Method and apparatus for omnidirectional three dimensional imaging

• US 6,744,569 B2
• Filed: 06/19/2001
• Issued: 06/01/2004
• Est. Priority Date: 06/19/2001
• Status: Expired due to Fees

• Current Assignee: Technest Holdings, Inc. (AccelPath, Inc.)
• Original Assignee: Genex Technologies Incorporated (AccelPath, Inc.)
• Inventors: Geng, Z. Jason
• Primary Examiner(s): Spector, David N.
• Application Number:
  US09/884,255
• Publication Number:
  US 20030081952A1
• Time in Patent Office: 1,078 Days
• Field of Search: 348/36, 348/39, 359/725, 345/427
• US Class Current: 359/725
• CPC Class Codes: G03B 17/00 Details of cameras or camera bodies; Accessories therefor lens hoods or caps G03B11/04
• CPC Class Codes: G06T 3/12 Panospheric to cylindrical image transformations
• CPC Class Codes: G06T 7/521 from laser ranging, e.g. using interferometry; from the projection of structured light
• CPC Class Codes: G06T 7/593 from stereo images
• CPC Class Codes: H04N 13/239 using two 2D image sensors having a relative position equal to or related to the interocular distance H04N13/243 takes precedence
• CPC Class Codes: H04N 2013/0088 Synthesising a monoscopic image signal from stereoscopic images, e.g. synthesising a panoramic or high resolution monoscopic image

Abstract

Claims

1. An improved imaging apparatus for generating a two dimensional image, comprising:

a substantially hyperbolic reflective mirror configured to satisfy an optical single viewpoint constraint for reflecting a scene;

a image sensor responsive to said reflective mirror and that generates two dimensional image data signals; and

a controller coupled to the image sensor to control a display of two dimensional object scenes corresponding to said image data signals.

2. The improved imaging apparatus of claim 1, wherein said hemispherical image data signals generated by said sensor are projected from a single virtual viewing point at the focal center of said hyperbolic mirror.

3. The improved imaging apparatus of claim 1, wherein said substantially hyperbolic reflective mirror is a substantially convex mirror and wherein said image data signals generated by said sensor means are projected from a single virtual viewing point at the focal center of said convex mirror.

4. An omnidirectonal stereo imaging system comprising:

a first camera that generates hemispherical image data signals;

a first substantially hyperbolic reflective mirror optically associated with said first signal generator such that said first camera views objects in an entire hemispherical field of view from a single virtual viewpoint at the focal center of said first reflective mirror;

a second camera that generates a second set of hemispherical image data signals;

a second substantially hyperbolic reflective mirror optically associated with said second camera such that said camera views objects in an entire hemispherical field of view from a single virtual viewpoint at the focal center of said second reflective mirror; and

a data generator responsive to said hemispherical image data signals from said first and second camera for generating three-dimensional data for objects in said hemispherical fields of view of said first and second reflective mirror.

5. The system of claim 4, wherein said first and second cameras point in opposite directions.

6. The system of claim 4, wherein image data signals correspond to acquiring a field of view simultaneously covering 360 degrees of viewing angle.

7. The system of claim 4, wherein a focal center of said first camera and said first hyperbolic reflective mirror are at focal points of a parabolic curve.

8. The system of claim 7, wherein a focal center said second camera and said second hyperbolic reflective mirror are at focal points of a second parabolic curve.

9. The system claim wherein 8, said parabolic curve and said second parabolic curve are substantially similar.

10. An omnidirectional two dimensional imaging system, comprising:

a reflective surface configured to reflect light rays such that extensions of said light rays are substantially coincident on single viewing point; and

an imaging system configured to cover the entire surface of said omni-mirror.

11. The system of claim 10, wherein said reflective surface comprises a substantially hyperbolic mirror.

12. The system of claim 11, wherein said hyperbolic mirror first and second focal points in which said single viewing point is at said first focal point and a focal point of said imaging system is at said second focal point.

13. The system claim 11, wherein said imaging system comprises a camera.

14. The system claim 10, wherein said imaging system is configured to capture an image through a 360 degree viewing angle.

15. An omnidirectional stereo imaging system, comprising:

a first omnidirectional imaging assembly having a first imaging device and a first omni-mirror wherein a viewing point of said omni-mirror and a focal point of said imaging device are disposed on focal points of a hyperbolic curve;

a second omnidirectional imaging assembly having a second imaging device and a second omni-mirror wherein a viewing point of said omni-mirror and a focal point of said imaging device are disposed on focal points of a hyperbolic curve

wherein focal centers of said first and second omni-mirrors and focal points of said first and second imaging devices are substantially coaxial; and

wherein said virtual viewing points are separated by a predetermined distance.

16. The system of claim 15, wherein said imaging systems comprise first and second cameras that generate hemispherical image data signals.

17. The system of claim 16, further comprising a data generator responsive to said hemispherical image data signals from said first and second imaging devices for generating three-dimensional data for objects in fields of view of said first and second omni-mirrors.

18. The system of claim 16, wherein said first omni-mirror comprises a substantially hyperbolic reflective mirror optically associated with said first imaging device such that said first imaging views objects through a 360 degree field of view from a first virtual viewpoint at a focal center of said first camera and said second omni-mirror comprises a second substantially hyperbolic reflective mirror optically associated with said second imaging device such that said second imaging device objects in through a 360 degree field of view from a second virtual viewpoint at the focal center of said second reflective mirror.

19. The system of claim 15, wherein said first and second imaging devices comprise cameras.