Single-lens panoramic imaging system and panoramic computational imaging method

Abstract

The present invention discloses a single-lens panoramic imaging system and a panoramic computational imaging method, wherein the single-lens panoramic imaging system comprises a panoramic lens, an optical microchannel glass array, a sensor and a panoramic computational imaging module, wherein the panoramic lens comprises a first optical surface, a second optical surface, a third optical surface and a fourth optical surface, and the entire single-lens panoramic imaging system is composed of only one lens, and ultra-large target high-resolution panoramic imaging perception is achieved through the single-lens panoramic imaging system, and the panoramic computational imaging method proposed by the present invention can compensate for the defects of the panoramic annular image generated by the sensor to obtain a high-quality panoramic annular image. The present invention reduces the processing and assembly tolerance requirements, avoids the huge structural volume and heavy weight brought by the 7 to 11 lenses of the traditional panoramic annular lens, and realizes high-definition panoramic imaging with a minimalist architecture, which is particularly suitable for perception scenes with strict space weight restrictions such as drones and miniaturized robots.

Description

Technical Field

[0001] The present invention belongs to the field of optical design and deep learning technology, and in particular relates to a single-lens panoramic imaging system and a panoramic computational imaging method. Background Art

[0002] In order to achieve panoramic perception with a super-hemispherical field of view, optical architectures such as fisheye lenses, single-mirror catadioptric lenses, dual-mirror isotropic catadioptric lenses, dual-mirror anisotropic catadioptric lenses, panoramic ring-shaped lenses, and super-hemispherical panoramic lenses have emerged. In order to achieve panoramic perception with high imaging quality, the above-mentioned panoramic systems are usually composed of 7 to 11 or even more lenses. In terms of optical surface shape, spherical or aspherical surfaces or even free-form surfaces are used for aberration correction, which brings problems such as difficult processing, cumbersome assembly process, complex system, strict tolerance, and high cost. In the field of miniaturized robots and small drones, due to energy supply constraints and perception scenarios, panoramic range perception and compact high-quality imaging systems are often required. Although there are various miniaturized and high-quality imaging lenses on the market, their field of view angles are only about 60°~80°, with a narrow perception range and limited field of view. As the most common panoramic perception device, the fisheye lens can achieve a field of view of more than 180°, but the edge field distortion is too large, the relative illumination drops quickly, and the number of lenses is large. Therefore, it can only be used in the field of photography and is not conducive to 360° panoramic scene perception.

[0003] In summary, the traditional panoramic imaging system is large and heavy due to the complexity of the system, and cannot be applied to scenarios with strict size and weight restrictions such as miniaturized robot perception and small drone perception. Therefore, there is an urgent need for a lightweight, compact, low-tolerance, good imaging quality, and simple structure panoramic imaging system. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a single-lens panoramic imaging system and a panoramic computational imaging method to compensate for the defects of large volume, heavy weight, difficult processing, complicated assembly process, complex system, strict tolerance and high cost caused by the large number of lenses of traditional panoramic imaging lenses, so as to realize panoramic imaging perception in scenarios with strict volume and weight restrictions such as miniaturized robots and small drones.

[0005] According to a first aspect of an embodiment of the present application, a single-lens panoramic imaging system is provided, comprising a panoramic lens, an optical microchannel glass array, a sensor, and a panoramic computational imaging module; the panoramic lens is fixed to the sensor by a fastener, and the optical microchannel glass array is arranged between the panoramic lens and the sensor;

[0006] The panoramic lens comprises a first optical surface, a second optical surface, a third optical surface and a fourth optical surface; the first optical surface is annular, the first optical surface and the third optical surface have the same curvature and the first optical surface and the third optical surface together form a hemispherical curved surface; the third optical surface is arranged on the inner side of the first optical surface; the edge of the third optical surface is connected to the inner ring edge of the first optical surface; the fourth optical surface is annular, the outer ring edge of the fourth optical surface is connected to the outer ring edge of the first optical surface; the second optical surface is a curved surface concave toward the inside of the panoramic lens, and the edge of the second optical surface is connected to the inner ring edge of the fourth optical surface; the first optical surface is coated with an anti-reflection film, the second optical surface and the third optical surface are coated with a reflective film, and the fourth optical surface is coated with an infrared cut-off film; the infrared cut-off film is used to filter out light above 680 nm;

[0007] The microchannel glass array is used to screen the receiving angle of light transmitted from the panoramic lens; the sensor is used to generate a panoramic annular image according to the light transmitted by the optical microchannel glass array; and the panoramic computational imaging module is used to perform panoramic computational imaging on the panoramic annular image generated by the sensor.

