Continuous zooming cycle-scan television system based on zoom collimation scanning field lens structure and application of continuous zooming cycle-scan television system

Abstract

The invention relates to a continuous zoom cycle-scan television system based on a zoom collimation scanning field lens structure and application thereof. Light reflected by a target image horizontally passes through the focusing group, the zooming group, the compensation group and the collimating field lens group in sequence along an optical axis, is obliquely reflected by 45 degrees by the galvanometer group and then vertically passes through the fixed group, is obliquely reflected by 45 degrees by the reflector group again and then horizontally passes through the optical filter switching group leftwards, and finally is imaged on a detector photosensitive surface of the high-definition imaging module; and the high-definition imaging module carries out photoelectric conversion and image processing and then outputs a high-definition video or image. According to the invention, the problem that the image quality is reduced during the swing scanning of the peripheral scanning television is solved, the turn-back of the light path is realized through the cooperation between the galvanometer group and the reflector group, and the galvanometer group rapidly swings the reflector to control the direction of the light beam to realize image motion compensation, so that the peripheral scanning detection function is realized. The system can be used for panoramic dead-corner-free monitoring and detailed reconnaissance of key targets, and is widely applied to the fields of intelligent monitoring, military reconnaissance, automatic driving and the like.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of photoelectric devices and imaging technology, and in particular to a continuous zoom periscopic television system based on a variable collimation scanning field lens structure and application thereof. BACKGROUND

[0002] A television imaging system generally consists of an optical lens, a detector assembly, and a control circuit assembly, etc., wherein the lens is the foundation, and the optical image of the target can be obtained through the lens. In order to clearly image targets of different distances and sizes within a certain range, the lens generally adopts a continuous zoom lens. Common continuous zoom lenses often move along the optical axis according to certain rules to achieve continuous changes in focal length, while the image plane remains clear and stable. For details, please refer to the earlier patent achievements of the inventor team, such as CN108008518B, CN108040195B, and CN119575588A. A continuous zoom television system refers to an optical imaging system in which the focal length continuously changes within a certain range, while the image plane remains unchanged or substantially unchanged. This system drives the variable magnification group, compensation group, and focusing group to move along the optical axis according to certain rules, achieving continuous changes in focal length. The compensation group is mainly used to compensate for the movement of the image plane, while the focusing group is mainly used to compensate for the movement of the image plane caused by changes in target distance and environmental temperature. The continuous zoom television system keeps the image in a clear state during zooming, and can search for targets with a large field of view and magnify targets with a small field of view for locking and tracking.

[0003] Continuous zoom television systems are widely used in various photoelectric reconnaissance systems for vehicles, aircraft, and ships. In some specific application environments, to cope with threats from the surrounding environment, photoelectric reconnaissance systems generally have multi-dimensional servo mechanisms, which realize panoramic monitoring of the surrounding environment through high-speed rotation of the servo mechanism, and use the television system to convert the optical image of the target into a video image output through a high-definition imaging module. However, when the servo mechanism rotates, the target is in motion relative to the photoelectric device, resulting in problems such as smearing and blurring during the exposure and imaging process of the high-definition imaging module. In addition, when the field of view of the television system is small and the speed of the rotating platform is fast, the target may move out of the field of view during the exposure and imaging process, resulting in blurred target images or even failure to image.

[0004] To solve the above problems, the common solution is to increase the frame frequency of the imaging module, shorten the exposure time or compensate the motion of the servo turntable, etc. However, the use of high frame frequency camera will cause the cost of the imaging module to increase exponentially, and due to the increase of the frame frequency of the imaging module, the amount of output video data will also increase significantly, thereby increasing the difficulty and cost of data processing of the system. For the solution of using image motion compensation, since the entire television system is a converging light path, the image motion compensation mechanism will increase the scanning of the light beam, resulting in a decrease in image quality and a drift of the optical axis. SUMMARY

[0005] The present application aims to solve the above problems existing in the prior art, and provides a continuous zoom panoramic television system based on a variable magnification collimating scanning field lens structure. The system uses a variable magnification collimating scanning field lens structure, combines a collimating field lens with a high-speed scanning galvanometer, uses the collimating field lens to collimate the light beam input by the continuous zoom system, provides an approximately parallel light beam for the field lens group, the light beam is incident on the reflecting surface of the galvanometer at an angle of 45 degrees, the galvanometer rapidly scans to change the output angle of the light beam, and controls the direction of the light beam entering the high-definition imaging module to perform back scanning image motion compensation. Since the light beam is input and output by parallel light, the quality of the light beam does not change greatly during the scanning of the galvanometer, and the optical axis does not drift, thereby ensuring that the image quality does not decrease during high-speed scanning.

