Lens integrated structure, panoramic camera and image processing method

Abstract

The invention provides a lens integrated structure, a panoramic camera and an image processing method, which can eliminate a central blind area and improve the pixel utilization rate. The lens integrated structure comprises a mounting seat; the optical lens is arranged on the mounting seat; the light-transmitting cover comprises an annular cover body which is fixedly arranged on the mounting seat and is arranged around the optical lens and a front cover body which is fixedly connected with the annular cover body; the refraction and reflection element is fixedly arranged on the rear side of the front cover body, and the refraction and reflection element is provided with a refraction area located in front of the optical lens and a reflection area arranged around the refraction area; and the curved surface reflecting mirror is fixedly connected to the mounting seat, and the curved surface reflecting mirror is provided with a light window located in a light path between the refraction and reflection element and the optical lens and an annular reflecting curved surface located around the light window and back to the optical lens.

Description

Technical Field

[0001] This invention relates to the field of panoramic photography technology, and in particular to a lens integration structure, a panoramic camera, and an image processing method. Background Technology

[0002] With the rapid development of technology, the number of cameras on cars is increasing rapidly, and their installation locations vary depending on their applications. Unlike traditional in-vehicle cameras, panoramic cameras are usually installed under the vehicle or near the ground, specifically for monitoring the chassis and its surroundings. This allows them to automatically detect the surrounding environment or living beings when the vehicle starts, providing early warnings of threatening objects or creatures so that the driver can take timely action before driving. Similarly, these panoramic cameras can also provide real-time images of the vehicle's underside while the vehicle is in motion, facilitating the detection of blind spots.

[0003] To achieve the largest possible field of view (FOV), commonly used cameras are wide-angle cameras and fisheye cameras. While fisheye cameras can see images within a 180° hemispherical range, they exhibit significant distortion at the edges and are prone to chromatic aberration. Currently, existing panoramic cameras are typically panoramic cameras with a π-mirror. They first use a parabolic mirror encircling the optical lens to reflect the object light, which then propagates to a plane mirror. This plane mirror then reflects the object light back to the optical lens for imaging, achieving a 360° horizontal panoramic visual effect.

[0004] However, due to the structural limitations of the π mirror, existing panoramic cameras, while suitable for viewing a 360° horizontal circle, have a central blind zone, meaning the image behind the plane mirror is not visible. At the same time, the center of the image obtained by the panoramic camera is the shadow of the lens in the plane mirror, resulting in the waste of pixels in the central area of ​​the photosensitive chip in the panoramic camera. Summary of the Invention

[0005] One advantage of this invention is that it provides a lens integration structure, a panoramic camera, and an image processing method that can eliminate the center blind spot and improve pixel utilization.

[0006] Another advantage of the present invention is that it provides a lens integration structure, a panoramic camera, and an image processing method. In one embodiment of the present invention, the lens integration structure can eliminate the central blind spot while retaining the π-mirror function, so as to view the part of the scene that was originally blocked by the plane mirror.

[0007] Another advantage of the present invention is that it provides a lens integration structure, a panoramic camera, and an image processing method. In one embodiment of the present invention, the lens integration structure can highly integrate the refractive structure and the reflective structure, which is beneficial to the miniaturization of the camera.

[0008] Another advantage of the present invention is that it provides a lens integration structure, a panoramic camera, and an image processing method. In one embodiment of the present invention, the panoramic camera can not only improve pixel utilization, but also improve the coverage of environmental observation, which is conducive to giving full play to the performance of the camera, obtaining more environmental information, and helping to improve the safety and reliability of applications such as security and autonomous driving.

[0009] Another advantage of the present invention is that it provides a lens integration structure, a panoramic camera, and an image processing method. In one embodiment of the present invention, the image processing method can process the front view image of the central photosensitive area and the panoramic view image of the annular photosensitive area through two independent image processing flows, so as to improve image processing efficiency while achieving clear imaging across the entire field of view.

[0010] Another advantage of this invention is that it provides a lens integration structure, a panoramic camera, and an image processing method, wherein, to achieve the above objectives, complex structures and expensive materials are not required. Therefore, this invention successfully and effectively provides a solution that not only offers a simple lens integration structure, a panoramic camera, and an image processing method, but also increases the practicality and reliability of said lens integration structure, panoramic camera, and image processing method.