[0008] On the other hand, the present invention provides a panoramic computational imaging method of the above-mentioned single-lens panoramic imaging system, comprising the following steps:

[0009] 1) Shooting with a panoramic ring-shaped high-definition image shooting device to obtain panoramic ring-shaped high-definition images of various scenes;

[0010] 2) using a panoramic annular zone imaging simulation method to convert the panoramic annular zone high-definition image into a corresponding aberration-degraded image in the single-lens panoramic imaging system;

[0011] 3) constructing an initial model for restoring an aberration-degraded image and using the panoramic ring-shaped high-definition image obtained in step 1) and the aberration-degraded image obtained in step 2) for training to obtain a trained aberration-degraded image restoration model;

[0012] 4) Inputting the panoramic annular image generated by the sensor in the single-lens panoramic imaging system into the trained aberration-degraded image restoration model to obtain a panoramic annular image after panoramic computational imaging.

[0013] As a preferred embodiment of the present invention, the panoramic annular high-definition image shooting device in step 1) includes a panoramic annular lens with 7 to 11 lenses and a camera adapted to the panoramic annular lens.

[0014] As a preferred embodiment of the present invention, the step 2) comprises the following sub-steps:

[0015] 2.1) Using the ray tracing model, calculate the point spread function of the single-lens panoramic imaging system at each field of view;

[0016] 2.2) Dividing the panoramic ring high-definition image taken in step 1) into blocks of fixed size to obtain a plurality of image blocks;

[0017] 2.3) Obtain the point spread function of the corresponding field of view according to the distance from the image block to the image center, and convolve the image block and the point spread function to obtain the image block after aberration degradation;

[0018] 2.4) Traverse each image block and perform the operation of step 2.3), then combine all the aberration-degraded image blocks obtained, and output the panoramic annular aberration-degraded image. Further, all the aberration-degraded images obtained are combined according to the positions of the corresponding image blocks that have not been operated in steps 2 and 3) in the original image.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] The present invention proposes a single-lens panoramic imaging system, which realizes a single-lens panoramic imaging system with small size, light weight, low processing difficulty, convenient assembly process, simple system, loose tolerance and low cost. The number of lenses is only one, which avoids the problems of large system size, large weight, strict tolerance, great processing difficulty and high cost caused by the complex optical structure and large number of lenses of traditional panoramic ring-zone lenses. With the help of the panoramic computational imaging method provided by the present invention, the advantage of high imaging quality can also be achieved.

[0021] The panoramic computational imaging method constructed by the present invention adopts a set of panoramic annular high-definition image data acquisition devices, and uses the devices to collect panoramic annular high-definition image data, and simulates the panoramic annular imaging mode by simulation, which makes up for the vacancy of the panoramic annular image restoration data set and provides the high-definition image-degraded image data pairs that are missing in the panoramic annular image restoration. The present invention solves the aberration problem caused by the light and thin optical design, and realizes a single-lens, easy-to-process, high-quality panoramic annular imaging system that cannot be achieved by simple optical design. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0023] Figure 1 It is a schematic structural diagram of a single-lens panoramic imaging system according to an exemplary embodiment.

[0024] Figure 2It is a light path diagram of a specific embodiment of a single-lens panoramic imaging system according to an exemplary embodiment.

[0025] Figure 3 It is a point diagram of a specific embodiment of a single-lens panoramic imaging system according to an exemplary embodiment.

[0026] Figure 4 The present invention is a device for acquiring panoramic annular high-definition image data and an example of panoramic annular high-definition image data acquired by the device according to an exemplary embodiment.

[0027] Figure 5 The present invention is a flowchart of a method for restoring a panoramic annular aberration-degraded image based on pre-training according to an exemplary embodiment.

[0028] Figure 6 The diagram is a schematic diagram of an electronic device according to an exemplary embodiment.

[0029] The reference numerals in the figure are: 1, panoramic lens; 2, optical microchannel glass array; 3, sensor; S1, first optical surface; S2, second optical surface; S3, third optical surface; S4, fourth optical surface; θ1, minimum field of view angle; θ2, maximum field of view angle. DETAILED DESCRIPTION

[0030] Here, exemplary embodiments are described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application.

