360-degree looking-around compound eye imaging system

Abstract

The invention relates to a 360-degree look-around compound eye imaging system which comprises a compound eye sensing array subsystem which is composed of a multi-mode, multi-scale, multi-angle and multi-speed linear array camera array provided with a telephoto lens; the surround-view and panoramic-view scanning subsystem is used for driving the compound eye perception array subsystem to perform surround-view and panoramic-view scanning or sector scanning; the ultra-high resolution reconstruction subsystem is used for acquiring linear array scanning output images with different scales and different angles by the compound eye perception array subsystem in a single mode, splicing the linear array scanning output images to obtain a panoramic scanning image in the single mode, and performing multi-mode image fusion on a plurality of reconstructed single-mode panoramic scanning images. The multi-mode image information fusion can be realized, the ultra-large-format and ultra-high-resolution panoramic all-around shooting can be carried out with lower cost when the ultra-long-distance video sensing task is executed, richer video information is obtained, and the influence of extreme weather conditions during shooting and imaging is reduced at the same time.

Description

Technical Field

[0001] The present invention relates to the field of ultra-long-distance video perception technology, and in particular to a 360-degree surround-view compound eye imaging system. Background Art

[0002] At present, the commonly used shooting systems in the field of video perception often use short-focus lenses to obtain a larger field of view when shooting surround videos, and the shooting distance is limited. When facing long-distance surround shooting tasks, how to achieve large-field surround shooting while ensuring high-definition and fast response of the video has become a hot issue to be solved. The development of the aerospace imaging field has led to rapid progress in ultra-long-distance video perception technology. In the field of aerospace imaging, high-precision optical scanning and tracking systems based on fast-reflection mirrors are often used to perform fast scanning tasks. The fast-reflection mirror controls the fast and high-frequency rotation of the reflective mirror under the action of the driving element to achieve high-speed and precise pointing, stabilization and tracking of the light beam. Combined with high-sensitivity and high-response speed sensors, a high-precision optical scanning and tracking system is formed. The advantages are extremely high resolution and extremely fast response speed, but the cost is high and it is not suitable for panoramic scanning tasks in daily scenes. Linear array push-broom cameras are also often used to perform long-distance detection, scanning and imaging work in the aerospace field. Linear array push-broom cameras are not limited by line height due to their line scanning working mode. In theory, they can shoot objects of infinite length and can obtain ultra-high resolution images at a low cost. However, linear array push-broom cameras are limited by light conditions and require good lighting when shooting moving targets. In extreme environments such as rain, snow, haze, and extreme darkness, thermal imaging area array cameras are often used for panoramic imaging, because the infrared waves used in thermal imaging have strong penetrability, are not limited by the above extreme conditions, and are not affected by camouflage. Therefore, how to achieve ultra-large format, ultra-high resolution panoramic surround shooting at a lower cost when performing ultra-long-distance video perception tasks, while reducing the impact of extreme weather conditions, has become a technical problem to be solved in the existing technology. Summary of the invention

[0003] The present invention provides a 360-degree surround-view compound-eye imaging system, which realizes ultra-large-format, ultra-high-resolution panoramic surround-view shooting at a relatively low cost when performing ultra-long-distance video perception tasks, obtains richer video information by using multi-modal cameras, and reduces the impact of extreme weather conditions during shooting and imaging.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] A 360-degree surround-view compound eye imaging system, comprising:

[0006] The compound eye sensing array subsystem includes a multi-modal, multi-scale, multi-angle, and multi-speed linear array camera array equipped with a telephoto lens. The compound eye sensing array subsystem includes L multi-modal logical surround sensing layers arranged along the Z axis. The centers of the sensing layers are all on the Z axis or within the vicinity of the Z axis. K sensing layers are arranged in a ring around the central axis of the sensing layer. a A single-mode or multi-mode telephoto compound eye subsystem array, the telephoto compound eye subsystem array is composed of M i Row and N j A line array camera with a telephoto lens is composed of i ×N j An array of, the vertical fields of view of adjacent linear array cameras in each column of the telephoto compound eye subsystem array overlap each other, wherein L, K, M, N, a, i, j are all natural numbers greater than or equal to 1;