[0011] To achieve at least one of the above-mentioned advantages or other benefits and objectives of the present invention, the present invention provides a lens integration structure, comprising:

[0012] Mounting base;

[0013] An optical lens is mounted on the mounting base;

[0014] The light-transmitting cover includes an annular cover fixedly mounted on the mounting base and arranged around the optical lens, and a front cover fixedly connected to the annular cover.

[0015] A reflex element, fixed to the rear side of the front cover, having a refractive region in front of the optical lens and a reflective region surrounding the refractive region; and

[0016] A curved reflector is fixedly connected to the mounting base, and the curved reflector has an optical window located in the optical path between the catadioptric element and the optical lens, and an annular reflective surface located around the optical window and facing away from the optical lens.

[0017] In one embodiment of this application, the reflex element includes a light-transmitting substrate fixedly connected to the front cover, a refractive structure formed on the light-transmitting substrate, and a reflective structure formed on the light-transmitting substrate and located around the refractive structure.

[0018] In one embodiment of this application, the refractive structure is a Fresnel lens structure formed on the light-transmitting substrate.

[0019] In one embodiment of this application, the reflective structure is a high-reflectivity film attached to the front or rear surface of the light-transmitting substrate.

[0020] In one embodiment of this application, the curved reflector is a glass reflector with an anti-reflection coating in the central region or a metal reflector with an opening in the central region.

[0021] In one embodiment of this application, the mounting base includes an annular mounting portion through which the optical lens passes, an annular insertion portion for being inserted and fixed to the curved reflector, and an annular fixing portion arranged around the annular insertion portion; the front edge of the annular cover is fixedly connected to the front cover, and the rear edge of the annular cover is fixedly connected to the annular fixing portion.

[0022] According to another aspect of this application, one embodiment of this application further provides a panoramic camera, including:

[0023] Photosensitive components; and

[0024] The lens integration structure described above is disposed in the light-sensing path of the photosensitive component.

[0025] In one embodiment of this application, the photosensitive component includes a circuit board, a photosensitive chip electrically mounted on the front side of the circuit board, and a connector electrically mounted on the rear side of the circuit board; the optical lens in the lens integration structure is fixed to the circuit board and located in the photosensitive path of the photosensitive chip.

[0026] In one embodiment of this application, the photosensitive chip has a central photosensitive area corresponding to the refractive area of ​​the catadioptric element in the lens integrated structure, an annular photosensitive area arranged around the central photosensitive area and corresponding to the reflective area of ​​the catadioptric element, and an edge photosensitive area located around the annular photosensitive area.

[0027] In one embodiment of this application, the panoramic camera further includes a rear housing fixedly connected to a mounting base in the lens integration structure, and the connector penetrates the rear housing.

[0028] According to another aspect of this application, one embodiment of this application further provides an image processing method, including the steps of:

[0029] The original images acquired through the central photosensitive area and the annular photosensitive area of ​​the photosensitive chip in the panoramic camera are separated to obtain independent central area images and annular area images.

[0030] The central region image and the annular region image are processed respectively through independent forward-looking ISP and surround-looking ISP processes to obtain forward-looking and surround-looking images; and

[0031] Output and / or display the front view image and the surround view image. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the structure of a panoramic camera according to an embodiment of this application;

[0033] Figure 2 An enlarged schematic diagram of the catadioptric element of the lens integration structure in the panoramic camera according to the above embodiments of this application is shown;

[0034] Figure 3 A top view schematic diagram of the photosensitive chip of the photosensitive component in the panoramic camera according to the above embodiments of this application is shown;

[0035] Figure 4 A schematic diagram of the optical path of a panoramic camera according to the above embodiments of this application is shown;

[0036] Figure 5 This is a schematic flowchart of an image processing method according to an embodiment of this application.

