Methods of obtaining panoramic images using rotationally symmetric wide-angle lenses and devices thereof
First Claim
1. A panoramic imaging system comprising:
- an image acquisition means for acquiring a wide-angle image using a wide-angle imaging lens rotationally symmetric about an optical axis;
an image processing means for generating a panoramic image based on the said wide-angle image; and
an image display means for displaying the said panoramic image on a rectangular screen,wherein;
a coordinate of an image point on the rectangular screen corresponding to an object point having a coordinate (X, Y, Z) in a world coordinate system, which has a nodal point of the wide-angle lens as an origin and a vertical line passing through the origin as the Y-axis and an intersection line between a reference plane containing the said Y-axis and the said optical axis of the lens and a horizontal plane perpendicular to the said vertical line as the Z-axis, is given as (x″
, y″
),a horizontal incidence angle γ
, which an incident ray originating from the said object point makes with the said reference plane, is given as
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Abstract
The present invention provides methods of obtaining panoramic images that appear most natural to the naked eye by executing a mathematically precise image processing operation on a wide-angle image acquired using a wide-angle lens that is rotationally symmetric about an optical axis, and devices using the methods. Imaging systems using this method can be used not only in security•surveillance applications for indoor and outdoor environments, but also in diverse areas such as video phones for apartment entrance doors, rear view cameras for vehicles, visual sensors for unmanned aerial vehicles and robots, and broadcasting cameras. Also, it can be used to obtain panoramic photographs using digital cameras.
25 Citations
18 Claims
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1. A panoramic imaging system comprising:
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an image acquisition means for acquiring a wide-angle image using a wide-angle imaging lens rotationally symmetric about an optical axis; an image processing means for generating a panoramic image based on the said wide-angle image; and an image display means for displaying the said panoramic image on a rectangular screen, wherein; a coordinate of an image point on the rectangular screen corresponding to an object point having a coordinate (X, Y, Z) in a world coordinate system, which has a nodal point of the wide-angle lens as an origin and a vertical line passing through the origin as the Y-axis and an intersection line between a reference plane containing the said Y-axis and the said optical axis of the lens and a horizontal plane perpendicular to the said vertical line as the Z-axis, is given as (x″
, y″
),a horizontal incidence angle γ
, which an incident ray originating from the said object point makes with the said reference plane, is given as - View Dependent Claims (2, 3, 4)
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5. A method of obtaining a panoramic image, the method comprising:
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acquiring an uncorrected image plane using a camera equipped with a rotationally symmetric wide-angle lens, where an optical axis of the said camera and a lateral side of an image sensor plane of the camera are made parallel to the ground plane; and extracting a processed image plane based on the said uncorrected image plane, wherein, the said uncorrected image plane is a two dimensional array with Kmax rows and Lmax columns, a pixel coordinate of the optical axis on the uncorrected image plane is (Ko, Lo), a real projection scheme of the said lens is an image height r obtained as a function of a zenith angle q of a corresponding incident ray and given as r=r (θ
),a magnification ratio g of the said camera is given as - View Dependent Claims (6, 7, 8)
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9. A method of obtaining a panoramic image, the method comprising:
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acquiring an uncorrected image plane using a camera equipped with a rotationally symmetric wide-angle lens, where an optical axis of the camera is made parallel to the ground plane; and extracting a processed image plane based on the said uncorrected image plane, wherein, an angle between a lateral side of an image sensor plane of the said camera and the ground plane is g, the uncorrected image plane is a two dimensional array with Kmax rows and Lmax columns, a pixel coordinate of the optical axis on the uncorrected image plane is (Ko, Lo), a real projection scheme of the said lens is an image height r obtained as a function of a zenith angle q of a corresponding incident ray and given as r=(θ
),a magnification ratio g of the said camera is given as - View Dependent Claims (10, 11)
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12. A method of obtaining a panoramic image, the method comprising:
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acquiring an uncorrected image plane using a camera equipped with a rotationally symmetric wide-angle lens; and extracting a processed image plane based on the said uncorrected image plane, wherein, an angle between the said camera optical axis and the ground plane is a, an angle between a lateral side of an image sensor plane of the camera and the ground plane is g, the uncorrected image plane is a two dimensional array with Kmax rows and Lmax columns, a pixel coordinate of the optical axis on the uncorrected image plane is (Ko, Lo), a real projection scheme of the said lens is an image height r obtained as a function of a zenith angle q of the corresponding incident ray and given as r=r (θ
),a magnification ratio g of the said camera is given as - View Dependent Claims (13, 14)
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15. A method of obtaining a panoramic image, the method comprising:
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acquiring an uncorrected image plane using a camera equipped with a rotationally symmetric wide-angle lens, wherein the optical axis of the camera is made perpendicular to the ground plane; and extracting a processed image plane based on the said uncorrected image plane, wherein, the uncorrected image plane is a two dimensional array with Kmax rows and Lmax columns, a pixel coordinate of the optical axis on the uncorrected image plane is (Ko, Lo), a real projection scheme of the said lens is an image height r obtained as a function of a zenith angle q of a corresponding incident ray and given as r=r (θ
),a magnification ratio g of the said camera is given as - View Dependent Claims (16, 17, 18)
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Specification