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Non-dead angle binocular solid all-directional vision sensing equipment

An omnidirectional vision, binocular stereo technology, applied in image data processing, optics, instruments, etc., can solve the problems of dead angle, unable to achieve 360°*360° range monitoring, etc.

Inactive Publication Date: 2008-09-24
汤一平
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] In order to overcome the shortcomings of the existing omni-directional visual sensing device that there is a dead angle in the vertical direction and cannot monitor the range of 360°*360°, the present invention provides a device that can eliminate the dead angle in the vertical direction and obtain real-time 360°*360° °Binocular stereo omnidirectional visual sensing device with a large range of omnidirectional images and no dead angle

Method used

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  • Non-dead angle binocular solid all-directional vision sensing equipment
  • Non-dead angle binocular solid all-directional vision sensing equipment
  • Non-dead angle binocular solid all-directional vision sensing equipment

Examples

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Effect test

Embodiment 1

[0144] refer to Figure 1 to Figure 8 , a binocular stereo omnidirectional visual sensing device with no dead angle, which is composed of two omnidirectional vision sensors with the same average angular resolution without dead angle back-to-back assembly; Orientation Vision Sensor (ODVS), two omni-directional vision sensors with the same average angular resolution are connected with a connecting piece, and the video cable and power line of the camera are drawn out through the hole in the connecting piece, as shown in the attached Figure 4 As shown; the video lines of each ODVS camera are respectively connected to the video image reading unit, because the video acquisition information of each ODVS camera can reach 360°*240° field of view, and in the vertical (incident angle) direction It has an average angular resolution, so it can easily realize the fusion of image information between two ODVS; the video image reading unit respectively reads the video information of each ODVS...

Embodiment 2

[0202] refer to Figure 2-Figure 8 , a stereo omni-directional visual sensing device without dead angle, the rest is the same as that of embodiment 1, the difference is that in the expansion mode and splicing mode, in the video image expansion unit, the circular ring obtained by each camera is fully The azimuth image is expanded into a rectangular cylindrical panoramic image through geometric transformation, and then spliced ​​according to the complementary mode of incident angle; since the two ODVS with the same average angular resolution are fixed back-to-back with connectors in the present invention, the two ODVS The following relationship is established between the overlapping parts of the incident angle,

[0203] φ ODVS1 =180°-φ ODVS2

[0204] Therefore, when splicing, it is necessary to first remove the overlapped portion when the overlapping portion is unfolded. In the present invention, the minimum incident angle Φmin to the incident angle is a rectangular cylindric...

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Abstract

A double-eye solid omnidirectional vision sensing device without a dead angle comprises two omnidirectional vision sensors with the same average resolving power, a connecting unit and a microprocessor used for processing an image. The omnidirectional vision sensor comprises a once catadioptric mirror face, a twice catadioptric mirror face, a transparent cover and a videography component. The once catadioptric mirror face and the twice catadioptric mirror face are arranged at the transparent cover; the videography component is arranged at a vision point at the back of the once catadioptric mirror face. The twice catadioptric mirror face is arranged in front of the once catadioptric mirror face. The once catadioptric mirror face and the twice catadioptric mirror face are both provided with a pore. The twice catadioptric mirror face is embedded into a wide-angle lens. A videography component lens, the wide-angle lens and the central shafts of the once catadioptric mirror face and the twice catadioptric mirror face are collocated at the same axial line. The backs of the two omnidirectional vision sensors are connected with each other by the connecting unit. The double-eye solid omnidirectional vision sensing device without dead angle can eliminate the dead angle in the vertical direction and capture the omnidirectional images of the large range of real time 360 degrees multiplied by 360 degrees.

Description

technical field [0001] The invention belongs to an omnidirectional visual sensing device. Background technique [0002] OmniDirectional Vision Sensors (ODVS), developed in recent years, provides a new solution for real-time acquisition of panoramic images of scenes. ODVS is characterized by a wide field of view (360 degrees), which can compress the information in a hemispheric field of view into one image, and the amount of information in one image is larger; when acquiring a scene image, the placement position of ODVS in the scene is more free; monitoring ODVS does not need to aim at the target in the environment; the algorithm is simpler when detecting and tracking moving objects within the monitoring range; real-time images of the scene can be obtained. [0003] This ODVS camera is mainly composed of a CCD camera and a mirror facing the camera. The reflective mirror reflects the image of a circle in the horizontal direction to the CCD camera for imaging, so that the env...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G02B13/06G02B17/08G06T5/50
Inventor 汤一平梁雁
Owner 汤一平
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