[0007] A circumferential scanning subsystem is used to drive the compound eye sensing array subsystem to perform circumferential scanning or sector scanning;

[0008] The ultra-high-resolution image reconstruction subsystem stitches the linear array scanning output images of different scales and angles collected by the compound eye sensing array subsystem in a single mode to obtain a single-mode panoramic scanning image, and performs multi-modal image fusion on multiple reconstructed single-mode panoramic scanning images.

[0009] Furthermore, the multimodality is to use light of different wavelengths for shooting, and shooting is performed simultaneously in one or more modes according to lighting conditions, weather conditions and actual needs. The light of different wavelengths includes visible light, near infrared, mid-infrared, far infrared, and ultraviolet light.

[0010] Furthermore, the multi-scale refers to the M i ×N j In the telephoto compound eye subsystem array, linear array cameras of different resolutions and lenses of different focal lengths are combined in a single mode to construct a mixed-scale scanning array.

[0011] Furthermore, the multi-angle refers to uniformly deploying K in a single mode. a A telephoto compound eye subsystem array, each array is responsible for 360 / N j Image acquisition in the range of degree sector scanning angles.

[0012] Furthermore, the multi-speed means that the scanning speeds of each single-modal surround viewing perception layer arranged along the Z-axis are independent of each other.

[0013] Furthermore, the ultra-high resolution image reconstruction subsystem specifically includes the following operation steps:

[0014] S1, K for the same logical surround perception layer of a single modality asplicing the linear array images output by the periscopic scanning of the telephoto compound eye subsystem arrays to obtain a spliced ​​image of the area scanned by the telephoto compound eye subsystem arrays;

[0015] S2, and K a The stitched images are stitched again to obtain a 360° surround-view compound eye single-mode image of the surround-view scanning of the single-mode same logical surround-view perception layer;

[0016] S3. Perform multimodal fusion on multiple single-modal images output by the surround-view perception layer with different modal logics to obtain a 360° surround-view compound eye multimodal fusion image.

[0017] Furthermore, the fan scanning angle is A~B, 0°≤A≤360°, 0°≤B≤360°, and the panoramic scanning angle is a 360° closed loop.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1) The compound eye sensing array subsystem of the present invention adopts a linear array camera, equipped with a telephoto lens, and uses fan scanning or panoramic scanning to achieve ultra-high resolution, ultra-wide viewing angle, ultra-long distance, low frame rate and low cost video sensing performance that far exceeds the panoramic performance of the area array camera;

[0020] 2) The compound eye sensing array subsystem in the present invention adopts a multi-modal, multi-scale, multi-angle, multi-speed linear array camera array equipped with a telephoto lens, which can obtain richer video information of multiple modes during shooting, shoot videos of any frame and any angle resolution through a combination of multi-scale cameras, and can adaptively adjust the shooting speed according to the camera modality and the external environment, and greatly improve the response speed by placing multi-angle cameras;

[0021] 3) The multimodal image fusion of the ultra-high resolution image reconstruction subsystem in the present invention can obtain richer visual information when performing ultra-long-distance video perception tasks, and reduce the impact of the external environment on shooting through the complementarity and fusion of multimodal visual information. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a system structure diagram of the present invention.

[0023] Figure 2 It is a vertical cross-sectional schematic diagram of a 3×1 telephoto compound eye subsystem array of a compound eye sensing array subsystem in the 360-degree surround-view compound eye imaging system of Example 1 of the present invention.

[0024] Figure 3 It is a schematic diagram of a single-modal 360-degree surround ultra-high resolution image captured by the compound eye sensing array subsystem of Example 1 of the present invention and reconstructed by the ultra-high resolution image reconstruction subsystem.

[0025] Figure 4 It is a schematic diagram of the three-dimensional structure of the compound eye sensing array subsystem in the multi-modal 360-degree surround-view compound eye imaging system of Example 2 of the present invention.

