Camera array system and device including floating plate configuration and split plate configuration

Abstract

To provide a camera array stabilizer system configured to perform photographing from a mobile vehicle.SOLUTION: A camera array stabilizer system for a plurality of cameras includes an attachment plate and a stabilizer unit. The attachment plate is configured to attach a plurality of camera arrays 1201 to a vehicle 1200. The stabilizer unit includes an upper stabilizer, a lower stabilizer, and bolts. The upper stabilizer has an upper top part, an upper intermediate body, and an upper bottom part. The lower stabilizer has a lower top part, a lower intermediate body, and a lower bottom part. The bolts apply a fastening force to the upper stabilizer, attachment plate, and lower stabilizer. The upper top part, upper bottom part, lower top part, and lower bottom part have higher rigidity than the intermediate bodies.SELECTED DRAWING: Figure 103

Description

[Technical Field]

[0001] Priority claim This PCT application claims the benefit of and priority to U.S. Provisional Application No. 63 / 382,373, filed November 4, 2022, U.S. Provisional Application No. 63 / 386,161, filed December 5, 2022, U.S. Non-Provisional Application No. 17,835,903, filed June 8, 2022, and U.S. Non-Provisional Application No. 18 / 149,051, filed December 30, 2022. The above-referenced applications are incorporated in their entirety as if fully restated. [Background technology]

[0002] Currently, there are several solutions for providing camera arrays that simultaneously capture multiple directions. Some of these solutions arrange the cameras in a "rosette configuration," while some utilize camera overlap configurations. While the "rosette configuration" is by far the most utilized, it does not meet industry standards due to significantly less overlap and increased parallax. These configurations inherently produce less favorable results when all the cameras are pointing outward and away from each other.

[0003] Parallax is the optical displacement of an object's apparent position when viewed from two or more positions. Each position reveals a distinct "face" or angle of the object, as well as a different background fact: the object's position relative to other objects. Different perspectives are utilized in stereopsis, the mental process by which an observer judges object distances, but these differences result in parallax error in photography. If the observer's position differs from the taking lens, parallax error can occur for a single camera photographed, but the error here is simply that the view seen through the observer is not the view actually photographed through the lens. This type of parallax error is relatively minor and can be overcome by aligning the observer with the lens.

[0004] When an object or field of view is captured across multiple shots, a more pronounced type of parallax error occurs because the shots cannot be simply stitched together to produce a single, natural-looking image. In particular, the fields of view do not align because any particular object in each shot is seen from a different perspective, thus revealing surfaces that are not replicated across the shots. Even if the surfaces are stitched together at their seams to create a single object, depending on the displacement of position, that single object may appear unnatural. However, more importantly, the object may not have the same position relative to other objects in the shot, and stitching multiple objects together may be impossible due to occlusion. Occlusion occurs when the line of sight of a particular field of view converges on a line along which both objects are located, and complete occlusion occurs when the line of sight is the same as the line of sight.

[0005] At the same time, it is desirable to take advantage of this type of parallax error in the sense that the multiple planes photographed provide additional information in that they allow a more complete view of the object.

[0006] Compounding the parallax error mentioned above is the natural distortion effect of camera lenses. Multiple shots made by cameras aimed at adjacent areas produce repeating distortion patterns, specifically radial moiré patterns. When the shots are stitched together, the center-to-periphery distortion pattern (i.e., magnified) is repeated across the panorama.

[0007] Another type of parallax error occurs when there is insufficient overlap between the camera fields of view. Objects positioned diagonally between the fields of view of each camera may be completely absent from the shot. This problem is more likely the closer the object is to the camera and the further the cameras are from each other. Due to the physical depth of the device itself, multiple cameras cannot originate from a common "origin" even if the angles of their fields of view intersect at such an origin. Therefore, while the absence of such objects can be mitigated by moving the cameras closer to each other, the physical depth of the device itself imposes limitations on this solution.