[0031] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0032] It should be understood that although the terms first, second, third, etc. may be used in the present application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0033] The present invention first provides a single-lens panoramic imaging system, comprising a panoramic lens 1, an optical microchannel glass array 2, a sensor 3 and a panoramic computational imaging module; the panoramic lens 1 is fixed to the sensor by a fastener, and the optical microchannel glass array 2 is arranged between the panoramic lens 1 and the sensor 3;

[0034] The panoramic lens 1 comprises a first optical surface S1, a second optical surface S2, a third optical surface S3 and a fourth optical surface S4; the first optical surface S1 is annular, the first optical surface S1 and the third optical surface S3 have the same curvature and the first optical surface S1 and the third optical surface S3 together form a hemispherical curved surface; the third optical surface S3 is arranged on the inner side of the first optical surface S1; the edge of the third optical surface S3 is connected to the inner ring edge of the first optical surface S1; the fourth optical surface S4 is annular, and the outer ring edge of the fourth optical surface S4 is connected to the outer ring edge of the first optical surface S1; the second optical surface S2 is a curved surface concave toward the inside of the panoramic lens S1, and the edge of the second optical surface S2 is connected to the inner ring edge of the fourth optical surface S4; the first optical surface S1 is coated with an anti-reflection film, the second optical surface S2 and the third optical surface S3 are coated with a reflective film, and the fourth optical surface S4 is coated with an infrared cut-off film; the infrared cut-off film is used to filter out light above 680 nm; in a specific embodiment of the present invention, the wavelength above 680 nm is The transmittance of light in the spectrum above nm on the infrared cut-off film is less than 50% and the transmission of residual wavelengths will not affect the imaging.

[0035] The microchannel glass array is used to screen the receiving angle of light transmitted from the panoramic lens 1; the sensor is used to generate a panoramic annular image according to the light transmitted by the optical microchannel glass array 2; and the panoramic computational imaging module is used to perform panoramic computational imaging on the panoramic annular image generated by the sensor.

[0036] The present invention further provides a panoramic computational imaging method of the above-mentioned single-lens panoramic imaging system, comprising the following steps:

[0037] 1) Shooting with a panoramic ring-shaped high-definition image shooting device to obtain panoramic ring-shaped high-definition images of various scenes;

[0038] 2) using a panoramic annular zone imaging simulation method to convert the panoramic annular zone high-definition image into a corresponding aberration-degraded image in the single-lens panoramic imaging system;

[0039] 3) constructing an initial model for restoring an aberration-degraded image and using the panoramic ring-shaped high-definition image obtained in step 1) and the aberration-degraded image obtained in step 2) for training to obtain a trained aberration-degraded image restoration model;

[0040] 4) Inputting the panoramic annular image generated by the sensor in the single-lens panoramic imaging system into the trained aberration-degraded image restoration model to obtain a panoramic annular image after panoramic computational imaging.

[0041] Example 1

[0042] like Figure 1 As shown, it is a schematic diagram of the structure of a panoramic lens, an optical microchannel glass array and a sensor in a single-lens panoramic imaging system of the present invention; wherein, the optical parameter ranges of the panoramic lens 1 are as shown in Table 2; the panoramic lens 1 comprises a first optical surface S1, a second optical surface S2, a third optical surface S3 and a fourth optical surface S4, and the optical parameter ranges of the first optical surface S1 and the second optical surface S2 are as shown in Table 2:

[0043] Table 1

[0044]

[0045] Table 2

[0046]

[0047] The first optical surface S1 and the third optical surface S3 have the same curvature, the first optical surface S1 is coated with an anti-reflection film, the second optical surface S2 and the third optical surface S3 are coated with a reflective film, and the fourth optical surface S4 is coated with an infrared cut-off film. The incident light between the minimum field of view angle θ1 and the maximum field of view angle θ2 in the 360° direction passes through the first optical surface S1 for the first refraction, passes through the second optical surface S2 for the first reflection, passes through the third optical surface S3 for the second reflection, and passes through the fourth optical surface S4 for the second refraction. The anti-reflection film on the first optical surface is coated between the incident light with the minimum field of view angle and the incident light with the maximum field of view angle, and the second optical surface S4 is coated with a reflective film on the second optical surface. The entire surface of S2 is coated with a reflective film, the distance of the maximum coating edge of the third optical surface S3 perpendicular to the optical axis is less than the distance of the incident position of the minimum field angle light on the first optical surface S1 perpendicular to the optical axis, the infrared cut-off film of the fourth optical surface S4 is coated between the positions of the light incident at the minimum field angle and the light incident at the maximum field angle on the fourth optical surface S4, the distance of the minimum coating edge of the fourth optical surface perpendicular to the optical axis is greater than the distance of the light incident at the reflection position of the maximum field angle light on the second optical surface S2 perpendicular to the optical axis, and the right-angle area of ​​the panoramic lens 1 is coated between the position of the light incident at the maximum field angle on the fourth optical surface S4;