[0026] Figure 5 This is a schematic diagram of a multi-modal 360-degree surround ultra-high resolution image captured by the compound eye sensing array subsystem of Example 2 of the present invention and reconstructed by the ultra-high resolution image reconstruction subsystem.

[0027] Figure 6 This is a three-dimensional schematic diagram of the staggered installation of two 3×1 telephoto compound eye subsystem arrays of the compound eye sensing array subsystem in the 360-degree surround-view compound eye imaging system of Example 3 of the present invention.

[0028] Figure 7 This is a top view of the staggered installation of two 3×1 telephoto compound eye subsystem arrays of the compound eye sensing array subsystem in the 360-degree surround-view compound eye imaging system of Example 3 of the present invention.

[0029] Figure 8 This is a schematic diagram of the three-dimensional structure of four 3×1 telephoto compound eye subsystem arrays of the compound eye sensing array subsystem in the 360-degree surround-view compound eye imaging system of Example 4 of the present invention. DETAILED DESCRIPTION

[0030] The specific implementation of the present invention will be further described below in conjunction with the accompanying drawings:

[0031] See the figure, which is a system structure diagram of the present invention. The present invention provides a 360-degree surround-view compound eye imaging system, wherein the 360-degree surround-view scanning combined with reconstruction ultra-high resolution imaging system comprises a compound eye sensing array subsystem and a super-resolution reconstruction module;

[0032] The compound eye perception array subsystem is composed of a multi-modal, multi-scale, multi-angle, and multi-speed linear array camera array equipped with a telephoto lens. The compound eye perception array subsystem includes L multi-modal logical surround perception layers arranged along the Z axis. The logical surround perception layer refers to the same telephoto compound eye subsystem arrays distributed at different angles. They may not be at the same height of the Z axis geometrically, but the field of view of the scanning and shooting is approximately a closed loop of the surround scanning; the center of the perception layer is on the Z axis or within the vicinity of the Z axis, and K are arranged in a ring around the central axis of the perception layer in the perception layer. a A single-mode or multi-mode telephoto compound eye subsystem array, the telephoto compound eye subsystem array is composed of M i Row and N j A line array camera with a telephoto lens is composed of i ×N jThe vertical fields of view of each adjacent line array camera in the telephoto compound eye subsystem array overlap each other, and the main optical axis of each line array camera converges at a point or within the neighborhood of the point, and the point is the optical center of the telephoto compound eye subsystem array, wherein L, K, M, N, a, i, and j are all natural numbers greater than or equal to 1;

[0033] The surround-look scanning subsystem is used to drive the compound eye sensing array subsystem to perform surround-look scanning or sector scanning. The motors, motor drivers and motion controllers corresponding to each linear array camera perform surround-look scanning or sector scanning control on the camera array of the compound eye sensing array subsystem.

[0034] The ultra-high-resolution image reconstruction subsystem stitches the linear array scanning output images of different scales and angles collected by the compound eye sensing array subsystem in a single mode to obtain a single-mode panoramic scanning image, so as to obtain a wide-field-of-view, large-format 360-degree panoramic ultra-high-resolution image. The super-resolution reconstruction module stitches the array images with adjacent overlapping characteristics using the image stitching technology in the prior art, and performs multi-modal image fusion on multiple reconstructed single-mode panoramic scanning images.

[0035] The fan scanning angle is A-B, 0°≤A≤360°, 0°≤B≤360°, and the circumferential scanning angle is a 360° closed loop.

[0036] The multimodality includes shooting using visible light, near infrared, mid-infrared, far infrared, ultraviolet and other light of different wavelengths. The multimodality further means that shooting can be performed simultaneously in one or more modes according to lighting conditions, weather conditions and actual needs to obtain richer visual information. The complementarity and fusion of multimodal visual information can reduce the impact of different extreme weather conditions.