[0037] Explanation of key component symbols: 1. Lens integrated structure; 10. Optical lens; 20. Lens cover; 21. Annular cover; 22. Front cover; 30. Reflective element; 301. Refraction area; 302. Reflection area; 31. Transmitting substrate; 32. Refraction structure; 33. Reflection structure; 40. Curved mirror; 401. Light window; 402. Annular reflective surface; 50. Mounting base; 51. Annular mounting part; 52. Annular insertion part; 53. Annular fixing part; 60. Photosensitive assembly; 61. Circuit board; 62. Photosensitive chip; 621. Center photosensitive area; 622. Annular photosensitive area; 623. Edge photosensitive area; 63. Connector; 70. Back cover.

[0038] The above description of the main component symbols, together with the accompanying drawings and specific embodiments, provides a more detailed explanation of the present invention. Detailed Implementation

[0039] The following description is intended to disclose the present invention and enable those skilled in the art to implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art. The basic principles of the invention defined in the following description can be applied to other embodiments, modifications, improvements, equivalents, and other technical solutions that do not depart from the spirit and scope of the invention.

[0040] Those skilled in the art should understand that, in the disclosure of this invention, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limiting this invention.

[0041] In this invention, the term "a" in the claims and specification should be understood as "one or more," that is, in one embodiment, the number of an element can be one, while in another embodiment, the number of the element can be multiple. Unless explicitly indicated in the disclosure of this invention that the number of the element is only one, the term "a" should not be construed as unique or single, and the term "a" should not be construed as a limitation on the quantity.

[0042] In the description of this invention, it should be understood that terms such as "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, terms such as "connected" or "linked" should be interpreted broadly. For example, it can refer to a fixed connection, a detachable connection, or an integral connection; it can refer to a mechanical connection or an electrical connection; it can refer to a direct connection or an indirect connection through a medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0043] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0044] Existing panoramic cameras not only have a central blind spot (i.e., the image behind the planar reflector is not visible), but also the center of the acquired image is the shadow of the lens in the planar reflector, resulting in wasted pixels in the central area of ​​the image sensor chip. This application provides a lens integration structure, a panoramic camera, and an image processing method that can eliminate the central blind spot and improve pixel utilization.

[0045] Specifically, refer to the accompanying drawings in the specification of this application. Figures 1 to 4 According to one embodiment of this application, a panoramic camera is provided, which may include a lens integration structure 1 and a photosensitive component 60. The lens integration structure 1 is disposed in the photosensitive path of the photosensitive component 60, such that the object light is first modulated by the lens integration structure 1 and then received by the photosensitive component 60 for imaging.

[0046] More specifically, such as Figure 2 and Figure 4 As shown, the lens integration structure 1 may include an optical lens 10, a light-transmitting cover 20, a catadioptric element 30, a curved reflector 40, and a mounting base 50. The optical lens 10 is disposed on the mounting base 50. The light-transmitting cover 20 includes an annular cover 21 fixedly mounted on the mounting base 50 and arranged around the optical lens 10, and a front cover 22 fixedly connected to the annular cover 21. The catadioptric element 30 is fixedly disposed on the rear side of the front cover 22, and the catadioptric element 30 has a refractive region 301 located in front of the optical lens 10 and a reflective region 302 arranged around the refractive region 301. The curved reflector 40 is fixedly connected to the mounting base 50, and the curved reflector 40 has an optical window 401 located in the optical path between the catadioptric element 30 and the optical lens 10, and an annular reflective surface 402 located around the optical window 401 and facing away from the optical lens 10.

[0047] Thus, as Figure 4As shown, the circumferential object light first passes through the annular cover 21 of the light-transmitting cover 20 and is then reflected by the annular reflective surface 402 of the curved reflector 40 to the reflective area 302 of the catadioptric element 30. It is then reflected by the reflective area 302 of the catadioptric element 30 and passes through the light window 401 of the curved reflector 40 to enter the optical lens 10. Finally, it is modulated by the optical lens 10 and received by the photosensitive component 60 to obtain an circumferential image. At the same time, the forward object light first passes through the front cover 22 of the light-transmitting cover 20 and is then refracted by the refractive area 301 of the catadioptric element 30. It passes through the light window 401 of the curved reflector 40 and enters the optical lens 10. Finally, it is modulated by the optical lens 10 and received by the photosensitive component 60 to obtain a forward image.

