Prismatically-corrected optical lens group and its electro-reflective mirror system cms

Abstract

The application discloses a partial correction optical lens group and a CMS (Camera Monitor System) of an electronic rearview mirror system. The partial correction optical lens group comprises a first lens, a second lens, a third lens, a fourth lens and a CMOS connecting module arranged in sequence from an object side to an image side, and corrects image distortion from a hardware perspective; the first lens is a convex lens, has unequal magnification in vertical and horizontal directions, changes the focal length by changing the radius of curvature to change the magnification, and plays a main role in image distortion correction. For the image distortion problem of the electronic rearview mirror of a vehicle, the application corrects from both hardware and software aspects. The lens with unequal magnification in vertical and horizontal directions reduces the number of lenses and manufacturing cost; the improved spherical model method is simple in model and convenient in calculation; and the parallel flow operation of the DSP and the FPGA guarantees the processing effect and real-time performance.

Description

Technical Field

[0001] This invention relates to the fields of computers, electronics and optics, and specifically to a bias-correcting optical lens group and its electronic rearview mirror system (CMS). Background Technology

[0002] With the increasing prevalence of intelligent driving, the application prospects of automotive electronic rearview mirrors are considerable. These mirrors can capture video images of the entire driving process, providing real-time reference for drivers and serving as a real-time monitoring system to protect the safety and rights of car owners. However, due to differences in the driver's perspective relative to the mirror and variations in road curvature, images from electronic rearview mirrors on the market often exhibit distortion. This makes it difficult for drivers to accurately judge distances between vehicles. Furthermore, images from rearview mirrors can be unclear at night and in light pollution conditions. Therefore, optimizing the optical lens module and subsequent image processing system used in electronic rearview mirrors is crucial for correcting image distortion and enhancing image clarity.

[0003] In the prior art, safety is achieved by changing the viewing angle of the electronic rearview mirror, taking into account the viewing angle problem under different driving conditions. However, the image changes caused by the synergistic effect of viewing angle and distance are not considered, and the problem is complicated, requiring more control systems to adjust the rearview mirror angle to achieve the desired effect (an electronic rearview mirror with automatically adjustable viewing angle and its implementation method, and a control system and control method for adjusting the display range of the electronic rearview mirror). Summary of the Invention

[0004] This invention discloses a bias-correcting optical lens group and its electronic rearview mirror system (CMS), which adopts a multi-curvature method with one lens, and simultaneously considers the synergistic effect of viewing angle and distance, making it simpler and more convenient.

[0005] The objective of this invention is achieved by at least one of the following technical solutions.

[0006] The offset correction optical lens group includes a first lens, a second lens, a third lens, a fourth lens, and a CMOS connection module arranged sequentially from the object side to the image side, which corrects image distortion from a hardware perspective;

[0007] The first lens is a convex lens with uneven magnification in the vertical and horizontal directions. The magnification is changed by altering the focal length through the radius of curvature. The first lens plays a major role in correcting image distortion.

[0008] Furthermore, eight dividing lines are set from the center point to the edge of the first lens, dividing the surface of the first lens near the object side into eight equal parts. The eight parts represent different angles of view, and each part has a different radius of curvature, magnification, and focal length.

[0009] Furthermore, the curvature of each of the eight dividing lines is different, resulting in different radii of curvature and different magnification focal lengths in different parts of the first lens.

[0010] According to the ISO standard, the magnification varies depending on the viewing angle and distance of the vehicle's rear view, so the radius of curvature of each dividing line is determined.

[0011] Furthermore, from point A, the top of the first lens near the object side, to the bottom surface near the image side, the surface of the first lens is divided into equal horizontal sections by five horizontal curves.

[0012] All five horizontal curves intersect with the eight dividing lines. The intersection points of each dividing line with the five horizontal curves from top to bottom are, in order, point B, point C, point D, point E, and point F.

[0013] Furthermore, for a dividing line, the curve from point A to point B constitutes the first convex lens, with a radius of curvature of R1, a magnification of M1, and a focal length of F. AB The curve from point B to point C forms the second convex lens, with a radius of curvature of R2, a magnification of M2, and a focal length of F. BC The curve from point C to point D forms the third convex lens, with a radius of curvature of R3, a magnification of M3, and a focal length of F. CD The curve from point D to point E forms the fourth convex lens, with a radius of curvature of R4, a magnification of M4, and a focal length of F. DE The curve from point E to point F forms the fifth convex lens, with a radius of curvature of R5, a magnification of M5, and a focal length of F. EF .