[0006] One of the purposes of the present application is to provide a continuous zoom panoramic television system based on a variable magnification collimating scanning field lens structure. The system includes a continuous zoom lens group, a collimating field lens group (6), a galvanometer group (7), a mirror group (9), and a high-definition imaging module (17). The collimating field lens group (6) is located on the image side of the continuous zoom lens group and shares the optical axis with the continuous zoom lens group. The galvanometer group (7) and the mirror group (9) are both located on the image side of the collimating field lens group (6), and the galvanometer group (7) and the mirror group (9) are respectively inclined by 45 degrees in different directions, thereby realizing light path folding. Specifically, the reflection direction of the galvanometer group (7) faces the mirror group (9), and the reflection direction of the mirror group (9) faces the high-definition imaging module (17).

[0007] In the above scheme, the continuous zoom lens group includes a focusing group (3), a variable magnification group (4), and a compensation group (5) which are arranged in sequence on the optical axis from the object side to the image side. The focusing group (3), the variable magnification group (4), and the compensation group (5) are moved linearly on the optical axis to focus, magnify, and compensate the incident light.

[0008] The focusing group (3) includes a concave-convex lens a, a biconvex lens b, and a plano-convex lens c. The convex surface of the concave-convex lens a faces the object side, the concave surface of the concave-convex lens a is bonded to one of the convex surfaces of the biconvex lens b, and the other convex surface of the biconvex lens b faces the convex surface of the plano-convex lens c.

[0009] The variable magnification group (4) comprises a meniscus lens d, a double concave lens e and a plano-convex lens f, wherein the concave surface of the meniscus lens d faces the double concave lens e, and the concave surface of the double concave lens e and the convex surface of the plano-convex lens f are bonded together.

[0010] The compensation group (5) comprises a double convex lens g, a double convex lens h and a meniscus lens i, wherein the double convex lens h is located between the double convex lens g and the meniscus lens i, and the convex surface of the double convex lens h and the concave surface of the meniscus lens i are bonded together.

[0011] In the above scheme, the collimating field lens group (6) is located between the compensation group (5) and the galvanometer group (7). The collimating field lens group (6) comprises a double concave lens j and a meniscus lens k, and the concave surfaces of the two are bonded together.

[0012] In the above scheme, a rear fixed group (8) is further arranged between the galvanometer group (7) and the mirror group (9), and the optical axis of the rear fixed group (8) is perpendicular to the optical axis of the continuous zoom lens group. The rear fixed group (8) comprises a double concave lens m, a double convex lens n, a double convex lens o, a double concave lens p and a double convex lens q, wherein the double concave lens m and the double convex lens n are bonded together, and the two concave surfaces of the double concave lens p are bonded to the double convex lens o and the double convex lens q, respectively.

[0013] In the above scheme, the continuous zoom panoramic television system further comprises a filter switching group (10) coaxial with the high-definition imaging module (17), and the filter switching group (10) is arranged between the mirror group (9) and the high-definition imaging module (17). The filter switching group (10) comprises a visible light filter (20) and a near-infrared filter (21), and the two are switched by a motor drive.

[0014] The application also provides the application of the continuous zoom panoramic television system based on the variable magnification collimating scanning field lens structure in the fields of intelligent monitoring, military reconnaissance and automatic driving.

[0015] The application adopts the variable magnification collimating scanning field lens structure, solves the problem of image quality decline during the scanning of the panoramic television, and finally realizes panoramic imaging by controlling the oscillation of the galvanometer for image shift compensation. The continuous zoom panoramic television system provided by the application can realize panoramic monitoring without dead angle and detailed reconnaissance of important targets, and is widely applied in the fields of intelligent monitoring, military reconnaissance and automatic driving. Compared with the existing similar products or technologies, the progress effect of the application mainly lies in the following aspects: (1) The structure of the continuous zoom panoramic television system is relatively simple and compact, which realizes portability and light weight while reducing cost.