[0048] It is worth noting that, since the reflective region 302 in the catadioptric element 30 of this application is located around the refractive region 301, and the diameter of the reflective region 302 is controlled to not affect the π-mirror structure imaging formed by the reflective region 302 and the annular reflective surface 402, the reflective region 302 in the catadioptric element 30 can reflect the circumferential object light reflected by the annular reflective surface 402 so that it passes through the light window 401 of the curved reflector 40 and enters the optical lens 10. Furthermore, the refractive region 301 in the catadioptric element 30 can refract the light passing through the front cover 22. The object light enters the optical lens 10 through the light window 401 of the curved reflector 40. Therefore, the panoramic camera of this application can not only achieve a horizontal 360° annular field of view and obtain a 360° panoramic image, but also eliminate the forward blind spot and obtain a 180° forward image. In other words, the panoramic camera of this application can increase the system's field of view and achieve a 540° panoramic field of view. It can not only detect the situation thoroughly and play a role in security checks, autonomous driving assisted parking, etc., and facilitate vehicle control, but also be used in fields such as conference systems or security monitoring.

[0049] For example, such as Figure 2 As shown, the refracting element 30 may include a light-transmitting substrate 31 fixedly connected to the front cover 22, a refractive structure 32 formed on the light-transmitting substrate 31, and a reflective structure 33 formed on the light-transmitting substrate 31 and located around the refractive structure 32. Thus, the refracting element 30 has an integrated structure, which not only facilitates installation and fixation, reducing assembly difficulty, but also helps to reduce the space occupied and lower the overall height of the camera. At the same time, the refracting element 30 and the curved reflector 40 are completely enclosed within the light-transmitting cover 20, preventing dirt and contamination.

[0050] Optionally, the refractive structure 32 is implemented as a Fresnel lens structure to adjust the incident angle of the forward object light, which not only takes into account the field of view in both the circumferential and forward directions and eliminates the forward blind zone, but also facilitates the expansion of the forward field of view. At the same time, the refractive structure 32 of this application can adopt a Fresnel lens design to adjust the equivalent concave lens focal length, thereby adjusting the size of the forward field of view.

[0051] Optionally, the Fresnel lens structure is formed on the light-transmitting substrate 31, equivalent to a concave lens, so that the forward object light first forms a virtual image, which is then modulated by the optical lens 10 to form an image in the central photosensitive area of ​​the photosensitive component 60. It is understood that compared to traditional concave lenses or lens groups, the Fresnel lens structure used in this application can also reduce the overall thickness of the catadioptric element 30, making it lighter and easier to manufacture. Furthermore, the Fresnel lens structure mentioned in this application can be located on the front or rear side of the light-transmitting substrate 31, which will not be elaborated further in this application.

[0052] Optionally, the reflective structure 33 is implemented as a high-reflectivity film to reflect the circumferential object light reflected by the curved mirror 40, such that the circumferential object light is modulated by the optical lens 10 to form an image in the annular photosensitive area of ​​the photosensitive component 60.

[0053] Optionally, such as Figure 2 As shown, the high-reflectivity film is attached to the front surface of the light-transmitting substrate 31. It is understood that the high-reflectivity film mentioned in this application may be a metal coating deposited or deposited on the front surface of the light-transmitting substrate 31.

[0054] It is worth noting that in other examples of this application, the high-reflectivity film can be located on the rear surface of the light-transmitting substrate 31, as long as it can achieve the required reflective effect, which will not be elaborated further in this application. In addition, the annular cover 21 and the front cover 22 in the light-transmitting cover 20 mentioned in this application are both made of transparent material in order to ensure the transmission of circumferential and forward object light and avoid the generation of blind spots.

[0055] Optionally, such as Figure 1 and Figure 4 As shown, the front cover 22 is integrally connected to the annular cover 21 to form a light-transmitting cover 20 with an integral structure.

[0056] Optionally, the outer peripheral surface of the annular cover 21 in the light-transmitting cover 20 of this application may be implemented as, but is not limited to, a cylindrical surface, a conical surface, or a prismatic surface.