[0048] The optical microchannel glass array 2 is composed of glass materials with two refractive indices, wherein the refractive index of the microchannel glass material of the optical microchannel glass array is less than the refractive index of the substrate of the optical microchannel glass array, and the half acceptance angle of the optical microchannel glass array is less than or equal to 10°; wherein, the smaller the field of view angle of the light incident on the panoramic lens 1, the closer the light transmitted from the optical microchannel glass array 2 to the sensor is to the center of the sensor.

[0049] The sensor 3 is an image sensor without protective glass and filter, and its single pixel size is less than 4 μm; the sensor generates a panoramic annular image according to the light transmitted by the optical microchannel glass array, and transmits the generated panoramic annular image to the panoramic computational imaging module; the panoramic computational imaging module is provided with a trained aberration-degraded image restoration model, and the trained aberration-degraded image restoration model is used to perform panoramic computational imaging on the panoramic annular image generated by the sensor.

[0050] The panoramic lens 1 is fixed on the sensor by mechanical threads, and the optical microchannel glass array 2 is bonded to the sensor 3 by glue;

[0051] Its light path is Figure 1 As shown by the light path arrow, the system is designed for a panoramic lens 1, an optical microchannel glass array 2, and a sensor 3.

[0052] like Figure 2 FIG. 1 is a light path diagram of a specific embodiment of a single-lens panoramic imaging system according to an exemplary embodiment. In the exemplary embodiment of the present invention, it can be observed that the imaging field of view of this embodiment is , can realize single-lens panoramic perception, simple structure, the specific specifications of the panoramic lens are focal length 3.7mm, aperture value 5.3, point array RMS radius 36~67μm, relative illumination 0.98, diameter 27.3mm, total length 14.1mm. The panoramic lens has the advantage of high image telecentricity, which is conducive to coupling into the optical microchannel array and sensor coupling.

[0053] Figure 3 is based on Figure 2 The imaging quality point array diagram shown in the exemplary embodiment has an RMS radius of 36-67 μm, a minimum half image height of 2.492 mm, and a maximum half image height of 4.952 mm. It has the advantage of a small blind area.

[0054] Example 2

[0055] Figure 4This is an example of a panoramic annular high-definition image data acquisition device used in the present invention and the panoramic annular high-definition image data acquired by the device. The panoramic annular high-definition image acquisition is acquired by shooting with a single-lens panoramic imaging system. In a specific embodiment of the present invention, the panoramic annular high-definition image shooting device includes a panoramic annular lens composed of 9 lenses, whose aberration has been well corrected in the design stage and has good imaging quality; and a high-end camera adapted to the lens, whose target surface matches the lens. The shooting device is used to shoot panoramic annular high-definition image data in various scenes, including campuses, urban buildings, scenic spots, indoor shopping malls, squares, and green areas to ensure that the data covers sufficient scene types. The amount of high-definition image data shot in this embodiment is 500, which is sufficient to train the subsequent panoramic annular aberration degradation image restoration model.

[0056] Figure 5 The present invention is a flow chart of a panoramic computational imaging method for a single-lens panoramic imaging system. In one embodiment of the present invention, the panoramic computational imaging method for a single-lens panoramic imaging system adopts a comprehensive training process including a pre-training stage and a fine-tuning stage during the training process. The model structures used in the pre-training stage and the fine-tuning stage are completely the same, and the structure is a feature extractor, a feature enhancement module, and an image reconstruction module.

[0057] In this embodiment, the feature extractor is a convolution layer and a downsampling layer, which is used to extract deep features in the image; the feature enhancement module is a 6-layer Swin-Transformer network layer, which is used to restore the deep features of the aberration-degraded image into the deep features of the high-definition image; the image reconstruction module is composed of an upsampling layer and a convolution layer, which is used to reconstruct the restored high-definition image deep features into a restored high-definition image.

