Super wide-angle panoramic imaging apparatus

• US 6,611,282 B1
• Filed: 01/04/2000
• Issued: 08/26/2003
• Est. Priority Date: 01/04/1999
• Status: Expired due to Term

• Current Assignee: Remote Reality
• Original Assignee: Remote Reality
• Inventors: Nayar, Shree K., Korein, James, Trubko, Sergey, Peri, Venkata N.
• Primary Examiner(s): Philippe, Gims S.
• Application Number:
  US09/477,415
• Time in Patent Office: 1,330 Days
• Field of Search: 348/36, 348/37, 348/335, 348/373, 359/725, 359/366, 359/729, 359/859, 359/731, 434/44
• US Class Current: 348/36
• CPC Class Codes: G02B 13/06 Panoramic objectives; So-called "sky lenses" including panoramic objectives having reflecting surfaces
• CPC Class Codes: G02B 17/061 on-axis systems with at least one of the mirrors having a central aperture
• CPC Class Codes: G02B 17/0808 on-axis systems with at least one of the mirrors having a central aperture

Abstract

A system for capturing super wide-angle panoramic images. In particular, a two-reflector system is disclosed which is substantially self-correcting in which optical aberrations are substantially eliminated, such as field curvature, astigmatism and the like. Moreover, the super wide-angle panoramic imaging apparatus of the invention captures a super-wide field of view from a substantially single reference viewpoint. The invention provides a substantially compact viewpoint, while also having a substantially flat and stigmatic image plane, in the context of a super wide-angle panoramic system. Devices and methods for capturing panoramic images of super wide-angle scenes are provided. In a particular embodiment of the invention, two reflectors are provided (e.g., one a hyperboloidal mirror, the other a concave ellipsoidal or spherical mirror), a relay system (e.g., optics such as a mirror, a lens, a pinhole and the like) and an image sensor (e.g., an electronic photo-sensor, a film and the like).

Claims

1. A panoramic imaging apparatus for sensing a super wide-angle field of view comprising:

(a) a pair of reflectors, including (i) a primary reflector having a first shape and a first size and capable of providing a first reflection of a super wide-angle scene, and (ii) a secondary reflector having a second shape and a second size, which is positioned to accept the first reflection to provide a second reflection at a first location, the shapes and sizes of the primary and secondary reflectors, and their respective positions, are such that the second reflection provided at the first location is substantially free of field curvature effects and astigmatic effects;

(b) a relay system positioned to accept the second reflection and comprising optics capable of substantially filtering out optical rays other than those reflected directly by the secondary reflector from incoming optical rays reflected directly by the first reflector to provide a filtered reflection; and

(c) an image sensor positioned to accept the filtered reflection, in which the panoramic imaging apparatus captures the super wide-angle scene from a substantially single reference viewpoint.

2. The panoramic imaging apparatus of claim 1 in which the relay system includes optics capable of relocating a reflection at a first location to a second location to provide a relocated reflection.

3. The panoramic imaging apparatus of claim 1 in which the second reflection is substantially flat and stigmatic.

4. The panoramic imaging apparatus of claim 1 in which the primary reflector is convex and the secondary reflector is concave.

5. The panoramic imaging apparatus of claim 1 in which the primary reflector is substantially hyperboloid and the secondary reflector is substantially ellipsoid.

6. The panoramic imaging apparatus of claim 1 in which the image sensor comprises photographic film.

7. The panoramic imaging apparatus of claim 1 in which the image sensor comprises a CCD image sensor.

8. The panoramic imaging apparatus of claim 1 in which the image sensor comprises a CMOS image sensor.

9. The panoramic imaging apparatus of claim 1 in which the image sensor comprises a video camera.

10. The panoramic imaging apparatus of claim 1 in which the relay system is positioned such that the primary reflector is between the secondary reflector and the relay system.

11. The panoramic imaging apparatus of claim 1 in which the relay system comprises a pinhole.

12. The panoramic imaging apparatus of claim 1 in which the relay system comprises at least one lens.

13. The panoramic imaging apparatus of claim 1 in which the relay system comprises at least one mirror.

14. The panoramic imaging apparatus of claim 1 in which the primary reflector comprises a substantially hyperboloidal mirror having a surface that substantially obeys the equation expressed in cylindrical coordinates, r²=2R₁z−

(1+k₁)z², where z is the coordinate along the optical axis, r is the radial coordinate, R₁ is the radius of curvature at the vertex of the conic that forms the primary reflector and k₁ is the conic constant of the primary reflector.

15. The panoramic imaging apparatus of claim 1 in which the primary reflector has an axis of rotation, comprises a mirror truncated at a plane that is substantially perpendicular to the axis of rotation and further has a near focal point and a far focal point.

16. The panoramic imaging apparatus of claim 1 in which the secondary reflector comprises a substantially ellipsoidal or spherical mirror having a surface which substantially obeys the equation expressed in cylindrical coordinates, r²=2R₂z−

(1+k₂)z², where z is the coordinate along the optical axis, r is the radial coordinate, R₂ is the radius of curvature at the vertex of the conic that forms the secondary reflector and k₂ is the conic constant of the secondary reflector.

