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

An all-round vision, binocular stereo technology, applied in image data processing, optics, instruments, etc., can solve problems such as dead angles and inability to realize 360°*360° range monitoring

Inactive Publication Date: 2012-04-25
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

[0146] Reference Figure 1~Figure 8 , A binocular stereo omnidirectional vision sensor device with no dead angle, which is assembled back to back by two omnidirectional vision sensors with the same average angular resolution and no dead angle; Orientation Vision Sensor (ODVS), connect two omnidirectional vision sensors with the same average angular resolution without blind spots with a connector. The video cable and power cable of the camera are led out through the hole in the connector, as attached Figure 4 As shown; the video line of each ODVS camera is separately 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 With average angular resolution, it can easily realize the image information fusion between two ODVS; the video image reading unit reads the video information of each ODVS camera separately and temporarily stores it in the storage sp...

Embodiment 2

[0206] Reference Figure 2-Figure 8 , A stereo omni-directional vision sensor device without dead angles. The rest is the same as the first embodiment. The difference is that in the unfolding method and the splicing method, in the video image unfolding unit, the entire circle obtained by each camera is The azimuth image is expanded into a rectangular cylindrical panoramic image through geometric transformation, and then spliced ​​in a complementary manner of incident angle; in the present invention, two ODVSs with the same average angular resolution are fixed back-to-back with connectors, so two ODVSs The following relationship is established between the overlapping parts of incident angles,

[0207] φ ODVS1 =180°-φ ODVS2

[0208] Therefore, it is necessary to remove the overlapping part when unfolding during splicing. In the present invention, a rectangular cylindrical panoramic image with a minimum incident angle Φmin to an incident angle of 90° is used, and then back-to-back ...

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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 oncecatadioptric 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 vision sensor device. Background technique [0002] The ODVS (OmniDirectional Vision Sensors) developed in recent years provides a new solution for real-time acquisition of panoramic images of the scene. ODVS is characterized by a wide field of view (360 degrees), which can compress the information in a hemispherical field of view into an image, and the amount of information in an image is greater; when acquiring a scene image, the placement 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 in 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 mirror surface reflects the image in the horizontal direction to the CCD camera for imaging, so that the horizontal 360° environmental inf...

Claims

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Application Information

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