[0014] Furthermore, in the first lens, the horizontal cuts of the five horizontal curves represent changes in distance, and the vertical cuts of the eight dividing lines represent changes in viewing angle.

[0015] Among them, R1>R2>R3>R4>R5, ensuring that the magnification of each part divided by the 8 dividing lines in the first lens gradually decreases from the top to the bottom, that is, M1>M2>M3>M4>M5.

[0016] Furthermore, the field of view for the three types of vehicles is set to 30°–65°, and the maximum distance between the object and the vehicle is 20 meters.

[0017] The area to be captured by the rearview mirror is divided into five parts according to the angle of view: 30°~65°, 34°~61°, 38°~57°, 42°~53° and 46°~49°, and into 25 parts according to the distance: 0.5m to 4.5m, 4.5m to 8m, 8m to 11.5m, 11.5m to 15m and 15m to 20m.

[0018] The magnification of each part is as follows:

[0019] When the viewing angle is 46° to 49° and the distance between the object and the car is 15 to 20 meters, the magnification is between 0.3463 and 0.3505.

[0020] When the viewing angle is 42° to 53° and the distance between the object and the car is 11.5 meters to 15 meters, the magnification is between 0.3490 and 0.3541.

[0021] When the viewing angle is 38° to 57° and the distance between the object and the car is 8 meters to 11.5 meters, the magnification is between 0.3509 and 0.3601.

[0022] When the viewing angle is 34° to 61° and the distance between the object and the car is 4.5 meters to 8 meters, the magnification is between 0.3550 and 0.3770.

[0023] When the viewing angle is 30° to 65° and the distance between the object and the car is 0.5 meters to 4.5 meters, the magnification is between 0.3697 and 0.6003.

[0024] according to as well as The focal length and radius of curvature of each part in the first lens are deduced by using the magnification.

[0025] Where d represents the thickness of the lens, r1 and r2 represent the radii of curvature at the front and back of the lens, respectively, n represents the refractive index of the lens material, 1 / f is the optical magnification of the lens, f represents the focal length, u represents the object distance, v represents the image distance, and m represents the magnification.

[0026] Furthermore, the second lens is a convex lens, the third lens is a concave lens, and the fourth lens is a concave lens.

[0027] The electronic rearview mirror system (CMS) includes a bias-correcting optical lens group, a CMOS image sensor, an FPGA programmable logic unit, an SRAM data memory, an ARM central processing unit, an SDRAM dynamic memory, a FLASH program memory, a DSP data signal processor, and a display screen.

[0028] The system consists of a bias-correcting optical lens group for acquiring images, a CMOS image sensor for converting optical images into electronic signals (i.e., analog signals into digital signals), a DSP digital signal processor and an FPGA programmable logic unit for real-time image processing based on input codes, an SRAM data memory and an SDRAM dynamic memory for storing image information, a FLASH program memory for storing written programs, an ARM central processing unit for controlling the entire system, and a display screen for displaying real-time images.

[0029] Furthermore, after the offset correction optical lens group corrects image distortion from a hardware perspective, it is connected to the CMOS image sensor and enters the software image distortion correction part;

[0030] The FPGA module configures the CMOS sensor and acquires image data, while the DSP module uses a spherical model algorithm to perform software correction of image distortion.

[0031] Compared with the prior art, the advantages of this invention are:

[0032] To address the image distortion problem in automotive electronic rearview mirrors, this invention corrects it from both hardware and software perspectives. It employs lenses with unequal magnification in the vertical and horizontal directions, reducing the number of lenses and manufacturing costs; it uses an improved spherical model method, which is simple and easy to calculate; and it utilizes parallel pipelined operation of DSP and FPGA to ensure processing quality and real-time performance. Attached Figure Description

[0033] Figure 1 This is a diagram of a CMS camera system with uneven vertical and horizontal magnification in an embodiment of the present invention;

[0034] Figure 2 This is a view diagram of the electronic rearview mirror CMS in an embodiment of the present invention;

[0035] Figure 3 This is a diagram illustrating the viewpoint segmentation effect of CMS in an embodiment of the present invention.