[0008] In cinematography, filming with a moving camera inherently introduces multiple views, but this does not create parallax errors because the multiple views are displayed over time, not simultaneously. No stitching is required, and therefore no alignment issues arise. However, when multiple cameras are used, the parallax errors mentioned above occur, and occur for the same reasons.

[0009] Some solutions to parallax error utilize camera overlapping techniques, including traditional two-image overlap and three-image overlap. Two-image techniques use timing algorithms to reduce the error. However, timing algorithms only help obtain shots that are more likely to overlap in a less problematic way.

[0010] What is needed are camera devices and configurations, particularly camera placement and orientation, that reduce these parallax errors and that do not rely heavily on algorithm-assisted and / or manual correction. Summary of the Invention

[0011] It is desirable to have a system that can simultaneously capture multiple directions while reducing optical errors that lead to parallax. It is also desirable to have a system in which all cameras are closely spaced on a common plate. It is further desirable to have multiple node configurations nested within each other on the common plate. The disclosed system advantageously meets these needs and addresses the aforementioned shortcomings by providing a camera configuration that provides images with substantially overlapping angles in all directions.

[0012] A camera array system is disclosed that includes multiple outward-facing camera clusters mounted on a plate structure and surrounding an upward-facing camera. The disclosed system is unique compared to other known systems and solutions in that it provides a camera configuration that provides images at angles that substantially overlap in all directions. The node configurations of the outward-facing camera clusters are arranged every 90 degrees around the center of the plate, providing superior coverage and less distortion compared to similar systems. A key feature of the node configurations is the intersection of the field of view, which not only provides more complete coverage of objects closest to a given node configuration, but also ensures overlapping coverage, specifically panoramic overlap, with footage captured by adjacent node configurations. The system is capable of providing the image data, quality, and stability required for use in modern visual effects and software environments.

[0013] This disclosure provides a more detailed and specific description with reference to the accompanying drawings. The drawings and specific description of the drawings, as well as any specific or alternative embodiments described, are intended to be read in conjunction with the entirety of this disclosure. However, camera arrays may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided merely as examples so that this disclosure will be thorough and comprehensive, and will fully convey the understanding to those skilled in the art. [Brief explanation of the drawings]

