Dual-lens low-light stereoscopic panoramic imaging device and its ultra-large field of view ranging method

Abstract

The invention relates to a dual-lens low-light three-dimensional panoramic imaging device and a super-large field of view ranging method, belonging to the technical field of panoramic vision. When the device is placed horizontally, low-light CCD image sensor system b, catadioptric panoramic ring optical imaging system b, catadioptric panoramic ring optical imaging system a, low-light CCD image sensor system a and low-light panoramic image processing board, from top to bottom The bottom is installed coaxially and symmetrically, and the optical axis is located on the same vertical line. The outputs of the low-light CCD image sensor system a and the low-light CCD image sensor system b are connected to the input end of the low-light panoramic image processing board through video lines. Based on the panoramic imaging device, the present invention provides a 360° ultra-large field of view ranging method, which solves the problem in the prior art that low-light images and 360° ultra-large field of view panoramic images cannot measure distance in real time; It has the characteristics of high sensitivity, low illumination, and real-time acquisition of 360° super large field of view panoramic images.

Description

technical field The invention relates to a dual-lens low-light three-dimensional panoramic imaging device and a super-large field of view ranging method, belonging to the technical field of panoramic vision. Background technique In modern high-tech warfare, unmanned combat weapon platforms are playing an increasingly important role. The performance improvement of unmanned combat weapon platforms and the development of low-light panoramic vision sensors are one of the key technologies. Panoramic visual environment perception image sensors It will play an active role in the field of military applications. The large field of view 360° panorama image acquisition and real-time ranging of dynamic targets under low-light conditions can greatly expand the scope of use of unmanned combat platforms, including reconnaissance, surveillance, target tracking and search, target indication, etc., making it From the remote control type to the semi-autonomous, autonomous intelligent control ...

AI Technical Summary

Problems solved by technology

However, the field of view angle of the ordinary stereoscopic vision device is very small, and it is impossible to obtain a 360° ultra-large panoramic field of view image, and it is also impossible to obtain the distance information of the scene in real time.

As shown in Fig. 2, Fig. 3 and Fig. 4, the current acquisition methods of 360° panoramic field of view images mainly include: multi-camera panoramic image stitching, single-camera pan-tilt rotation to obtain panoramic images, or single-lens panoramic annular optical imaging system to obtain Panoramic images, but the acquisition of these 360° panoramic images cannot measure the distance information of the dynamic target of the 360° panoramic images in real time; °Distance information of dynamic targets in the panoramic field of view

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