A method for increasing the imaging utilization rate of single-sensor dual-fisheye panoramic images

Abstract

The present invention discloses a method for increasing the imaging utilization rate of a single-sensor dual-fisheye panoramic image. The target surface of a single sensor is formed by two imaging circles of a dual-fisheye single prism falling in the two side areas of the sensor, and an angle D is set between the front line of the prism and the center line of the sensor; the angle D is obtained by the following formula: D≤atan((H‑2*R) / (W‑2*R)); wherein H is the longitudinal effective pixel of the sensor, W is the lateral effective pixel of the sensor, R is the radius of the imaging circle, and D is the angle between the front line of the prism and the lateral center line of the sensor; when the sensor target surface frame is 16:9, the angle D is 9.98°; when the sensor target surface frame is 4:3, the angle D is 25.59°. The present invention realizes the improvement of the effective utilization rate of the frame of a single-sensor dual-fisheye, further improves the resolution of imaging, and further relaxes the sensor restriction of the original scheme that is limited to 16:9.

Description

Technical Field

[0001] The present invention relates to a method for increasing the utilization rate of a panoramic image acquisition sensor, and in particular, can effectively improve the imaging utilization rate of a dual-fisheye single sensor. Background Art

[0002] At present, the widely used single sensor dual fisheye panoramic image acquisition device mainly consists of an image sensor (CMOS sensor) for image acquisition and a dual fisheye single prism optical system. At the same time, the front line of the prism of the optical system is generally located on the center line of the sensor to ensure that the two imaging circles of the dual fisheye single prism fall on the two sides of the sensor. The arrangement of the imaging circle is limited by the horizontal effective pixels of the image sensor, and the vertical redundant imaging area cannot be effectively utilized, and the utilization rate of the target surface is relatively low. Due to this limitation, the traditional solution often chooses a sensor with an imaging target surface aspect ratio of 16:9, but the sensor selection is limited. Summary of the invention

[0003] The present invention discloses a method for increasing the utilization rate of a single-sensor dual-fisheye panoramic image based on the shortcomings of the prior art. The purpose of the present invention is to overcome the problems of low image utilization rate and limited sensor selection in the original solution, and to further improve the utilization of the effective longitudinal target surface by improving the combination of the original sensor and the optical system.

[0004] The present invention is achieved through the following technical solutions:

[0005] A method for increasing the imaging utilization rate of a single-sensor dual-fisheye panoramic image, wherein the single-sensor target surface is formed by two imaging circles of a dual-fisheye single prism falling within the two side areas of the sensor, and is characterized in that an angle D is set between the front line of the prism and the center line of the sensor.

[0006] The angle D is obtained by the following formula: D≤atan((H-2*R) / (W-2*R)); wherein H is the longitudinal effective pixel of the sensor, W is the lateral effective pixel of the sensor, R is the radius of the imaging circle, and D is the angle between the front line of the prism and the lateral center line of the sensor.

[0007] Furthermore, when the sensor target surface frame is 16:9, the angle D is 9.98°. When the sensor target surface frame is 4:3, the angle D is 25.59°.

[0008] In order to further improve the image utilization rate of the single-sensor dual-fisheye panoramic image, the present invention sets an angle D between the front line of the prism and the center line of the sensor; in the prior art solution, the radius of the original imaging circle is determined by the horizontal effective pixels of the sensor:

[0009] WB>=4×R

[0010] When D≠0, it is obvious that the constraint is further relaxed:

[0011] (H-2×R)^2+(W-2×R)^2>=(B+2×R)^2

[0012] Thereby, the effective utilization rate of the frame is further improved. In particular, for the frame with an imaging target surface aspect ratio of 4:3, the present invention can fully utilize the effective longitudinal imaging area, further solving the limitation of the original solution that the sensor selection is limited to 16:9.