[0016] (2) The horizontal folding of the light path is realized through the cooperation between the galvanometer group and the mirror group, and the function of panoramic detection is realized by controlling the direction of the light beam through the rapid oscillation of the mirror to realize image shift compensation.

[0017] (3) By adding collimating field lens group in front of the galvanometer group, the light axis entering the galvanometer group is shaped, and the light is ensured to enter the mirror as approximately parallel light, so that the image quality of the whole imaging system is not reduced when the galvanometer group swings.

[0018] (4) By the double reflection combination between the galvanometer group and the mirror group, the length of the whole system is compressed, the system volume is reduced, and the light weight and portability are beneficial.

[0019] (5) By increasing or decreasing the galvanometer scanning mechanism in the continuous zoom optical system, large, medium and small field of view are realized, and large field of view, large range of scanning detection and small field of view, long distance target scanning detection are considered. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a perspective view of the continuous zoom scanning television system based on the variable focal length collimating scanning field lens structure.

[0021] Figure 2 It is a front view of the continuous zoom scanning television system based on the variable focal length collimating scanning field lens structure.

[0022] Figure 3 It is an optical principle diagram of the continuous zoom scanning television system based on the variable focal length collimating scanning field lens structure.

[0023] Figure 4 It is a sectional view of Figure 2 .

[0024] Figure 5 It is a top view of Figure 2 .

[0025] Figure 6 It is a structure schematic diagram of the galvanometer group.

[0026] Figure 7 It is a structure schematic diagram of the filter switching group.

[0027] Figure 8 It is a structure schematic diagram of the mirror tube.

[0028] Figure 9 It is a structure schematic diagram of the zoom lens tube.

[0029] Figure 10 It is a structure schematic diagram of the focusing gear.

[0030] Figure descriptions: 1-Lens tube, 2-Zoom lens tube, 3-Focusing group, 4-Zoom group, 5-Compensation group, 6-Collimating field lens group, 7-Galvanometer group, 8-Rear fixing group, 9-Reflecting mirror group, 10-Filter switching group, 11-Pin group, 12-Focusing gear, 13-Focusing motor group, 14-Zoom motor group, 15-Filter switching motor group, 16-Control circuit board, 17-High-definition imaging module, 18-Galvanometer mounting base, 19-Galvanometer, 20-Visible light filter, 21-Near-infrared filter. Detailed Implementation

[0031] To enable those skilled in the art to fully understand the technical solutions and beneficial effects of the present invention, the following detailed description is provided in conjunction with specific embodiments and accompanying drawings. It should be emphasized that the following embodiments are merely preferred embodiments of the present invention. Besides these, the present invention can have many other embodiments, and any simple improvements or substitutions made based on these embodiments may fall within the protection scope of the present invention.

[0032] like Figures 1-7 The continuously zoomed periodic scanning television system based on a zoom collimating scanning field lens structure shown mainly includes a lens tube (1), a zoom lens tube (2), a focusing group (3), a zoom group (4), a compensation group (5), a collimating field lens group (6), a galvanometer group (7), a rear fixing group (8), a reflecting mirror group (9), a filter switching group (10), a pin group (11), a focusing gear (12), a focusing motor group (13), a zoom motor group (14), a filter switching motor group (15), a control circuit board (16), and a high-definition imaging module (17). The structures of these optical components are as follows: like Figure 8 As shown, the lens tube (1) is a circular hollow metal tube with several sets (such as three sets) of straight grooves symmetrically arranged along the axial direction on its surface, which are used for the movement of the focusing group (3), the zoom group (4), and the compensation group (5), respectively.

[0033] like Figure 9 As shown, the zoom lens tube (2) is also a circular hollow metal tube with a diameter larger than that of the lens tube (1), so that it can be coaxially fitted onto the outside of the lens tube (1). Two sets of cam curve grooves are symmetrically arranged along the axial direction on the surface of the zoom lens tube (2), which are used for the movement of the zoom group (4) and the compensation group (5), respectively. A gear is also provided at one end of the zoom lens tube (2).

[0034] The focusing group (3) is located at the front end (i.e., the left end) of the lens tube (1) and inside the lens tube (1). The focusing group (3) includes a concave-convex lens a, a biconvex lens b, and a plano-convex lens c from left to right. The concave surface of the concave-convex lens a is bonded to the convex surface on the left side of the biconvex lens b, and the convex surface of the plano-convex lens c faces the biconvex lens b.