17. The panoramic imaging apparatus of claim 1 in which the secondary reflector has an axis of rotation, which is substantially coincident with the axis of rotation of the primary reflector, comprises a mirror truncated at a plane which is substantially perpendicular to the axis of rotation of the secondary reflector and further has a near focal point and a far focal point.

18. The panoramic imaging apparatus of claim 1 in which a position of the near focal point of the secondary reflector is substantially coincident with a position of the far focal point of the primary reflector.

19. The panoramic imaging apparatus of claim 1 in which the relay system is positioned along the axis of rotation of the primary reflector and the secondary reflector.

20. The panoramic imaging apparatus of claim 1 in which the image sensor is positioned along the axis of rotation of the primary reflector and the secondary reflector.

21. The panoramic imaging apparatus of claim 1 further comprising a transparent mechanical support, which maintains the relative positions of the primary reflector, the secondary reflector, the relay system and the image sensor.

22. The panoramic imaging apparatus of claim 2 in which the image sensor provides an image signal representative of the relocated reflection and which apparatus further comprises an image signal processor that is coupled to the image sensor to convert the image signal into image signal data and to map the image signal data into a Cartesian coordinate system.

23. The panoramic imaging apparatus of claim 1 in which the image signal processor further includes an interpolator for providing interpolated image data, such that the interpolated image data and the image signal are combined to form a digital image.

24. The panoramic imaging apparatus of claim 1 in which the primary and secondary reflectors include back reflective mirrored surfaces of a solid transparent optical block.

25. The panoramic imaging apparatus of claim 24 in which the transparent block has at least one hole or groove.

26. The panoramic imaging apparatus of claim 25 in which the at least one hole or groove has an axis that coincides with an optical axis of the primary and secondary reflectors.

27. A method of providing a substantially stigmatic reflection of a super wide-angle field of view captured from a substantially single reference viewpoint comprising:

(a) providing a primary reflector to generate a first reflection of a super wide-angle scene, the primary reflector having a near focal point and a far focal point;

(b) providing a secondary reflector to accept the first reflection and to generate a second reflection, the secondary reflector having a near focal point and a far focal point;

(c) providing a relay system having an entrance pupil, in which the primary reflector, secondary reflector and lens are positioned such that the far focal point of the primary reflector coincides substantially with the near focal point of the secondary reflector and the entrance pupil of the relay system coincides substantially with the far focal point of the secondary reflector.

28. The method of claim 27 in which rays of light of the second reflection pass through a hole in the primary reflector and meet substantially at a single point on the optical axis of the primary reflector.

29. The method of claim 27 which further comprises substantially filtering out optical rays other than those reflected directly by the secondary reflector from incoming optical rays reflected directly by the first reflector to provide a filtered reflection.

30. The method of claim 27 which further comprises propagating the second reflection through the relay system to generate a relocated reflection.

31. The method of claim 29 which further comprises propagating the filtered reflection through the relay system to generate a relocated reflection.

32. The method of claim 30 which further comprises sensing the relocated reflection.

33. The method of claim 31 which further comprises sensing the relocated reflection.

34. The method of claim 27 in which the primary reflector and the secondary reflector have shapes and sizes that give rise to a second reflection that is substantially free of field curvature effects.

35. A panoramic imaging apparatus for sensing a super wide-angle field of view comprising:

(a) a pair of reflectors, including (i) a primary reflector having a first shape and a first size and capable of providing a first reflection of a super wide-angle scene, and (ii) a secondary reflector having a second shape and a second size, which is positioned to accept the first reflection to provide a second reflection at a first location, the shapes and sizes of the primary and secondary reflectors, and their respective positions, are such that the second reflection provided at the first location is substantially free of field curvature effects and astigmatic effects;

(b) a relay system comprising optics capable of relocating the second reflection to a second location to provide a relocated reflection; and

(c) an image sensor positioned to accept the relocated reflection at the second location, in which the panoramic imaging apparatus captures the super wide-angle scene from a substantially single reference viewpoint.

36. The panoramic imaging apparatus of claim 35 in which the relay system includes optics capable of substantially filtering out optical rays other than those reflected directly by the secondary reflector from incoming optical rays reflected directly by the first reflector.

37. A method of providing a substantially planar and stigmatic reflection of a super wide-angle field of view captured from a substantially single reference viewpoint comprising:

(a) providing a primary reflector having a first shape and a first size to generate a first reflection of a super wide-angle scene; and

(b) providing a secondary reflector having a second shape and a second size to accept the first reflection and to generate a second reflection, in which the shapes and sizes of the primary and secondary reflectors, and their respective positions, are such as to give rise to a second reflection that is substantially planar and stigmatic and in which a super wide-angle field of view is captured from a substantially single reference viewpoint.

38. The method of claim 37 which further comprises substantially filtering out optical rays other than those reflected directly by the secondary reflector from incoming optical rays reflected directly by the first reflector to provide a filtered reflection.

39. The method of claim 38 which further comprises relaying the filtered reflection to another location to provide a relocated reflection.

40. The method of claim 39 which further comprises sensing the relocated reflection.