[0013] The beneficial effect of the present invention is that the effective utilization rate of the single sensor dual fisheye is improved, the imaging resolution can be further improved, and the sensor restriction of the original solution that is limited to 16:9 is further relaxed. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is an imaging schematic diagram of a traditional single-sensor dual-fisheye panoramic image acquisition device.

[0015] Figure 2 It is an imaging schematic diagram of a single-sensor dual-fisheye panoramic image acquisition device in which a certain angle D exists between the prism front line and the sensor center line.

[0016] In the figure, W is the horizontal effective pixels of the sensor, H is the vertical effective pixels of the sensor, B is the interval between imaging circles, C is the distance between the imaging circle and the longitudinal boundary of the sensor target surface, A is the distance between the imaging circle and the lateral boundary of the sensor target surface, D is the angle between the prism front line and the lateral center line of the sensor, and R is the radius of the imaging circle. DETAILED DESCRIPTION

[0017] The present invention is further described below in conjunction with specific implementation methods. The specific implementation methods are further descriptions of the principles of the present invention and do not limit the present invention in any way. Technologies that are the same or similar to the present invention do not exceed the scope of protection of the present invention.

[0018] Combined with the attached pictures.

[0019] like Figure 1 As shown, Figure 1 This is a schematic diagram of the traditional single sensor dual fisheye imaging circle. The traditional imaging limitations are:

[0020] C=H-2*R>=0

[0021] A=W-2*R>=0

[0022] like Figure 2 As shown, the present invention increases imaging utilization by rotating the sensor front line by an angle D.

[0023] After the angle is introduced, the following restrictions exist:

[0024] (H-2*RC)^2+(W-2*RA)^2>=(B+2*R)^2

[0025] The angle of rotation is:

[0026] D<=atan((H-2*R) / (W-2*R))

[0027] Consider the scene with a sensor frame of 16:9, substitute (H=2592, W=1520, B=30, C=0, A=0) and solve the inequality until:

[0028] R<=645.5

[0029] D<=9.98°

[0030] If conventional imaging is used,

[0031] R<=640.5

[0032] It can be seen that after rotating by D=9.98°, the radius of the imaging circle is larger than that of the original solution, and the utilization rate of the target surface can be further improved.

[0033] Consider the scene with a sensor frame of 4:3, substitute (H=2592, W=1944, B=30, C=0, A=0) and solve the inequality until:

[0034] R<=674.3

[0035] D<=25.59°

[0036] If conventional imaging is used,

[0037] R<=640.5

[0038] It can be seen that after rotating by D=25.59°, the radius of the imaging circle is larger than that of the original solution, and the utilization rate of the target surface can be further improved.

[0039] In the above formulas, W is the horizontal effective pixel of the sensor, H is the vertical effective pixel of the sensor, B is the interval between imaging circles, C is the distance between the imaging circle and the longitudinal boundary of the sensor target surface, A is the distance between the imaging circle and the lateral boundary of the sensor target surface, D is the angle between the prism front line and the lateral center line of the sensor, and R is the radius of the imaging circle.

Claims

1. A method for increasing the imaging utilization rate of a single-sensor dual-fisheye panoramic image, wherein the target surface of the single sensor is formed by two imaging circles of a dual-fisheye single prism falling on the two side areas of the sensor, characterized in that: Set an angle D between the front line of the prism and the midline of the sensor; The angle D is obtained by the following formula: D≤atan((H-2*R) / (W-2*R)); wherein H is the longitudinal effective pixel of the sensor, W is the lateral effective pixel of the sensor, R is the radius of the imaging circle, and D is the angle between the front line of the prism and the lateral center line of the sensor.

2. The method for increasing the imaging utilization rate of a single-sensor dual-fisheye panoramic image according to claim 1, characterized in that: When the sensor target surface aspect ratio is 16:9, the angle D is 9.98°.

3. The method for increasing the imaging utilization rate of a single-sensor dual-fisheye panoramic image according to claim 1, characterized in that: When the sensor target surface aspect ratio is 4:3, the angle D is 25.59°.

Images