[0057] Optionally, the surface shape of the annular reflecting surface 402 of the curved mirror 40 can be implemented as a freeform surface. It is understood that, given the curvature and surface shape of the freeform surface, this application can perform simulation analysis in the early optical design stage to ensure that the curvature of the freeform surface meets the design requirements.

[0058] Furthermore, the curved reflector 40 of this application can be made of a light-transmitting material such as glass, or an opaque material such as metal, as long as it can provide the required light window 401 and annular reflective surface 402. For example, the curved reflector 40 can be implemented as a glass reflector with an anti-reflection coating in the central area, so that the central area with the anti-reflection coating forms the light window 401; or, the curved reflector 40 can also be implemented as a metal reflector with an opening in the central area, so that the central area of ​​the opening forms the light window 401. It is understood that the central area mentioned in this application refers to the area corresponding to the optical path interface between the curved reflector 40 and the optical lens 10. The range of the interface can be determined based on the optical simulation structure. Generally, considering the existence of tolerances, a slightly larger range can be reserved for the interface, such as slightly larger by 1mm to 2mm.

[0059] Optionally, such as Figure 1 As shown, the mounting base 50 includes an annular mounting portion 51 through which the optical lens 10 passes, an annular insertion portion 52 for insertion and fixing to the curved reflector 40, and an annular fixing portion 53 arranged around the annular insertion portion 52; the front edge of the annular cover 21 is fixedly connected to the front cover 22, and the rear edge of the annular cover 21 is fixedly connected to the annular fixing portion 53. It is understood that the fixing connection mentioned in this application can be implemented as a threaded connection, insertion, snap-fit, or adhesive connection, as long as the optical lens 10, the light-transmitting cover 20, the refracting element 30, and the curved reflector 40 can be highly integrated together, which is beneficial to significantly reduce the number of parts, reduce assembly difficulty, and facilitate the development needs of low cost and small size.

[0060] According to the above embodiments of this application, as Figure 1 and Figure 4 As shown, the panoramic camera may further include a rear housing 70 fixedly connected to the mounting base 50 for covering the optical lens 10 and the photosensitive component 60.

[0061] Optionally, such as Figure 1 and Figure 4 As shown, the photosensitive component 60 includes a circuit board 61, a photosensitive chip 62 electrically mounted on the front side of the circuit board 61, and a connector 63 electrically mounted on the rear side of the circuit board 61; the optical lens 10 is fixed to the circuit board 61 and located in the photosensitive path of the photosensitive chip 62; the connector 63 penetrates the rear shell 70 and is used for external communication or electrical connection.

[0062] Optionally, such as Figure 3As shown, the photosensitive chip 62 has a central photosensitive region 621 corresponding to the refractive region 301 of the reflective element 30, an annular photosensitive region 622 surrounding the central photosensitive region 621 and corresponding to the reflective region 302 of the reflective element 30, and an edge photosensitive region 623 located around the annular photosensitive region 622. Thus, after being modulated by the optical lens 10, the circumferential object light propagates to the annular photosensitive region 622 of the photosensitive chip 62 for photosensitive imaging to obtain a circumferential image; simultaneously, after being modulated by the optical lens 10, the forward object light propagates to the central photosensitive region 621 of the photosensitive chip 62 for photosensitive imaging to obtain a forward image.

[0063] It is worth noting that since the central photosensitive area 621 and the annular photosensitive area 622 of the photosensitive chip 62 receive forward and circumferential object light respectively, i.e., they see different fields of view, using the same image signal processing (ISP) flow often results in some areas being overlooked. For example, when the panoramic camera is applied under a vehicle, the annular photosensitive area 622 receives the brighter circumferential object light from around the vehicle, while the central photosensitive area 621 only receives the darker forward object light from under the vehicle, failing to achieve clear imaging across the entire field of view. To address this issue, one embodiment of this application further provides an image processing method that can process the forward view image of the central photosensitive area and the circumferential view image of the annular photosensitive area through two independent image signal processing flows, thereby improving image processing efficiency while ensuring clear imaging across the entire field of view.

[0064] For example, such as Figure 5 As shown, the image processing method of this application may include the following steps:

[0065] S100: Separate the original images acquired through the central photosensitive area and the ring photosensitive area of ​​the photosensitive chip in the panoramic camera to obtain independent central area images and ring area images.