[0037] The multi-scale refers to the M i ×N j In the telephoto compound eye subsystem array, the row resolution and row height of the line array camera are independent of each other. In single mode, there is no need to select a more expensive high-resolution camera. Instead, a mixed-scale scanning array can be constructed by combining line array cameras of different resolutions and lenses of different focal lengths. There are fewer restrictions on hardware when shooting in multi-modality. When the resolutions of the different modal cameras used are different, there is no need to select cameras of the same resolution in hardware. The final size of the panoramic images of each modality can be aligned through array arrangement and image stitching.

[0038] The multi-angle refers to the uniform deployment of K in a single mode. a A telephoto compound eye subsystem array, each array is responsible for 360 / N jThe image acquisition of the degree frame, that is, the number K of telephoto compound eye subsystem arrays placed in different perception layers in the L multimodal logic surround perception layers arranged along the Z axis a Independent of each other, the number of linear array cameras placed in each telephoto compound eye subsystem array is M i ×N j Independent of each other, the multi-angle further means that there are fewer restrictions on the hardware response speed. When shooting, there is no need to use a more expensive high-response speed camera. Multiple sets of linear array cameras can be placed in one perception layer. When shooting 360-degree panoramic images, each array is responsible for 360 / N j The image acquisition within the degree fan scanning angle range is finally obtained by image stitching to obtain the final 360-degree surround view image, which is used to greatly improve the response speed.

[0039] The multi-speed means that the scanning speeds of each single-modal surround-view perception layer arranged along the Z-axis are independent of each other, that is, in the L multi-modal logical surround-view perception layers arranged along the Z-axis, the line frequency of the linear array cameras in each perception layer should be the same, and the line frequencies of the linear array cameras between different perception layers are independent of each other. Different line frequencies can be customized according to shooting requirements under different lighting conditions. The multi-speed further means that the exposure time required for the camera to perform 360-degree surround-view scanning in different modes may be different. Different exposure times, line frequencies and corresponding motor speeds can be set for cameras working in different modes according to actual needs.

[0040] In the ultra-high resolution image reconstruction subsystem, the compound eye perception array subsystem collects linear array scanning output images of different scales and angles in a single mode to obtain a single-mode panoramic scanning image, and performs multi-modal image fusion on multiple reconstructed single-mode panoramic scanning images, which refers to the K-based image fusion of the same logical surround perception layer of the single mode. a The linear array images output by the periscopic scanning of the telephoto compound eye subsystem arrays are spliced ​​to obtain a spliced ​​image of the area scanned by the telephoto compound eye subsystem array, and K a The stitched images are re-stitched to obtain a 360° surround view compound eye single-mode image of the single-mode same logical surround view perception layer surround view scan, and multiple single-mode images output by the surround view perception layer of different modal logics are multi-modally fused to obtain a 360° surround view compound eye multi-modal fusion image, where L and N under single mode are j Generally, 1 is taken, and the image reconstruction steps are as follows:

[0041] S1, horizontally stitching the linear images taken by each linear array camera in each telephoto compound eye subsystem array;

[0042] S2, respectively performing image registration and vertical stitching processing on the images taken by each row of linear array cameras in each telephoto compound eye subsystem array, which have been initially horizontally stitched and have adjacent overlapping characteristics in the vertical direction, to obtain a 360-degree surround ultra-high resolution image taken by the telephoto compound eye subsystem array;

[0043] S3. Perform image registration and horizontal stitching on the 360-degree surround view ultra-high resolution images taken under each telephoto compound eye subsystem array in the multimodal logical surround view perception layer to obtain a single-modal, wide-field-of-view, large-format 360-degree surround view ultra-high resolution image.

[0044] The ultra-high resolution image reconstruction subsystem performs multimodal image fusion of multiple reconstructed single-modal images, which means mapping the information in the reconstructed wide-field-of-view, large-format 360-degree surround ultra-high resolution images from different modalities (including visible light, near-infrared, mid-infrared, far-infrared, ultraviolet, etc.) into the same representation space, thereby generating information-fused wide-field-of-view, large-format 360-degree surround fusion images.