[0014] [Figure 1] FIG. 1 is a top view of the system without the video converter box connected to the camera. [Figure 2] FIG. 1 is an exploded view of a system with node configuration cameras and their respective mounts. [Figure 3] FIG. 1 is an exploded view of the platform that connects to the top plate and supports the lidar and overhead camera. [Figure 4] FIG. 10 is a side view of the platform that connects to the top plate and supports the lidar and overhead camera. [Figure 5] Top view of both the bottom plate (right) and the top plate (left). [Figure 6] FIG. 1 is a perspective view of the mounting plate without the camera. [Figure 7] FIG. 10 is an exploded view of the mounting plate without the camera. [Figure 8] FIG. 10 shows the electronic trigger relay that runs from the camera to the control box and trigger. [Figure 9] FIG. 1 illustrates a monitor system in which visual data is communicated from a camera to a video converter box and from the video converter box to a monitor. [Figure 10] FIG. 10 is a top view of the anti-drift camera mounting plate. [Figure 11] FIG. 10 is a bottom view of the anti-drift camera mounting plate. [Figure 12] FIG. 1 is a side view of the anti-drift camera mounting plate. [Figure 13] FIG. 1 is a top view of a camera array system having four outward-facing camera clusters of four cameras each. [Figure 14] FIG. 1 is a top view of a camera array system having an upward-facing camera cluster of five cameras. [Figure 15] FIG. 1 is a side view of a camera array system having a five-camera upward-facing camera cluster. [Figure 16] FIG. 1 illustrates a camera cluster with corresponding angles of view and intersection points. [Figure 17a]FIG. 10 is a schematic diagram of an upward-facing camera having an upward direction less than 90 degrees above the plate. [Figure 17b] FIG. 10 is a schematic diagram of an upward-looking camera, where the upward-looking camera has an upward direction approximately 90 degrees above the plate. [Figure 18] FIG. 1 is a schematic diagram of a camera array system featuring a cluster of four cameras. [Figure 19] FIG. 1 is a schematic diagram of a camera array system featuring a cluster of two upward-facing cameras. [Figure 20] FIG. 1 is a schematic diagram of a camera array system featuring a cluster of three upward-facing cameras. [Figure 21] FIG. 1 is a schematic diagram of a camera array system featuring four clusters of four upward-facing cameras. [Figure 22] FIG. 1 is a schematic diagram of a camera array system featuring two clusters of two upward-facing cameras. [Figure 23] FIG. 1 is a schematic diagram of a camera array system featuring three clusters of three upward-facing cameras. [Figure 24] FIG. 1 is a schematic diagram of a camera array system featuring five clusters of four upward-facing cameras. [Figure 25] FIG. 1 is a schematic diagram of a camera array system featuring three clusters of two upward-facing cameras. [Figure 26] FIG. 1 is a schematic diagram of a camera array system featuring four clusters of three upward-facing cameras. [Figure 27] FIG. 1 is a schematic diagram of a camera array system featuring a cluster of five upward-facing cameras. [Figure 28] FIG. 1 is a schematic diagram of a camera array system featuring a cluster of three upward-facing cameras. [Figure 29] FIG. 1 is a schematic diagram of a camera array system featuring a cluster of four upward-facing cameras. [Figure 30] FIG. 1 is a schematic diagram of a camera array system featuring four clusters of four upward-facing cameras. [Figure 31]FIG. 1 is a schematic diagram of a camera array system featuring two clusters of two upward-facing cameras. [Figure 32] FIG. 25 is a schematic diagram showing the relative positions of images captured in a parallel field of view by the camera in FIG. 24. [Figure 33] FIG. 25 is a schematic diagram showing the relative positions of images captured in a parallel field of view by the camera in FIG. 24. [Figure 34] FIG. 25 is a schematic diagram showing the relative positions of images captured in a parallel field of view by the camera in FIG. 24. [Figure 35] FIG. 25 is a schematic diagram showing the relative positions of images captured in a parallel field of view by the camera in FIG. 24. [Figure 36] FIG. 26 is a schematic diagram showing the relative positions of images captured in a parallel field of view by the camera in FIG. 25. [Figure 37] FIG. 26 is a schematic diagram showing the relative positions of images captured in a parallel field of view by the camera in FIG. 25. [Figure 38] FIG. 24 is a schematic diagram showing the relative positions of images captured in a parallel field of view by the camera in FIG. 23. [Figure 