 180 degrees.

5. The device of claim 1 wherein said input means further provides for input of a selected rotation of said viewing angle through 360 degrees to achieve said perspective corrected view.

6. The device of claim 1 wherein said input means further provides for input of a selected pan of said viewing angle through 180 degrees.

7. The device of claim 1 wherein said output transform calculation signals of said image transform processor means are produced in real-time at video rates.

8. The device of claim 1 wherein said input means is a user-operated manipulator switch means.

9. The device of claim 1 wherein said image transform processor means is programmed to implement the following two equations:

##EQU7## where;

space="preserve" listing-type="equation">A=(cos O cos ∂

-sin O sin ∂

cos β

)

space="preserve" listing-type="equation">B=(sin O cos ∂

+cos O sin ∂

cos β

)

space="preserve" listing-type="equation">C=(cos O sin ∂

+sin O cos ∂

cos β

)

space="preserve" listing-type="equation">D=(sin O sin ∂

-cos O cos ∂

cos β

)

and where;

R=radius of the image circle

β

=zenith angle

∂

=Azimuth angle in image plane

O=Object plane rotation angle

m=Magnification

u,v=object plane coordinates

x,y=image plane coordinates

10. A device for providing perspective corrected views of a selected portion of a hemispherical view in a desired format that utilizes no moving parts, which comprises:

a camera imaging system for receiving optical images and for producing output signals corresponding to said optical images;

fisheye lens means attached to said camera imaging system for producing said optical images, throughout said hemispherical field-of-view, for optical conveyance to said camera imaging system;

image capture means for receiving said output signals from said camera imaging system and for digitizing said output signals from said camera imaging system;

input image memory means for receiving said digitized signals;

image transform processor means for processing said digitized signals in said input image memory means according to selected viewing angles and magnification, and for producing output signals, said selected viewing angles and said selected magnification, according to the equations;

##EQU8## where;

space="preserve" listing-type="equation">A=(cos O cos ∂

-sin O sin ∂

cos β

)

space="preserve" listing-type="equation">B=(sin O cos ∂

+cos O sin ∂

cos β

)

space="preserve" listing-type="equation">C=(cos O sin ∂

+sin O cos ∂

cos β

)

space="preserve" listing-type="equation">D=(sin O sin ∂

-cos O cos ∂

cos β

)

and where;

R=radius of the image circle

β

=zenith angle

∂

=Azimuth angle in image plane

O=Object plane rotation angle

m=Magnification

u,v=object plane coordinates

x,y=image plane coordinates

output image memory means for receiving said output signals from said image transform processor means;

input means for selecting said viewing angles and magnification;

microprocessor means for receiving said selected viewing angles and magnification from said input means and for converting said selected viewing and magnification for input to said image transform processor means to control said processing of said transform processor means; and

output means connected to said output image means for recording said perspective corrected views according to said selected viewing angles and implementation.

11. A device for providing perspective corrected views of a selected portion of a hemispherical view in a desired format that utilizes no moving parts, which comprises:

a camera imaging system for receiving optical images and for producing output signals corresponding to said optical images;

fisheye lens means attached to said camera imaging system for producing said optical images, throughout said hemispherical field-of-view, for optical conveyance to said camera imaging system;

image capture means for receiving said output signals from said camera imaging system and for digitizing said output signals from said camera imaging system;

input image memory means for receiving said digitized signals;

image transform processor means for processing said digitized signals in said input image memory means according to selected viewing angles and magnification, and for producing output transform calculation signals in real-time at video rates according to a combination of said digitized signals, said viewing angles and said selected magnification;

user operated input means for selecting said viewing angles and magnification;

microprocessor means for receiving said selected viewing angles and magnification from said user operated input means and for converting said selected viewing angles and magnification for input to said image transform processor means to control said processing of said transform processor means;

output image memory means for receiving said output transform calculation signals in real-time and at video rates from said image transform processor means; and

output means connected to said output image memory means for recording said perspective corrected views according to said selected viewing angles and magnification.