[0058] The purpose of the aberration-degraded image restoration pre-training stage is to make up for the shortcoming of the small number of panoramic annular high-definition image data, and to first give the aberration-degraded image restoration model the basic aberration-degraded restoration ability through pre-training. The aberration-degraded image restoration pre-training method first needs to construct an aberration-degraded image data set based on a lens database. Its construction process is the same as the above-mentioned panoramic annular aberration-degraded image data, except that the input panoramic annular high-definition image is replaced with a public high-definition perspective image; in this embodiment of the present invention, the data volume is 2000, and the Flickr2K data set is used. The lens used for tracing and generating the point spread function is replaced with a random lens in the lens database. For each public high-definition perspective image input, a lens is randomly selected from the lens library to track and calculate the point spread function and perform aberration simulation. The lens library can be sourced from a public lens initial structure library, or can be automatically generated in batches using an automatic lens design method. Based on the aberration-degraded image data set based on the lens database, the panoramic annular aberration-degraded image restoration model is pre-trained, and its training steps are specifically as follows:

[0059] 1) Batch loading of pre-training data, including aberration degradation data and high-definition perspective data;

[0060] 2) Inputting the aberration-degraded data into the aberration-degraded image restoration model to obtain restored image data;

[0061] 3) Calculate the absolute value loss of pixels between the restored image data and the high-definition perspective data;

[0062] 4) According to the pixel absolute value loss calculated in 3), reverse gradient optimization is performed to update the parameters of the aberration-degraded image restoration model; it is determined whether the current number of training iterations reaches the expected number of training iterations, which is 200K in this embodiment. If it reaches, the training is terminated; if not, the training is returned to step 1) to continue training;

[0063] Through the above steps, a pre-trained panoramic annular aberration-degraded image restoration model can be obtained.

[0064] The aberration-degraded image is obtained by converting the panoramic annular high-definition image using a panoramic annular imaging simulation method, and the specific steps are as follows:

[0065] 1.1) Using the ray tracing model, calculate the point spread function of all single-lens panoramic imaging systems in each field of view;

[0066] 1.2) Dividing the panoramic ring high-definition image taken in step 1.1) into blocks of fixed size to obtain a plurality of image blocks;

[0067] 1.3) Obtain the point spread function of the corresponding field of view according to the distance from the image block to the image center, and convolve the image block and the point spread function to obtain the image block after aberration degradation;

[0068] 1.4) Traverse each image block to perform the operation of step 1.3), then combine all the image blocks according to the positions of their corresponding image blocks that have not been operated in step 1.3) in the original image, and output a panoramic annular aberration-degraded image.

[0069] The ray tracing model is a ray tracing model based on geometric optics commonly used in the field of optical design. The ray tracing model describes the propagation process of light in the optical system through a mathematical model, including the reflection, refraction, diffraction and other behaviors of light on different optical elements. The optical elements can be lenses, reflectors, etc. Through this model, the light can be traced from the starting point to obtain the intensity distribution of the starting point on the image plane after passing through the optical system, and the point spread function can be calculated to reflect the imaging of the image point on the object surface by the optical system. The point spread function is a common function in the field of optical design that describes the light field distribution of the output image of the input point light source of the optical system.

[0070] The parameters of the pre-trained panoramic annular aberration-degraded image restoration model are used as initialization parameters, and based on the panoramic annular aberration-degraded image data, a final panoramic annular aberration-degraded image restoration model is trained; the training steps are specifically as follows:

[0071] 1) Load the pre-trained panoramic annular aberration-degraded image restoration model;

[0072] 2) Batch loading of pre-training data, including panoramic annular aberration degradation data and panoramic annular high-definition data;

[0073] 3) Inputting the panoramic annular aberration degradation data into the panoramic annular aberration degradation image restoration model to obtain the panoramic annular restoration image data;

[0074] 4) Calculate the absolute value loss of pixels between the panoramic ring restored image data and the panoramic ring high-definition data;

[0075] 5) According to the absolute value loss of pixels calculated in 4), reverse gradient optimization is performed to update the parameters of the panoramic annular aberration-degraded image restoration model; it is determined whether the current number of training iterations reaches the expected number of training iterations, which is set to 10K times in this embodiment. If it reaches, the training is terminated; if not, the training is returned to step 1) to continue training;

[0076] After completing the training, the final panoramic annular aberration-degraded image restoration model can be obtained, which can realize image restoration of the panoramic annular aberration-degraded image output by the single-lens panoramic imaging system proposed in the present invention, and output high-quality panoramic annular imaging results.