[0036] Figure 4 This is a schematic diagram of an optical lens module with unequal magnification in both vertical and horizontal dimensions, as described in an embodiment of the present invention.

[0037] Figure 5 This is a 3D rendering of the first lens with uneven magnification in both vertical and horizontal dimensions in an embodiment of the present invention.

[0038] Figure 6 This is a front view of the first lens with unequal magnification in both vertical and horizontal dimensions in an embodiment of the present invention;

[0039] Figure 7 This is a left view of the first lens with unequal magnification in both vertical and horizontal dimensions in an embodiment of the present invention.

[0040] Figure 8 This is an exploded view of the first lens in an embodiment of the present invention;

[0041] Figure 9 This is a schematic diagram of the spherical model method in an embodiment of the present invention;

[0042] Figure 10a and Figure 10b The images shown are before and after the geometric distortion of the image is corrected by the camera system in the embodiments of the present invention. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of the present invention clearer, the specific implementation of the present invention will be described in detail below with reference to the accompanying drawings and embodiments.

[0044] Example 1:

[0045] Offset correction optical lens group, such as Figure 4 As shown, it includes a first lens 101, a second lens 102, a third lens 103, a fourth lens 104 and a CMOS connection module 105 arranged sequentially from the object side to the image side, to correct image distortion from a hardware perspective;

[0046] The first lens 101 is a convex lens with uneven magnification in the vertical and horizontal directions. The magnification is changed by altering the focal length through the radius of curvature. The first lens 101 plays a major role in image distortion correction.

[0047] Figure 2 This is a visual representation of a Comparison System (CMS) for an electronic rearview mirror. Generally, electronic rearview mirrors exhibit the problem of near objects appearing larger than distant objects. If the rearview mirror magnifies near and far objects by the same amount, it can cause drivers to misjudge the distance to vehicles or pedestrians behind them. According to international ISO standards:

[0048]

[0049] Where d is the distance from the car mirror to the object; the viewing angle β is the total angle between the point where the light ray leaves the object and reaches the eye after being reflected by the car mirror; M(β, d=∞) is the distance between the object and the mirror when the distance is infinite. hor The different magnifications formed by the mirror at various angles; M0 is the magnification of the object to the mirror when the object is parallel to the mirror and β = 90°; M ver M is the magnification of the object to the mirror when the object is horizontal with the lens; ver The magnification is the magnification when the object is perpendicular to the mirror and β = 0°. Different viewing angles, distances, and road curvatures will result in different magnifications of objects behind the vehicle in the electronic rearview mirror.

[0050] The field of view for vehicles of all three categories ranges from 30° to 65°, with a maximum distance of 20 meters. As shown in Table 1, the area to be captured by the rearview mirror can be divided into five parts according to the field of view: 30°–65°, 34°–61°, 38°–57°, 42°–53°, and 46°–49°. According to the distance, these can be divided into 0.5 meters to 4.5 meters, 4.5 meters to 8 meters, 8 meters to 11.5 meters, 11.5 meters to 15 meters, and 15 meters to 20 meters. This results in 25 segments for the field of view. Following the direction of the arrows, the field of view and distance increase sequentially. Figure 3The figures represent the magnification of the object relative to the car at different angles and distances. It can be seen that the distortion is not severe at small angles, but the distortion is severe at large angles and close distances.

[0051] Table 1

[0052]

[0053]

[0054] Figure 5 This is a 3D rendering of the first lens with uneven magnification in both vertical and horizontal directions. Figure 6 This is the front view of the first lens. Figure 7 This is the left view of the first lens. The lens is unevenly curved in both the left and front views.

[0055] like Figure 5 As shown, eight dividing lines are set from the center point to the edge of the first lens, namely the first dividing line 1011, the second dividing line 1012, the third dividing line 1013, the fourth dividing line 1014, the fifth dividing line 1015, the sixth dividing line 1016, the seventh dividing line 1017 and the eighth dividing line 1018, which divide the surface of the first lens near the object into eight equal parts. The eight parts represent the changes in different viewing angles, and each part has a different radius of curvature, magnification and focal length.

[0056] Furthermore, the curvature of each of the eight dividing lines is different, resulting in different radii of curvature and different magnification focal lengths in different parts of the first lens.

[0057] According to the ISO standard, the magnification varies depending on the viewing angle and distance of the vehicle's rear view, so the radius of curvature of each dividing line is determined.