[0035] In addition, the television system is also equipped with a focusing gear (12) and a focusing motor set (13). The focusing gear (12) is coaxially sleeved on the left end of the mirror tube (1), and the focusing motor set (13) is fixed on the mirror tube (1) and is in gear transmission with the transmission gear of the focusing gear (12). Figure 10 A group of cam curve grooves (as shown) are symmetrically arranged on the surface of the focusing gear (12) in the axial direction, and the pin group (11) is fixedly connected with the focusing group (3) after sequentially passing through the cam curve grooves on the focusing gear (12) and the straight grooves on the mirror tube (1). When the focusing motor set (13) is powered and rotated, the focusing gear (12) is driven to rotate, the pin group (11) is driven to move in the cam curve grooves of the focusing gear (12), and the focusing group (3) is driven to move linearly left and right in the mirror tube (1), thereby realizing the fine focusing of the system and providing a stable target image.

[0036] The zoom group (4) is arranged inside the mirror tube (1) and behind the focusing group. The zoom group (4) includes a meniscus lens d, a double concave lens e, and a plano-convex lens f from left to right, wherein the concave surface of the meniscus lens d faces the double concave lens e, and the double concave lens e is bonded with the plano-convex lens f.

[0037] In addition, the television system is also equipped with a zoom motor set (14). The zoom motor set (14) is fixed on the mirror tube (1) and is in gear transmission with the gear on the left end of the zoom mirror tube (2). The pin group (11) is fixedly connected with the zoom group (4) after sequentially passing through a group of cam curve grooves on the zoom mirror tube (2) and a group of straight grooves on the mirror tube (1). When the zoom motor set (14) is powered and rotated, the zoom mirror tube (2) is driven to rotate, the pin group (11) is driven to move in the cam curve grooves of the zoom mirror tube (2), and the zoom group (4) is driven to move linearly left and right in the mirror tube (1), thereby realizing the zoom focusing function of the system.

[0038] The compensation group (5) is arranged inside the mirror tube (1) and behind the zoom group (4). The compensation group (5) includes a double convex lens g, a double convex lens h, and a meniscus lens i from left to right, wherein the double convex lens h is bonded with the meniscus lens i.

[0039] The adjustment principle of the compensation group (5) is the same as that of the zoom group (4). The pin group (11) is fixedly connected with the compensation group (5) after sequentially passing through another group of cam curve grooves on the zoom mirror tube (2) and another group of straight grooves on the mirror tube (1). When the zoom motor set (14) is powered and rotated, the zoom mirror tube (2) is driven to rotate, the pin group (11) is driven to move in the cam curve grooves of the zoom mirror tube (2), and the compensation group (5) is driven to move linearly left and right in the mirror tube (1), thereby realizing the compensation function of the system.

[0040] The collimating field lens group (6) is arranged inside the mirror tube (1) and behind the compensation group (5). The collimating field lens group (6) comprises a double-concave lens j and a meniscus lens k, which are bonded together. The collimating field lens group (6) is mainly used for collimating the optical system, inputting an approximately parallel light beam for the galvanometer group (7) during the television focal length variation, ensuring the parallel light input and output during the galvanometer swing scanning, and avoiding the obvious decline of the system image quality and the axial consistency out-of-tolerance caused by the beam divergence.

[0041] The galvanometer group (7) is arranged at the side of the collimating field lens group (6) at an angle of 45°, and the reflection direction thereof is towards the rear fixed group (8). As shown in Figure 6 , the galvanometer group (7) is composed of a galvanometer mounting seat (18) and a galvanometer (19) (i.e. l in Figure 2 ). The galvanometer (19) is fixed on the galvanometer mounting seat (18), and the galvanometer mounting seat (18) is fixed on the mirror tube (1). The galvanometer (19) quickly scans according to the instruction of the control circuit board (16), so as to control the direction of the light beam entering the high-definition imaging module (17), and then to perform image shift compensation on the system servo turntable scanning. The galvanometer (19) has the advantages of small rotational inertia, fast response speed, high positioning accuracy, etc., and can realize the precision and bandwidth of image shift compensation, so as to realize the staring and circumferential scanning imaging of a specified area.