[0077] Example 3

[0078] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0079] For the device embodiment, since it basically corresponds to the method embodiment, the relevant parts can refer to the partial description of the method embodiment. The device embodiment described above is only schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present application scheme. A person of ordinary skill in the art can understand and implement it without paying any creative work.

[0080] Accordingly, the single-lens panoramic imaging system of the present invention further includes a panoramic computational imaging module, which includes one or more processors; a memory for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors implement the panoramic computational imaging method of the single-lens panoramic imaging system as described above. Figure 6 As shown, it is a hardware structure diagram of any device with data processing capability for a panoramic computational imaging method of a single-lens panoramic imaging system provided by an embodiment of the present invention, except Figure 6 In addition to the processor, memory and network interface shown, any device with data processing capability in which the apparatus in the embodiment is located may also include other hardware, generally based on the actual functions of the device with data processing capability, which will not be described in detail.

[0081] Accordingly, the present application also provides a computer-readable storage medium on which computer instructions are stored. When the instructions are executed by a processor, the panoramic computational imaging method of the single-lens panoramic imaging system as described above is implemented. The computer-readable storage medium can be an internal storage unit of any device with data processing capabilities as described in any of the aforementioned embodiments, such as a hard disk or a memory. The computer-readable storage medium can also be an external storage device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), an SD card, a flash card (Flash Card), etc. equipped on the device. Furthermore, the computer-readable storage medium can also include both an internal storage unit of any device with data processing capabilities and an external storage device. The computer-readable storage medium is used to store the computer program and other programs and data required by any device with data processing capabilities, and can also be used to temporarily store data that has been output or is to be output.

[0082] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the contents disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application, which follow the general principles of the present application and include common knowledge or customary technical means in the art that are not disclosed in the present application.

[0083] It will be appreciated that the present application is not limited to the exact construction that has been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof.

Claims

1. A single-lens panoramic imaging system, characterized in that: It comprises a panoramic lens (1), an optical microchannel glass array (2), a sensor (3) and a panoramic computational imaging module; the panoramic lens (1) is fixed to the sensor via a fastener, and the optical microchannel glass array (2) is arranged between the panoramic lens (1) and the sensor (3); The panoramic lens (1) comprises a first optical surface (S1), a second optical surface (S2), a third optical surface (S3) and a fourth optical surface (S4); the first optical surface (S1) is annular, the first optical surface (S1) and the third optical surface (S3) have the same curvature and the first optical surface (S1) and the third optical surface (S3) together form a hemispherical curved surface; the third optical surface (S3) is arranged on the inner side of the first optical surface (S1), and the edge of the third optical surface (S3) is aligned with the inner side of the first optical surface (S1). The fourth optical surface (S4) is annular, and the outer ring edge of the fourth optical surface (S4) is connected to the outer ring edge of the first optical surface (S1); the second optical surface (S2) is a curved surface recessed toward the inside of the panoramic lens (1), and the edge of the second optical surface (S2) is connected to the inner ring edge of the fourth optical surface (S4); the first optical surface (S1) is coated with an anti-reflection film, the second optical surface (S2) and the third optical surface (S3) are coated with a reflective film, and the fourth optical surface (S4) is coated with an infrared cut-off film; the infrared cut-off film is used to filter out light above 680 nm; The microchannel glass array is used to screen the receiving angle of light transmitted from the panoramic lens (1); the sensor is used to generate a panoramic annular image according to the light transmitted by the optical microchannel glass array (2); and the panoramic computational imaging module is used to perform panoramic computational imaging on the panoramic annular image generated by the sensor; The anti-reflection film of the first optical surface (S1) is coated on the area where the incident light is irradiated at a minimum viewing angle to a maximum viewing angle, the entire surface of the second optical surface (S2) is coated with a reflective film, the distance of the maximum coating edge of the third optical surface (S3) perpendicular to the optical axis is less than the distance of the incident position of the light with the minimum viewing angle on the first optical surface (S1) perpendicular to the optical axis, the infrared cut-off film of the fourth optical surface (S4) is coated between the positions of the light with the minimum viewing angle and the light with the maximum viewing angle on the fourth optical surface (S4), and the distance of the minimum coating edge of the fourth optical surface (S4) perpendicular to the optical axis is greater than the distance of the light with the maximum viewing angle at the reflection position of the second optical surface (S2) perpendicular to the optical axis; The half-receiving angle of the optical microchannel glass array (2) is less than or equal to 10°; the optical microchannel glass array (2) comprises a substrate and a microchannel glass; the substrate is provided with a hole for placing the microchannel glass, a plurality of microchannel glass arrays are arranged in the hole provided on the substrate, and the refractive index of the microchannel glass is less than the refractive index of the substrate; the microchannel glass array is used to screen the receiving angle of light transmitted from the panoramic lens (1), wherein light with a half-receiving angle greater than 10° is absorbed by the substrate after entering the optical microchannel glass array (2), and light with a half-receiving angle less than or equal to 10° is transmitted to the sensor after passing through the microchannel glass.