[0058] Furthermore, from the top point A near the object side of the first lens to the bottom surface near the image side, the surface of the first lens is divided into equal horizontal sections by five horizontal curves, namely the first horizontal curve 1001, the second horizontal curve 1002, the third horizontal curve 1003, the fourth horizontal curve 1004 and the fifth horizontal curve 1005.

[0059] All five horizontal curves intersect with the eight dividing lines. The intersection points of each dividing line with the five horizontal curves from top to bottom are, in order, point B, point C, point D, point E, and point F.

[0060] Furthermore, for a dividing line, the curve from point A to point B constitutes the first convex lens, with a radius of curvature of R1, a magnification of M1, and a focal length of F. AB The curve from point B to point C forms the second convex lens, with a radius of curvature of R2, a magnification of M2, and a focal length of F. BCThe curve from point C to point D forms the third convex lens, with a radius of curvature of R3, a magnification of M3, and a focal length of F. CD The curve from point D to point E forms the fourth convex lens, with a radius of curvature of R4, a magnification of M4, and a focal length of F. DE The curve from point E to point F forms the fifth convex lens, with a radius of curvature of R5, a magnification of M5, and a focal length of F. EF .

[0061] Furthermore, in the first lens, the horizontal cuts of the five horizontal curves represent changes in distance, and the vertical cuts of the eight dividing lines represent changes in viewing angle.

[0062] Among them, R1>R2>R3>R4>R5, ensuring that the magnification of each part divided by the 8 dividing lines in the first lens gradually decreases from the top to the bottom, that is, M1>M2>M3>M4>M5.

[0063] For a lens with thickness d in air and radii of curvature r1 and r2 on its front and back surfaces, n is the refractive index of the lens material, 1 / f is the optical magnification of the lens, f is the focal length, and the effective focal length can be expressed as:

[0064]

[0065] Let u be the object distance, v be the image distance, and f be the focal length. According to the lens imaging formula:

[0066]

[0067] The relationship between magnification m and object distance / image distance can be expressed as:

[0068]

[0069] Substituting (2) into (3) yields the following result:

[0070]

[0071] Equation (1) can be transformed into:

[0072]

[0073] In the application of electronic rearview mirrors, we know that the object distance u is much greater than the focal length f, therefore in equation (4), uf≈u, then That is, the magnification is generally proportional to the focal length f. For formula (5), Figure 7In the exploded view of the lens shown, in this embodiment, r1 and d are the same value, the lens material is glass, and the n value is 1.5. Therefore, it can be seen that when the radius of curvature r2 changes, the change in the denominator is less than the change in the numerator. Overall, the focal length f of the lens is directly proportional to the radius of curvature r2. Furthermore, according to... It can be seen that the magnification m is directly proportional to the radius of curvature r2 and inversely proportional to the object distance.

[0074] The ISO standard specifies the magnification for different viewing angles and distances, according to... as well as The focal length and radius of curvature of each part in the first lens are deduced by using the magnification.

[0075] Where d represents the thickness of the lens, r1 and r2 represent the radii of curvature at the front and back of the lens, respectively, n represents the refractive index of the lens material, 1 / f is the optical magnification of the lens, f represents the focal length, u represents the object distance, v represents the image distance, and m represents the magnification.

[0076] In this embodiment, the field of view increases from the center of the lens towards the edge of the circle, while the shooting distance decreases, the radius of curvature decreases, the focal length decreases, and the magnification decreases. Taking the 1014 curve as an example, within 1001 circles, the lens has a focal length of 600mm ≤ F. AB ≤800mm, lenses within 1001~1002 rings with a 200mm ≤F BC ≤300mm, lenses within 1002~1003 rings with a focal length of 135mm ≤F CD ≤200mm, lenses within 1003~1004 rings with a focal length of 85mm≤F DE ≤100mm, lenses within the 1004~1005 rings with a 60mm ≤F EF ≤80mm.

[0077] During manufacturing, based on the above discussion, R1 > R2 > R3 > R4 > R5, ensuring that the magnification of each part divided by the 8 dividing lines in the first lens gradually decreases from the top to the bottom, i.e., M1 > M2 > M3 > M4 > M5. The other curves from 1011 to 1018 are divided in the same way as curve 1014.