[0045] The following examples are implemented on the premise of the technical solution of the present invention, and provide detailed implementation methods and specific operation processes, but the protection scope of the present invention is not limited to the following examples. The methods used in the following examples are conventional methods unless otherwise specified.

[0046] [Example 1]

[0047] The 360-degree surround-view compound eye imaging system includes a compound eye sensing array subsystem and a super-resolution reconstruction module;

[0048] See Figure 2 , a compound eye sensing array subsystem of a single-mode 360-degree surround-view compound eye imaging system. According to this embodiment, L=1, K1=1, M1=3, and N1=1, that is, a multi-modal logical surround-view sensing layer is arranged along the Z axis, and the center of this sensing layer is on the Z axis, in which a telephoto compound eye subsystem array is arranged. Based on the multi-angle characteristics of this system, 3×1 linear array cameras equipped with telephoto lenses are arranged in the subsystem array, that is, vertical three-angle shooting is realized, and the resolution of each camera is 4096×3 pixels. The fields of view of the vertically adjacent linear array cameras overlap with each other, the overlapping part is about 256 pixels, and the main optical axis converges at the center of the sensing layer or within the neighborhood of the center.

[0049] The 3×1 telephoto compound eye subsystem array is controlled by a motor and a driver to ensure that the exposure time of the cameras in the array is consistent and the speed of the corresponding motors is consistent; the compound eye sensing array subsystem performs a 360-degree rotation around the Z axis to obtain the following Figure 3The image array shown in FIG. 1 is used, and the photographed image is sent to the ultra-high resolution image reconstruction subsystem for stitching processing. The ultra-high resolution image reconstruction subsystem first stitches the linear images obtained by each linear array camera in the 360-degree surround scanning horizontally to obtain a single 360-degree surround ultra-high resolution image with a vertical resolution of 4096 pixels; then the three 360-degree surround ultra-high resolution images with a vertical resolution of 4096 pixels collected by the 3×1 telephoto compound eye subsystem array and stitched horizontally are stitched vertically to obtain an image as shown in FIG. Figure 3 The large-format, 360-degree surround ultra-high-resolution image shown has a vertical resolution of approximately 11,776 pixels.

[0050] [Example 2]

[0051] See Figure 4 , a visible light and infrared dual-mode 360-degree surround-view compound eye imaging system, L=2, K1=2, K2=1, M1=3, N1=1, M2=2, N2=1, that is, two multi-modal logical surround-view perception layers are arranged along the Z axis, and the centers of the two perception layers are on the Z axis. In one perception layer, two infrared-based telephoto compound eye subsystem arrays are evenly and annularly arranged, and in the other perception layer, one visible light-based telephoto compound eye subsystem array is arranged; considering factors such as cost and equipment conditions, cameras with different resolutions are selected in different modes. Because this system has multi-scale characteristics, the camera array arrangement and image stitching can be used to ensure the consistency of image frames in different modes; each base 3×1 telephoto infrared light array cameras are arranged in the infrared light telephoto compound eye subsystem array, each camera has a resolution of 2048×2 pixels, the fields of view of adjacent telephoto infrared light array cameras overlap with each other, the overlapping part is about 64 pixels, and the main optical axes converge at the center of the perception layer or within the neighborhood of the center; 2×1 telephoto visible light array cameras are arranged in each visible light telephoto compound eye subsystem array, each camera has a resolution of 4096×2 pixels, the fields of view of adjacent telephoto visible light array cameras overlap with each other, the overlapping part is about 2176 pixels, and the main optical axes converge at the center of the perception layer or within the neighborhood of the center; the centers of the two perception layers are both located on the Z axis.