[0042] The rear fixed group (8) is fixed on the right side of the mirror tube (1) in the vertical direction and between the galvanometer group (7) and the reflecting mirror group (9). As shown in Figure 2 , the rear fixed group (8) comprises a double-concave lens m, a double-convex lens n, a double-convex lens o, a double-concave lens p and a double-convex lens q arranged from top to bottom along the light propagation direction Figure 2 . The double-concave lens m and the double-convex lens n are bonded together, and the double-concave lens p and the double-convex lens o and the double-convex lens q are bonded together. The rear fixed group (8) is mainly used for ensuring the image plane stability during the zooming process of the continuous zoom lens system.

[0043] The reflecting mirror group (9) is arranged at the side of the rear fixed group (8) at an angle of 45°, and the reflection direction thereof is towards the filter switching group (10). The reflecting mirror group (9) and the galvanometer group (7) can both fold the light path by 45°, so as to compress the volume of the television system and realize portability and light weight.

[0044] As shown in Figure 7 , the filter switching group (10) is fixed on the mirror tube (1) and comprises a filter switching motor group (15), a visible light filter (20) and a near-infrared filter (21). Under the gear drive of the filter switching motor group (15), the switching of different filters (i.e. s in Figure 2 ) is realized.

[0045] The high-definition imaging module (17) is located behind the filter switching group (10) and is mainly used to receive the target optical image and generate high-definition video or image output through photoelectric conversion, image enhancement and other processing.

[0046] The control circuit board (16) is fixed on the lens tube (1) and is electrically connected to the galvanometer assembly (7), the focusing motor assembly (13), the zoom motor assembly (14), the filter switching motor assembly (15), the high-definition imaging module (17), etc., and controls their operation while supplying power. For example, the swing speed of the galvanometer (19) is matched and calculated based on the servo turntable speed and the parameters of the high-definition imaging module (17) fed back by the system.

[0047] The optical path diagram or optical principle of the continuous zoom peripheral scanning television system based on the zoom collimating scanning field lens structure is as follows: Figure 2 As shown, the light reflected from the target image on the left passes horizontally through the coaxial focusing group (3), zoom group (4), compensation group (5), and collimating field lens group (6) in sequence. After being reflected at a 45° angle by the galvanometer group (7), it passes vertically through the fixed group (8). The light is then reflected again at a 45° angle by the reflector group (9) and passes horizontally to the left through the filter switching group (10). Finally, it is imaged on the photosensitive surface of the detector of the high-definition imaging module (17). The high-definition imaging module (17) outputs a high-definition video image through photoelectric conversion and image processing.

[0048] The parameters of each optical lens in the continuous zoom periodic scanning television system based on the variable magnification collimation scanning field lens structure described in this invention are as follows:

[0049] Considering the galvanometer (19) (i.e.) Figure 2 The surface shape and reflectivity of the reflective glass (r) affect the image quality of the system. Therefore, its reflective element is designed to be made of pure quartz with a visible light reflectivity of 98% and surface shape accuracy: PV=λ / 8, RMS=λ / 40 (λ=632.8nm). The control error of the galvanometer affects the accuracy and bandwidth of image shift compensation. Therefore, the galvanometer must have high bandwidth, fast response speed, and high positioning accuracy.

[0050] The design specifications for this continuous zoom circular scan television system require three search fields: 1) Small field of view (175mm focal length) adaptive search speed: ≥60° / s (30fps); 2) Medium field of view (75mm focal length) adaptive search speed: ≥120° / s (30fps); 3) Wide field of view (28mm focal length) adaptive search speed: ≥360° / s (30fps).

[0051] Under the above-mentioned 3-grade search field of view, the optical system magnification is 3.07 times (200mm focal length), 1.53 times (100mm focal length) and 0.43 times (28mm focal length) respectively, the television assembly exposure time is not more than 5ms, and the mirror single direction swing angle is calculated as: Θ1=120° / s×5 ms×3.07 / 2 / 1000=±0.921°; Θ2=250° / s×5 ms×1.53 / 2 / 1000=±0.956°; Θ3=360° / s×5 ms×0.43 / 2 / 1000=±0.387°.