[0078] The second lens is a convex lens, the third lens is a concave lens, and the fourth lens is a concave lens.

[0079] Example 2:

[0080] Electronic rearview mirror system (CMS), such as Figure 1 As shown, it includes a bias-correcting optical lens group, a CMOS image sensor, an FPGA programmable logic unit, an SRAM data memory, an ARM central processing unit, an SDRAM dynamic memory, a FLASH program memory, a DSP data signal processor, and a display screen;

[0081] The system consists of a bias-correcting optical lens group for acquiring images, a CMOS image sensor for converting optical images into electronic signals (i.e., analog signals into digital signals), a DSP digital signal processor and an FPGA programmable logic unit for real-time image processing based on input codes, an SRAM data memory and an SDRAM dynamic memory for storing image information, a FLASH program memory for storing written programs, an ARM central processing unit for controlling the entire system, and a display screen for displaying real-time images.

[0082] Furthermore, after the offset correction optical lens group corrects image distortion from a hardware perspective, it is connected to the CMOS image sensor and enters the software image distortion correction part;

[0083] The FPGA module configures the CMOS sensor and acquires image data, while the DSP module uses a spherical model algorithm to perform software correction of image distortion.

[0084] The FPGA module provides 132 embedded multipliers and 608KB of memory. Four on-chip phase-locked loops (PLLs) provide robust clock management and synthesis. The DSP module implements an improved spherical model algorithm and exchanges data with the FPGA and ARM modules. An SDRAM dynamic memory module stores the DSP's data and code, a 512KB flash memory is used to store firmware, and two 2MB SRAMs, shared by the DSP and FPGA, are used for transferring image data. The ARM obtains processed image data from the DSP via HPI and displays it directly on a graphical user interface on a TFT display.

[0085] The FPGA module configures the CMOS sensor and acquires image data. The DSP module then uses an improved spherical model algorithm to perform software correction of image distortion, as detailed below:

[0086] Figure 9 The diagram illustrates the improved spherical model method. A spatial coordinate system XYZ is established with point O as the origin, and the hemisphere is the spherical model with radius R = OF. The key to the improved spherical model method is how to image the points on the sphere to the ideal imaging position. After multiple verifications, a projection plane s is constructed, parallel to the XY plane, and its distance OF is equal to the focal length f. Projecting the points on the sphere onto the projection plane S (starting from the origin O) is called coplanar projection, which can achieve image distortion correction.

[0087] The distortion correction algorithm is implemented by a DSP digital signal processor, and the distortion correction effect is shown in the figure below. Figure 10a and Figure 10b As shown. The final corrected image is displayed on a TFT LCD screen.

[0088] Example 3:

[0089] In this embodiment, the field of view increases from the center of the lens towards the edge of the circle, while the shooting distance decreases, the radius of curvature decreases, the focal length decreases, and the magnification decreases. Taking the 1015 curve as an example, within 1001 circles, the lens has a focal length of 600mm ≤ F. AB ≤800mm, lenses within 1001~1002 rings with a 200mm ≤F BC ≤300mm, lenses within 1002~1003 rings with a focal length of 135mm ≤F CD ≤200mm, lenses within 1003~1004 rings with a focal length of 85mm≤F DE ≤100mm, lenses within the 1004~1005 rings with a 60mm ≤F EF ≤80mm. During manufacturing, based on the above discussion, R1>R2>R3>R4>R5, ensuring that the magnification of each part divided by the 8 dividing lines in the first lens gradually decreases from the top to the bottom, i.e., M1>M2>M3>M4>M5. The other curves from 1011 to 1018 are divided in the same way as curve 1015.