39] FIG. 24 is a schematic diagram showing the relative positions of images captured in a parallel field of view by the camera in FIG. 23. [Figure 40] FIG. 24 is a schematic diagram showing the relative positions of images captured in a parallel field of view by the camera in FIG. 23. [Figure 41] FIG. 1 is a schematic diagram of a camera array system featuring a cluster of four upward-facing cameras. [Figure 42] FIG. 1 is a schematic diagram of a camera array system featuring a cluster of three upward-facing cameras. [Figure 43] FIG. 1 is a schematic diagram of a camera array system featuring a cluster of two upward-facing cameras. [Figure 44] FIG. 1 is a schematic diagram of a camera array system featuring three tiers of upward-facing cameras. [Figure 45] FIG. 1 is a schematic diagram of a camera array system featuring two clusters of four upward-facing cameras. [Figure 46] FIG. 45 is a schematic diagram showing the relative positions of images captured in a parallel field of view by the camera in FIG. 44. [Figure 47]FIG. 1 is a schematic diagram of a camera array system featuring three tiers of upward-facing cameras. [Figure 48] FIG. 48 is a schematic diagram showing the relative positions of images captured in a parallel field of view by the camera in FIG. 47. [Figure 49] FIG. 1 is a schematic diagram of a camera array system featuring a cluster of four cameras. [Figure 50] FIG. 1 is a schematic diagram of a camera array system featuring a cluster of two upward-facing cameras. [Figure 51] FIG. 1 is a schematic diagram of a camera array system featuring a cluster of three upward-facing cameras. [Figure 52] FIG. 1 is a schematic diagram of a camera array system featuring four clusters of four upward-facing cameras. [Figure 53] FIG. 1 is a schematic diagram of a camera array system featuring two clusters of two upward-facing cameras. [Figure 54] FIG. 1 is a schematic diagram of a camera array system featuring three clusters of three upward-facing cameras. [Figure 55] FIG. 1 is a schematic diagram of a camera array system featuring five clusters of four upward-facing cameras. [Figure 56] FIG. 1 is a schematic diagram of a camera array system featuring three clusters of two upward-facing cameras. [Figure 57] FIG. 1 is a schematic diagram of a camera array system featuring four clusters of three upward-facing cameras. [Figure 58] FIG. 1 is a schematic diagram of a camera array system featuring a cluster of five upward-facing cameras. [Figure 59] FIG. 1 is a schematic diagram of a camera array system featuring a cluster of three upward-facing cameras. [Figure 60] FIG. 1 is a schematic diagram of a camera array system featuring a cluster of four upward-facing cameras. [Figure 61] FIG. 1 is a schematic diagram of a camera array system featuring four clusters of four upward-facing cameras. [Figure 62]FIG. 1 is a schematic diagram of a camera array system featuring two clusters of two upward-facing cameras. [Figure 63] FIG. 56 is a schematic diagram showing the relative positions of images captured in parallel view by the camera in FIG. 55. [Figure 64] FIG. 56 is a schematic diagram showing the relative positions of images captured in parallel view by the camera in FIG. 55. [Figure 65] FIG. 56 is a schematic diagram showing the relative positions of images captured in parallel view by the camera in FIG. 55. [Figure 66] FIG. 56 is a schematic diagram showing the relative positions of images captured in parallel view by the camera in FIG. 55. [Figure 67] FIG. 57 is a schematic diagram showing the relative positions of images captured in parallel view by the camera in FIG. 56. [Figure 68] FIG. 57 is a schematic diagram showing the relative positions of images captured in parallel view by the camera in FIG. 56. [Figure 69] FIG. 1 is a schematic diagram of a camera array system featuring a cluster of four upward-facing cameras. [Figure 70] FIG. 1 is a schematic diagram of a camera array system featuring a cluster of three upward-facing cameras. [Figure 71] FIG. 1 is a schematic diagram of a camera array system featuring a cluster of two upward-facing cameras. [Figure 72] FIG. 1 is a schematic diagram of a camera array system featuring three tiers of upward-facing cameras. [Figure 73] FIG. 1 is a schematic diagram of a camera array system featuring two clusters of four upward-facing cameras. [Figure 74] FIG. 73 is a schematic diagram showing the relative positions of video capture by the field of view of the camera array system of FIG. 72. [Figure 75] FIG. 1 is a schematic diagram of a camera array system featuring three tiers of upward-facing cameras. [Figure 76] FIG. 76 is a schematic diagram showing the