Large view field multiple solution imaging method based on reflection-retraction mechanism

Abstract

Elliptoid cone mirror surface and camera above the said mirror surface constitutes a reflection-refraction system. Horizontal section of the elliptoid cone mirror surface is an ellipse. The part of cambered surface with minor curvature is faced to watch center. The method includes steps: building a model in single vision point; spatial scene transformed to planar image; image plane coordinate transformed to world coordinate system, establishing horizontal viewing field and horizontal resolution as well as vertical viewing field and vertical resolution, thus, forming a transmissive projected image; computer processes the image through computer vision algorithm. Resolution of the image is higher in part with smaller curvature. Lower resolution in left and right side guarantees lager horizontal viewing field. The imaging method obtains image close to perception characteristic of human eye.

Description

technical field [0001] The invention belongs to the field of computer vision, relates to an imaging system in computer vision, in particular to a large field of view multi-resolution imaging method based on a reflection-refraction mechanism. Background technique [0002] 1 Introduction [0003] Since the 1990s, the automatic driving of vehicles has been a research hotspot in the field of automobiles, information and automatic control. [1][2] . Intelligent vehicle is a vehicle automatic driving control system that integrates multiple functions such as environmental perception, planning decision-making, and maneuvering control. It is also a key technology in the current research on "Intelligent Transformation System (ITS)". Smart vehicles can perceive the external environment through active sensors (such as lidar / millimeter wave radar) or passive sensors (such as vision sensors). In terms of realizing vehicle perception of the external environment, after years of exploratio...

AI Technical Summary

Problems solved by technology

To obtain a large field of view, a refraction system, such as a fisheye lens, can be used alone, but the distortion of the fisheye lens is difficult to describe with an accurate model, and it cannot provide multi-resolution; it can also be achieved by using a rotating camera, but the rotation Cameras are not suitable for dynamic scenes, because they cannot capture a large area of ​​the scene at the same time; using multiple cameras can solve the problem to a certain extent, but the cost is high, and cannot be applied to most vehicles; use a hybrid system of reflection and refraction, such as omnidirectional camera, but its resolution does not change with the azimuth angle, and the highest resolution cannot meet the safety requirements of the vision system

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