[0052] The mirror swing maximum angular velocity is calculated as: Α1=120° / s×3.07 / 2=184.2° / s(f=200mm); Α2=250° / s×1.53 / 2=192.3° / s(f=100mm); Α3=360° / s×0.43 / 2=77.4° / s(f=28mm)。

[0053] The mirror adopts a module design, and the mirror module is corrected to ensure that the mirror rotation center is located at the beam center. Meanwhile, the rigidity of each component is improved through simulation analysis design to ensure the stability of the whole system and avoid the influence of mechanical resonance on the mirror work.

[0054] The application adopts a variable magnification collimation scanning field mirror structure, solves the image quality problem during the scanning of the circumferential scanning television, cooperates with the developed synchronous control algorithm to control the mirror swing to perform image shift compensation, finally realizes the gazing imaging and the circumferential scanning panoramic imaging. The focal length of the continuous zooming circumferential scanning television system is 25mm-300mm, the panoramic dead angle free monitoring and the detailed reconnaissance of the key target can be realized, and the related products have been widely applied in the fields of intelligent monitoring, military reconnaissance and automatic driving.

Claims

1. A continuous zoom periodic scanning television system based on a variable magnification collimating scanning field lens structure, characterized in that: The system includes a continuous zoom lens group, a collimating field lens group, a galvanometer group, a reflecting mirror group, and a high-definition imaging module. The collimating field lens group is located on the image side of the continuous zoom lens group and shares the same optical axis with it. The galvanometer group and the reflecting mirror group are both located on the image side of the collimating field lens group, and the galvanometer group and the reflecting mirror group are tilted at 45° in different directions to achieve optical path reflection. The reflection direction of the galvanometer group faces the reflecting mirror group, and the reflection direction of the reflecting mirror group faces the high-definition imaging module.

2. The continuous zoom circular scanning television system as described in claim 1, characterized in that: The continuous zoom lens group includes a focusing group, a zoom group, and a compensation group arranged coaxially from the object side to the image side.

3. The continuous zoom circular scanning television system as described in claim 2, characterized in that: The focusing assembly includes a concave-convex lens a, a biconvex lens b, and a plano-convex lens c, wherein the convex surface of the concave-convex lens a faces the object, its concave surface is bonded to one of the convex surfaces of the biconvex lens b, and the other convex surface of the biconvex lens b faces the convex surface of the plano-convex lens c.

4. The continuous zoom circular scanning television system as described in claim 2, characterized in that: The zoom group includes a concave-convex lens d, a biconcave lens e, and a plano-convex lens f, wherein the concave surface of the concave-convex lens d faces the biconcave lens e, and the concave surface of the biconcave lens e is bonded together with the convex surface of the plano-convex lens f.

5. The continuous zoom circular scanning television system as described in claim 2, characterized in that: The compensation group includes a biconvex lens g, a biconvex lens h, and a concave-convex lens i, wherein the biconvex lens h is located between the biconvex lens g and the concave-convex lens i, and the convex surface of the biconvex lens h is bonded to the concave surface of the concave-convex lens i.

6. The continuous zoom circular scanning television system as described in claim 2, characterized in that: The collimating field lens group is located between the compensation group and the galvanometer group. The collimating field lens group includes a biconcave lens j and a concave-convex lens k, which are bonded together.

7. The continuous zoom circular scanning television system as described in claim 1, characterized in that: A rear fixing group is also provided between the galvanometer group and the mirror group, and the optical axis of the rear fixing group is perpendicular to the optical axis of the continuous zoom lens group.

8. The continuous zoom circular scanning television system as described in claim 7, characterized in that: The rear fixing assembly includes a biconcave lens m, a biconvex lens n, a biconvex lens o, a biconcave lens p, and a biconvex lens q, wherein the biconcave lens m and the biconvex lens n are bonded together, and the two concave surfaces of the biconcave lens p are bonded together with the biconvex lenses o and q, respectively.

9. The continuous zoom circular scanning television system as described in claim 1, characterized in that: The continuous zoom circular scanning television system also includes a filter switching group, which is located between the reflector group and the high-definition imaging module, and can freely switch between visible light filters and near-infrared filters.

10. The application of the continuous zoom periscope television system based on the variable magnification collimation scanning field lens structure as described in any one of claims 1-9 in intelligent surveillance, military reconnaissance and autonomous driving.

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