relative positions of images captured in a parallel field of view by the camera in FIG. 75. [Figure 77]FIG. 1 illustrates an exemplary camera array with an intermediate left camera set targeted to the right of the central camera set and an intermediate right camera set targeted to the left of the central camera set. [Figure 78] FIG. 1 illustrates an exemplary camera array having an intermediate left camera set targeted to the left of the central camera set and an intermediate right camera set targeted to the right of the central camera set. [Figure 79] FIG. 1 illustrates an exemplary camera array with two cameras in each of a left and right lateral set. [Figure 80] FIG. 1 illustrates an exemplary camera array with two cameras in each of the intermediate camera sets. [Figure 81] FIG. 1 illustrates an exemplary camera array with two cameras in the central camera set. [Figure 82] FIG. 1 illustrates an exemplary camera array with three cameras in each intermediate camera set. [Figure 83] FIG. 1 illustrates an exemplary camera array with three cameras in the center camera set. [Figure 84] 77-83. FIG. 88 illustrates exemplary modifications to the camera array of FIGS. [Figure 85] 77-83. FIG. 88 illustrates exemplary modifications to the camera array of FIGS. [Figure 86] 77-83. FIG. 88 illustrates exemplary modifications to the camera array of FIGS. [Figure 87] 77-83. FIG. 88 illustrates exemplary modifications to the camera array of FIGS. [Figure 88] 77-83. FIG. 88 illustrates exemplary modifications to the camera array of FIGS. [Figure 89] 1A-1C illustrate exemplary front-facing, rear-facing, and top camera arrays. [Figure 90] FIG. 1 illustrates an exemplary camera array in which the top camera array lacks a set of side cameras. [Figure 91] FIG. 1 illustrates an exemplary camera array in which the top camera array lacks the side and middle camera sets. [Figure 92] FIG. 1 illustrates an exemplary camera array in which the rear-facing camera array lacks a set of side cameras. [Figure 93] 93A-93C show exemplary modifications to the camera array of FIGS. 89-92. [Figure 94] 93A-93C show exemplary modifications to the camera array of FIGS. 89-92. [Figure 95] 93A-93C show exemplary modifications to the camera array of FIGS. 89-92. [Figure 96] 93A-93C show exemplary modifications to the camera array of FIGS. 89-92. [Figure 97] 1 illustrates an exemplary system in which the side camera sets are omitted from each of the forward and rear-facing camera arrays, but a partial camera array consisting only of side cameras is located on the vehicle mounting plate between the forward and rear-facing camera arrays. This figure may also be understood as a forward-facing camera array with the side camera sets omitted and the top camera array either omitted or not shown, and a rear-facing camera array including center, middle, and side camera sets, with the side camera sets located behind the center and middle camera sets. [Figure 98] FIG. 1 illustrates an exemplary system having separate vehicle mounting plates for each of the forward-facing, top-facing, and rear-facing camera arrays. [Figure 99] FIG. 1 illustrates an exemplary system having a common vehicle mounting plate for the forward and top camera arrays and a separate vehicle mounting plate for the rear-facing camera array. [Figure 100] FIG. 1 illustrates an exemplary system having a common vehicle mounting plate for rear-facing and top camera arrays and a separate vehicle mounting plate for the forward-facing camera array. [Figure 101] An exemplary system is shown having a forward-facing and a rear-facing camera array, each with its own dedicated vehicle mounting plate, with the forward-facing array omitting the set of side cameras. [Figure 102]An exemplary system is shown having a forward-facing and a rear-facing camera array, each with its own dedicated vehicle mounting plate, with the rear-facing array omitting the set of side cameras. [Figure 103] FIG. 1 illustrates an exemplary floating plate design including an upper mounting plate, a lower mounting plate, an array of cameras attached to the upper mounting plate, and connectors between the cameras and the upper mounting plate, between the upper and lower mounting plates, and between the lower mounting plate and the vehicle. [Figure 104] FIG. 1 illustrates an exemplary stabilizer including a top portion, a base portion, and a mid-body. [Figure 105] FIG. 1 is a top view of an exemplary multi-prong stabilizer. [Figure 106] FIG. 1 is a side view of an exemplary multi-prong stabilizer. [Figure 107] 1A-1C illustrate an exemplary floating plate design with a multi-prong stabilizer. DETAILED DESCRIPTION OF THE INVENTION