[0052] Each linear array camera array is controlled by a corresponding motor and driver. Based on the multi-speed characteristics of the system, appropriate exposure time is set for the camera arrays in visible light and infrared light modes according to the corresponding shooting scenes, that is, dual-speed shooting is achieved; Figure 4As shown in FIG. 1 , based on the multi-angle characteristics of the system, two telephoto compound eye subsystem arrays are placed at the 0-degree viewing angle and the 180-degree viewing angle positions in the sensing layer where the telephoto infrared light array camera is located, so as to realize lateral dual-angle surround shooting. Therefore, the sensing layer only needs to rotate 180 degrees around the Z axis to shoot, and then stitch the images to obtain a 360-degree surround scanning image, and the motor speed can be slowed down accordingly. A telephoto compound eye subsystem array is arranged in the sensing layer where the telephoto visible light array camera is located. The sensing layer needs to rotate 360 ​​degrees around the Z axis to shoot, and then stitch the images to obtain a surround scanning image. The image arrays taken by the cameras of each modality are shown in FIG. Figure 5 As shown, it is sent to the ultra-high resolution image reconstruction subsystem for stitching processing.

[0053] The ultra-high-resolution image reconstruction subsystem first horizontally stitches the columns of linear images taken by each telephoto infrared light array camera in a 180-degree rotation to obtain a single ultra-high-resolution image with a vertical resolution of 2048 pixels; then, for each infrared-based telephoto compound eye subsystem array, the three ultra-high-resolution images with a vertical resolution of 2048 pixels collected by the cameras in the subsystem array and preliminarily horizontally stitched are vertically stitched to obtain a 180-degree surround ultra-high-resolution image with a vertical resolution of approximately 6016 pixels; finally, the two 180-degree surround ultra-high-resolution images collected and stitched by the two telephoto compound eye subsystem arrays in the perception layer where the telephoto infrared light array cameras are located are horizontally stitched to obtain a 360-degree surround infrared ultra-high-resolution image with a vertical resolution of approximately 6016 pixels.

[0054] At the same time, the ultra-high resolution image reconstruction subsystem horizontally stitches the columns of linear images obtained by each telephoto visible light array camera in the 360-degree surround scan to obtain a single 360-degree surround ultra-high resolution image with a vertical resolution of 4096 pixels; then the two 360-degree surround ultra-high resolution images with a vertical resolution of 4096 pixels collected by the 2×1 telephoto visible light array camera array and initially stitched horizontally are vertically stitched to obtain a large-format 360-degree surround ultra-high resolution image with a vertical resolution of approximately 6016 pixels; finally, the ultra-high resolution image reconstruction subsystem performs multi-modal image fusion on the 360-degree surround ultra-high resolution images stitched under the above two modes to obtain the final multi-modal 360-degree surround ultra-high resolution image.

[0055] [Example 3]

[0056] See Figure 6 , a three-dimensional schematic diagram of the staggered installation of two 3×1 telephoto compound eye subsystem arrays of the compound eye sensing array subsystem in a single-mode 360-degree surround-view compound eye imaging system, see Figure 7, a top view of the dislocation installation of two 3×1 telephoto compound eye subsystem arrays of the compound eye perception array subsystem in a single-mode 360-degree surround scanning combined with reconstruction ultra-high resolution imaging system, L=1, K1=2, M1=M2=3, N1=N2=1, that is, a multi-modal logic surround perception layer is arranged along the Z axis; based on the multi-angle characteristics of the present system, two telephoto compound eye subsystem arrays are evenly arranged at the 0-degree viewing angle and 180-degree viewing angle positions in the perception layer, that is, horizontal dual-angle surround shooting is realized; 3×1 linear array cameras equipped with telephoto lenses are arranged in each subsystem array, and the structure is the same as that of Example 1; during actual installation, the two subsystem arrays are dislocated within the allowable range of distance in both the longitudinal and lateral directions, and the optical centers of the two arrays are not at the same point and are not on the Z axis, but are within the Z axis neighborhood. Although there is a dislocation, the actual field of view of the two subsystem arrays is very small and can be ignored. Therefore, Figure 6 The misalignment shown is permissible during actual installation.

