Omniview motionless camera surveillance system

• US 5,359,363 A
• Filed: 02/08/1993
• Issued: 10/25/1994
• Est. Priority Date: 05/13/1991
• Status: Expired due to Term

• Current Assignee: Sony Corporation (Sony Group Corp.)
• Original Assignee: Telerobotics International, Inc.
• Inventors: Busko, Nick, Kuban, Daniel P., Martin, H. Lee, Zimmermann, Steven D.
• Primary Examiner(s): Powell, Mark R.
• Assistant Examiner(s): Burgess, Glenton B.
• Application Number:
  US08/014,508
• Time in Patent Office: 624 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, 348/207, 348/36, 348/143
• US Class Current: 348/36
• 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: G06F 16/40 of multimedia data, e.g. slideshows comprising image and additional audio data retrieval of still image data G06F16/50; retrieval of audio data G06F16/60; retrieval of video data G06F16/70
• 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: G08B 13/19689 Remote control of cameras, e.g. remote orientation or image zooming control for a PTZ camera
• 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 selected field-of-view for use in any application including inspection, monitoring, surveillance, and target acquisition. The imaging device (using optical or infrared images) is based on the effect that the image from a wide angle lens, which produces a circular image of an entire field-of-view, can be mathematically corrected using high speed electronic circuitry. More specifically, an incoming 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. Multiple simultaneous images can be output from a single input image. As a result, this device can accomplish the functions of pan, tilt, rotation, and zoom throughout the selected field-of-view without the need for any mechanical mechanisms to move a camera.

Claims

1. A device for providing perspective and distortion corrected views of a selected portion of a field of view in a desired format, said device comprising:

an imaging system for receiving selected optical and infrared images of said selected portion of a field of view and for producing output signals corresponding to said selected optical and infrared images;

a lens attached to said imaging system for conveyance of said selected optical and infrared images to said imaging system;

image capture circuitry for receiving and providing digitized signals from said output signals from said imaging system;

input image memory circuitry for receiving said digitized signals from said image capture circuitry;

image transform circuitry for processing said digitized signals from said input image memory circuitry according to selected viewing pan, tilt, rotation and magnification degrees and for producing output signals according to a combination of said digitized signals and said selected viewing pan, tilt, rotation and magnification degrees;

output image memory circuitry for receiving said output signals from said image transform circuitry;

an input for selected user and external computer input to select said pan, tilt, rotation and magnification degrees, and for converting said selected viewing pan, tilt, rotation and magnification degrees for input to said image transform circuitry to control said processing of said image transform circuitry; and

an output connected to said output image circuitry for recording said perspective and distortion corrected views according to said selected viewing pan, tilt, rotation and magnification degrees.

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

##EQU7## where;

A=(cosφ

cos∂

-sinφ

sin∂

cosβ

)

B=(sinφ

cos∂

+cosφ

sin∂

cosβ

)

C=(cosφ

sin∂

+sinφ

cos∂

cosβ

)

D=(sinφ

sin∂

-cosφ

cos∂

cosβ

)

and where;

R=radius of the image circle

β

=zenith angle

∂

=Azimuth angle in image plane

φ

=Object plane rotation angle

m=Magnification

u,v=object plane coordinates

x,y=image plane coordinates.

2. A surveillance device for providing perspective corrected views of a selected portion of perspective distorted optical images from an environment into a desired format, said device comprising:

an imaging system for receiving optical images from the environment and for producing output signals corresponding to said perspective distorted optical images, said imaging system including a wide angle lens for optical conveyance of said optical images to a video camera within said imaging system and positioned within the environment, said optical images to said video camera being perspective distorted by said wide angle lens;

image capture circuitry for receiving, and producing digitized signals from, said output signals from said imaging system;

input image memory circuitry for receiving said digitized signals from said image capture circuitry;

image transform circuitry for processing said digitized signals in said input memory circuitry according to selected viewing angles of pan, tilt, rotation and magnification degrees for producing output signals of perspective corrected images according to a combination of said digitized signals and said selected viewing angles of pan, tilt, rotation and magnification degrees;

output image memory circuitry for receiving said output signals from said image transform circuitry;

an input for selecting said viewing pan, tilt, rotation and magnification degrees, and for producing signals to control said processing of said image transform circuitry as to said viewing pan, tilt, rotation and magnification degrees; and

an output connected to said output image circuitry for recording said perspective corrected views according to said selected viewing pan, tilt, rotation and magnification degrees.