2. The single-lens panoramic imaging system according to claim 1, characterized in that: A right-angle region is also provided between the first optical surface (S1) and the fourth optical surface (S4); the right-angle region is subjected to ink coating.

3. The single-lens panoramic imaging system according to claim 1, characterized in that: Light incident on the panoramic lens (1) undergoes a first refraction when passing through the first optical surface (S1), then enters the interior of the panoramic lens (1), and irradiates the second optical surface (S2). The light irradiated on the second optical surface (S2) undergoes a first reflection; the light reflected for the first time reaches the third optical surface (S3) and undergoes a second reflection. The light reflected for the second time irradiates the fourth optical surface (S4). The light irradiated on the fourth optical surface (S4) undergoes a second refraction and then enters the optical microchannel glass array (2). The light entering the optical microchannel glass array (2) is screened by a receiving angle and then transmitted to the sensor; wherein, the smaller the field of view angle of the light incident on the panoramic lens (1), the closer the light transmitted from the optical microchannel glass array (2) to the sensor is to the center of the sensor.

4. The single-lens panoramic imaging system according to claim 1, characterized in that: The panoramic lens (1) has a central thickness of 9 to 11 mm, a refractive index of 1.8 to 2, and an Abbe number of 20 to 30; a first optical surface (S1) has a radius of curvature of 15 to 17 mm; and an effective semi-aperture of 12 to 14 mm; and a second optical surface (S2) has a radius of curvature of 5 to 7 mm, and an effective semi-aperture of 2 to 2.5 mm.

5. A panoramic computational imaging method for a single-lens panoramic imaging system as claimed in claim 1, characterized in that: The following steps are involved: 1) Shooting with a panoramic ring-shaped high-definition image shooting device to obtain panoramic ring-shaped high-definition images of various scenes; 2) using a panoramic annular zone imaging simulation method to convert the panoramic annular zone high-definition image into a corresponding aberration-degraded image in the single-lens panoramic imaging system; 3) constructing an initial model for restoring an aberration-degraded image and using the panoramic ring-shaped high-definition image obtained in step 1) and the aberration-degraded image obtained in step 2) for training to obtain a trained aberration-degraded image restoration model; 4) Inputting the panoramic annular image generated by the sensor in the single-lens panoramic imaging system into the trained aberration-degraded image restoration model to obtain a panoramic annular image after panoramic computational imaging.

6. The panoramic computational imaging method according to claim 5, characterized in that: The panoramic annular high-definition image shooting device in step 1) includes a panoramic annular lens with 7 to 11 lenses and a camera adapted to the panoramic annular lens.

7. The panoramic computational imaging method according to claim 5, characterized in that: The step 2) includes the following sub-steps: 2.1) Using the ray tracing model, calculate the point spread function of all single-lens panoramic imaging systems in each field of view; 2.2) Dividing the panoramic ring high-definition image taken in step 1) into blocks of fixed size to obtain a plurality of image blocks; 2.3) Obtain the point spread function of the corresponding field of view according to the distance from the image block to the image center, and convolve the image block and the point spread function to obtain the image block after aberration degradation; 2.4) Traverse each image block to perform the operation in step 2.3), then combine all the aberration-degraded image blocks obtained to output a panoramic annular aberration-degraded image.

8. The method according to claim 5, characterized in that The aberration-degraded image restoration model includes a feature extractor, a feature enhancement module and an image reconstruction module; the feature extractor is used to extract deep features of the aberration-degraded image; the feature enhancement module is used to restore the deep features of the aberration-degraded image into deep features of a high-definition image; and the image reconstruction module is used to reconstruct a high-definition image based on the restored deep features.

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