Claims

1. A polarization correction optical lens group, characterized in that, It includes a first lens, a second lens, a third lens, a fourth lens, and a CMOS connection module arranged sequentially from the object side to the image side, which corrects image distortion from a hardware perspective; The first lens is a convex lens with uneven magnification in the vertical and horizontal directions. The magnification is changed by altering the focal length through the radius of curvature. The first lens plays a major role in correcting image distortion. Eight dividing lines are set from the center point to the edge of the first lens, dividing the surface of the first lens near the object into eight equal parts. The eight parts represent different angles of view, and each part has a different radius of curvature, magnification, and focal length. The curvature of each of the eight dividing lines is different, resulting in different radii of curvature, magnification, and focal lengths in different parts of the first lens. According to the ISO standard, the magnification is different for different rear-view angles and distances of a vehicle, so the radius of curvature of each dividing line is determined; from point A, the top of the first lens near the object side, to the bottom surface near the image side, the surface of the first lens is divided into equal horizontal sections by five horizontal curves. Each of the five horizontal curves intersects with one of the eight dividing lines. The intersection points of each dividing line with the five horizontal curves from top to bottom are, in sequence, points B, C, D, E, and F. For a single dividing line, the curve from point A to point B forms the first convex lens, with a radius of curvature of R1, a magnification of M1, and a focal length of F. AB The curve from point B to point C forms the second convex lens, with a radius of curvature of R2, a magnification of M2, and a focal length of F. BC The curve from point C to point D forms the third convex lens, with a radius of curvature of R3, a magnification of M3, and a focal length of F. CD The curve from point D to point E forms the fourth convex lens, with a radius of curvature of R4, a magnification of M4, and a focal length of F. DE The curve from point E to point F forms the fifth convex lens, with a radius of curvature of R5, a magnification of M5, and a focal length of F. EF In the first lens, the horizontal cuts of the five horizontal curves represent changes in distance, and the vertical cuts of the eight dividing lines represent changes in viewing angle. Among them, R1>R2>R3>R4>R5, ensuring that the magnification of each part divided by the 8 dividing lines in the first lens gradually decreases from the top to the bottom, that is, M1>M2>M3>M4>M5.

2. The offset correction optical lens group according to claim 1, characterized in that, The field of view for the three types of vehicles is set to 30° to 65°, and the maximum distance between the object and the vehicle is 20 meters. The area to be captured by the rearview mirror is divided into five parts according to the angle of view: 30°~65°, 34°~61°, 38°~57°, 42°~53° and 46°~49°, and into 25 parts according to the distance: 0.5m to 4.5m, 4.5m to 8m, 8m to 11.5m, 11.5m to 15m and 15m to 20m. The magnification of each part is as follows: When the viewing angle is 46° to 49° and the distance between the object and the car is 15 to 20 meters, the magnification is between 0.3463 and 0.3505. When the viewing angle is 42° to 53° and the distance between the object and the car is 11.5 meters to 15 meters, the magnification is between 0.3490 and 0.3541. When the viewing angle is 38° to 57° and the distance between the object and the car is 8 meters to 11.5 meters, the magnification is between 0.3509 and 0.3601. When the viewing angle is 34° to 61° and the distance between the object and the car is 4.5 meters to 8 meters, the magnification is between 0.3550 and 0.3770. When the viewing angle is 30° to 65° and the distance between the object and the car is 0.5 meters to 4.5 meters, the magnification is between 0.3697 and 0.6003. according to as well as The focal length and radius of curvature of each part in the first lens are deduced by using the magnification. Where d represents the thickness of the lens, r1 and r2 represent the radii of curvature at the front and back of the lens, respectively, n represents the refractive index of the lens material, 1 / f is the optical magnification of the lens, f represents the focal length, u represents the object distance, and m represents the magnification.

3. The offset correction optical lens group according to claim 1, characterized in that, The second lens is a convex lens, the third lens is a concave lens, and the fourth lens is a concave lens.

4. An electronic rearview mirror system, characterized in that, Includes the offset correction optical lens group, CMOS image sensor, FPGA programmable logic device, SRAM data memory, ARM central processing unit, SDRAM dynamic memory, FLASH program memory, DSP data signal processor and display screen as described in any one of claims 1 to 3; The system consists of a bias-correcting optical lens group for acquiring images, a CMOS image sensor for converting optical images into electronic signals (i.e., analog signals into digital signals), a DSP digital signal processor and an FPGA programmable logic unit for real-time image processing based on input codes, an SRAM data memory and an SDRAM dynamic memory for storing image information, a FLASH program memory for storing written programs, an ARM central processing unit for controlling the entire system, and a display screen for displaying real-time images.

5. The electronic rearview mirror system according to claim 4, characterized in that, After the offset optical lens group corrects image distortion from a hardware perspective, it is connected to the CMOS image sensor and enters the software part of image distortion correction. The FPGA module configures the CMOS sensor and acquires image data, and the DSP digital signal processor uses a spherical model algorithm to perform software correction of image distortion.

Images