3. The device of claim 2 wherein said imaging system further comprises a video recorder for receiving and recording said output signals of said video camera for selective input to said image capture circuitry.

4. The device of claim 2 further comprising a further input for inputting control signals to said image transform circuitry to achieve simultaneous multiple perspective corrected views in said output and selected scanning of said video camera.

5. The device of claim 4 wherein a plurality of video cameras are within the environment, each video camera being provided with a wide angle lens, and wherein said selected scanning of said video camera by said further input comprises selecting between incremental effective movement of optical images of a single video camera and switching between optical images of different of said plurality of video cameras in the environment.

6. The device of claim 4 wherein said input and said further input includes selective computer and user inputs.

7. The device of claim 4 wherein said further input includes discrete switches to control said processing of said image transform circuitry.

8. The device of claim 7 further comprising at least one alarm device operated by said further input means and by said discrete switches.

10. The device of claim 2 wherein said image transform circuitry is programmed to implement the following two equations:

##EQU8## where;

A=(cosφ

cos∂

-sinφ

sin∂

cosβ

)

B=(sinφ

cos∂

+cosφ

sin∂

cosβ

)

C=(cosφ

sin∂

+sinφ

cos∂

cosβ

)

D=(sinφ

sin∂

-cosφ

cos∂

cosβ

)

and where;

R=radius of the image circle

β

=zenith angle

∂

=Azimuth angle in image plane

φ

=Object plane rotation angle

m=Magnification

u,v=object plane coordinates

x,y=image plane coordinates.

11. A surveillance device for providing perspective corrected views of a selected portion of perspective distorted optical images from an environment into a desired format, said device comprising:

an imaging system for receiving optical images from the environment and for producing output signals corresponding to said perspective distorted optical images, said imaging system including a wide angle lens for optical conveyance of said optical images to a video camera within said imaging system and positioned within the environment, said optical images to said video camera being perspective distorted by said wide angle lens;

image capture circuitry for receiving, and producing digitized signals from, said output signals from said imaging system;

input image memory circuitry for receiving said digitized signals from said image capture circuitry;

image transform circuitry for processing said digitized signals in said input memory circuitry according to selected viewing angles of pan, tilt, rotation and magnification degrees for producing output signals of perspective corrected images according to a combination of said digitized signals and said selected viewing angles of pan, tilt, rotation and magnification degrees;

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

an input for selecting said viewing pan, tilt, rotation and magnification degrees, and for producing signals to control said processing of said image transform circuitry as to said viewing pan, tilt, rotation and magnification degrees; and

a further input for inputting control signals to said image transform circuitry to achieve multiple perspective corrected views in said output means and selected scanning of said video camera; and

an output connected to said output image circuitry for recording said perspective corrected views according to said selected viewing pan, tilt, rotation and magnification degrees;

wherein said image transform circuitry is programmed to implement the following two equations;

##EQU9## where;

A=(cosφ

cos∂

-sinφ

sin∂

cosβ

)

B=(sinφ

cos∂

+cosφ

sin∂

cosβ

)

C=(cosφ

sin∂

+sinφ

cos∂

cosβ

)

D=(sinφ

sin∂

-cosφ

cos∂

cosβ

)

and where;

R=radius of the image circle

β

=zenith angle

∂

=Azimuth angle in image plane

φ

=Object plane rotation angle

m=Magnification

u,v=object plane coordinates

x,y=image plane coordinates.

12. The device of claim 11 wherein a plurality of video cameras are within the environment, each of said video cameras being provided with a wide angle lens, and wherein said selected scanning of said video cameras by said further input comprises selecting between incremental effective movement of optical images of a single video camera and switching between optical images of different of said plurality of video cameras in the environment.

13. The device of claim 11 wherein said input and said further input include selective computer and user inputs.

14. The device of claim 11 wherein said further input comprises discrete switches to input said selected pan, tilt, rotation and magnification degrees into said image transform circuitry.

15. The device of claim 11 further comprising an output line from said image transform circuitry to selectively activate a video recorder in said image transform circuitry and an alarm.

16. The device of claim 14 wherein said further input further comprises at least one input line for carrying an input signal from external sensors in the environment as to closure status of discrete switches of said external sensors.

17. The device of claim 11 further comprising a sensor for determining existance of output signals from said imaging system and for energizing an alarm upon determination of absence of said output signals from said imaging system.

18. The device of claim 14 wherein said further input further comprises at least one input line for carrying an interrogation signal to said image transform circuitry to interrogate for system parameters and performance.