[0057] [Example 4]

[0058] See Figure 8 , a schematic diagram of the three-dimensional structure of four 3×1 telephoto compound eye subsystem arrays of a compound eye perception array subsystem in a single-mode 360-degree surround-view compound eye imaging system, L=1, K1=4, M1=M2=M3=M4=3, N1=N2=N3=N4=1, that is, a multi-modal logic surround-view perception layer is arranged along the Z axis; based on the multi-angle characteristics of the present system, four telephoto compound eye subsystem arrays are evenly arranged at the viewing angles of 0 degrees, 90 degrees, 180 degrees and 270 degrees in the perception layer, that is, horizontal four-angle surround-view shooting is realized; 3×1 linear array cameras equipped with telephoto lenses are arranged in each subsystem array, and the structure is the same as that of Example 1.

Claims

1. A 360-degree surround-view compound eye imaging system, characterized in that: include: The compound eye sensing array subsystem includes a multi-modal, multi-scale, multi-angle, and multi-speed linear array camera array equipped with a telephoto lens. The compound eye sensing array subsystem includes L multi-modal logical surround sensing layers arranged along the Z axis. The centers of the sensing layers are all on the Z axis or within the vicinity of the Z axis. K sensing layers are arranged in a ring around the central axis of the sensing layer. a A single-mode or multi-mode telephoto compound eye subsystem array, the telephoto compound eye subsystem array is composed of M i Row and N j A line array camera with a telephoto lens is composed of i ×N j An array of, the vertical fields of view of adjacent linear array cameras in each column of the telephoto compound eye subsystem array overlap each other, wherein L, K, M, N, a, i, j are all natural numbers greater than or equal to 1; A circumferential scanning subsystem is used to drive the compound eye sensing array subsystem to perform circumferential scanning or sector scanning; The ultra-high-resolution image reconstruction subsystem stitches the linear array scanning output images of different scales and angles collected by the compound eye sensing array subsystem in a single mode to obtain a single-mode panoramic scanning image, and performs multi-modal image fusion on multiple reconstructed single-mode panoramic scanning images.

2. A 360-degree surround-view compound eye imaging system according to claim 1, characterized in that: The multi-modality is to use light of different wavelengths for shooting, and shooting is performed simultaneously in one or more modes according to lighting conditions, weather conditions and actual needs. The light of different wavelengths includes visible light, near infrared, mid-infrared, far infrared, and ultraviolet light.

3. The 360-degree surround-view compound eye imaging system according to claim 1, characterized in that: The multi-scale refers to the M i ×N j In the telephoto compound eye subsystem array, linear array cameras of different resolutions and lenses of different focal lengths are combined in a single mode to construct a mixed-scale scanning array.

4. The 360-degree surround-view compound eye imaging system according to claim 1, characterized in that: The multi-angle refers to the uniform deployment of K in a single mode. a A telephoto compound eye subsystem array, each array is responsible for 360 / N j Image acquisition in the range of degree sector scanning angles.

5. The 360-degree surround-view compound eye imaging system according to claim 1, characterized in that: The multi-speed means that the scanning speeds of each single-modal surround viewing perception layer arranged along the Z-axis are independent of each other.

6. The 360-degree surround-view compound eye imaging system according to claim 1, characterized in that: The ultra-high resolution image reconstruction subsystem specifically includes the following operation steps: S1, K for the same logical surround perception layer of a single modality a splicing the linear array images output by the periscopic scanning of the telephoto compound eye subsystem arrays to obtain a spliced ​​image of the area scanned by the telephoto compound eye subsystem arrays; S2, and K a The stitched images are stitched again to obtain a 360° surround-view compound eye single-mode image of the surround-view scanning of the single-mode same logical surround-view perception layer; S3. Perform multimodal fusion on multiple single-modal images output by the surround-view perception layer with different modal logics to obtain a 360° surround-view compound eye multimodal fusion image.

7. The 360-degree surround-view compound eye imaging system according to claim 1, characterized in that: The fan scanning angle is A-B, 0°≤A≤360°, 0°≤B≤360°, and the circumferential scanning angle is a 360° closed loop.

Images