[0066] S200: The central region image and the annular region image are processed respectively through independent forward-looking ISP and surround-looking ISP processes to obtain the forward-looking image and the surround-looking image; and

[0067] S300: Output and / or display the front view image and the surround view image.

[0068] It is worth noting that in step S100 of the image processing method of this application, the original image (such as a RAW image) can be separated by the region of interest, but is not limited to this step. In addition, the forward-looking ISP process and the surround-looking ISP process mentioned in this application can include, but are not limited to, BLC (Black Level Correction), LSC (Lens Shading Correction), AE (Automatic Exposure), AWB (Auto White Balance), Gamma correction, noise reduction, and sharpening.

[0069] It is understood that in other examples of this application, after obtaining the front view image and the surrounding view image, image fusion can be performed first, and then the image can be output and / or displayed. This application will not elaborate on this further.

[0070] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0071] The above embodiments merely illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention.

Claims

1. A lens integration structure, characterized in that, include: Mounting base; An optical lens is mounted on the mounting base; The light-transmitting cover includes an annular cover fixedly mounted on the mounting base and arranged around the optical lens, and a front cover fixedly connected to the annular cover. A refracting element is fixed to the rear side of the front cover, and the refracting element has a refractive region located in front of the optical lens and a reflective region arranged around the refractive region; as well as A curved reflector is fixedly connected to the mounting base, and the curved reflector has an optical window located in the optical path between the catadioptric element and the optical lens, and an annular reflective surface located around the optical window and facing away from the optical lens.

2. The lens integration structure according to claim 1, characterized in that, The reflective element includes a light-transmitting substrate fixedly connected to the front cover, a refractive structure formed on the light-transmitting substrate, and a reflective structure formed on the light-transmitting substrate and located around the refractive structure.

3. The lens integration structure according to claim 2, characterized in that, The refractive structure is a Fresnel lens structure formed on the light-transmitting substrate.

4. The lens integration structure according to claim 2, characterized in that, The reflective structure is a high-reflectivity film attached to the front or rear surface of the light-transmitting substrate.

5. The lens integration structure according to any one of claims 1 to 4, characterized in that, The curved reflector is either a glass reflector with an anti-reflection coating in the central area or a metal reflector with an opening in the central area.

6. The lens integration structure according to any one of claims 1 to 4, characterized in that, The mounting base includes an annular mounting portion through which the optical lens passes, an annular insertion portion for being inserted and fixed to the curved reflector, and an annular fixing portion arranged around the annular insertion portion; the front edge of the annular cover is fixedly connected to the front cover, and the rear edge of the annular cover is fixedly connected to the annular fixing portion.

7. A panoramic camera, characterized in that, include: Photosensitive components; and The lens integration structure as described in any one of claims 1 to 6, wherein the lens integration structure is disposed in the light-sensing path of the photosensitive component.

8. The panoramic camera according to claim 7, characterized in that, The photosensitive component includes a circuit board, a photosensitive chip electrically mounted on the front side of the circuit board, and a connector electrically mounted on the rear side of the circuit board; the optical lens in the lens integration structure is fixed to the circuit board and located in the photosensitive path of the photosensitive chip.

9. The panoramic camera according to claim 8, characterized in that, The photosensitive chip has a central photosensitive area corresponding to the refractive area of ​​the catadioptric element in the lens integrated structure, an annular photosensitive area arranged around the central photosensitive area and corresponding to the reflective area of ​​the catadioptric element, and an edge photosensitive area located around the annular photosensitive area.

10. The panoramic camera according to claim 8 or 9, characterized in that, It also includes a rear housing that is fixedly connected to a mounting base in the lens integration structure, with the connector penetrating the rear housing.

11. An image processing method, characterized in that, Including the following steps: The original images acquired through the central photosensitive area and the annular photosensitive area of ​​the photosensitive chip in the panoramic camera are separated to obtain independent central area images and annular area images. The central region image and the annular region image are processed respectively through independent forward-looking ISP and surround-looking ISP processes to obtain forward-looking and surround-looking images; and Output and / or display the front view image and the surround view image.

Images