[0015] The present invention relates to a camera configured to capture at least a 360 degree field of view from a moving vehicle. The present invention relates to a system featuring an array of laser arrays.

[0016] In its most complete version, the system consists of the following components: multiple cameras positioned on each side of the plate structure and connected to a common trigger box and viewing monitor; leveling screws to facilitate leveling of the plate structure; cutout mechanisms providing access to the batteries for each camera; lidar; a method for capturing lidar information along with the camera images; and rigid mounts for each camera. These components combine together to create a system architecture capable of capturing images with enhanced parallax reduction while providing stable images. Note further that the electronic trigger, monitor, leveling screws, battery slot, and drift-resistant mount provide ease of use for the operator, and the lidar data helps enhance the spatial relationship of each image to other images. The spatial relationship of the images aids in stitching them together as needed.

[0017] The cameras are mounted in four clusters, three along each side of the plate. Each cluster can have a left camera, a center camera, and a right camera. The four clusters in their node configuration provide substantial overlap of images on each side, thereby reducing parallax. In practice, the cameras forming each cluster, positioned close to and adjacent to one another, are oriented toward an intersection point such that the direction and field of view of the left and right cameras intersect with the direction and field of view of the center camera. Thus, the angles of view, which are conceptual lines positioned and oriented exactly in the center of the field of view, intersect. Multiple clusters also allow for at least partial overlap of fields of view within each cluster as well as between clusters. This is because cameras in adjacent clusters may have parallel angles of view.

[0018] The plate itself, which positions the cameras on the same horizontal plane through mounting, results in two types of overlap: field-of-view overlap (parallel angles of view) between one camera and another in an adjacent cluster; and field-of-view overlap, but not angular overlap, between cameras in a cluster. In the latter type of overlap, the angles of view intersect. A common, stable horizontal plane promotes improved results when the images are used to construct 3D and virtual reality spatial environments. To compensate for the various overlaps in the camera array, another camera is placed in the center of the plate and elevated above the plate (and camera cluster). This camera is pointed upward, thereby providing a sky view to complement the lateral field of view of the outward-facing camera cluster. Thus, the camera array can feature four outward-facing camera clusters and one upward-facing camera cluster.

[0019] It is possible to increase the overlap by increasing the number of clusters or the number of cameras in each cluster. However, doing so results in increased material and process costs and increased complexity in processing the captured images. Conversely, the number of clusters or the number of cameras in each cluster can be reduced to reduce the aforementioned costs, but this may be at the expense of increased image quality and parallax error. To obtain panoramic coverage from cameras with a common directional field of view, it is important that the camera fields of view overlap between clusters, and that the field of view intersect within each cluster to obtain complete visual information about objects in front of them. At the same time, the intersecting field of view allows for overlap between adjacent clusters.

[0020] Thus, in a camera array system with four clusters of three cameras each, the camera angles of view (which may also be understood as the "direction" the cameras face) of the cameras in each cluster must differ by at least 15 degrees between adjacent cameras, and the "wing" cameras located on either side of the "center" camera must differ by at least 30 degrees. Each wing camera is preferably about 45 degrees from the center camera, so that it differs from each other by 90 degrees. By differing by 90 degrees from each other, the wing cameras maintain the same angle of view as another wing camera in its own cluster that is 90 degrees from its own cluster. Thus, a sufficient degree of difference ensures that the wing cameras in one cluster not only overlap in field of view with the wing cameras in adjacent clusters, but also have a common (i.e., parallel) angle of view.

[0021] A four-cluster camera array system of four cameras each is similar, except that the difference in angle of view between adjacent cameras may be smaller while still maintaining the above-mentioned features. Thus, the difference may be as little as 10 degrees, but is preferably 22.5 degrees. Conversely, a four-cluster camera array system of two cameras may feature a difference of 70 degrees, but is preferably 90 degrees.

[0022] An electronic trigger relay can be coupled to each camera to provide a simultaneous signal to start or stop video capture. The control switches for the electronic trigger relays are long enough to allow an operator to control the camera without having to go far. In fact, the control switches for the electronic triggers can be remotely located on a central controller, which can be ergonomically shaped. The electronic trigger relays can be physically attached to each camera and communicate with the central controller for instructions, or the electronic relays can be integrated into the central controller and communicate with the cameras wirelessly for instructions.

[0023] The central monitoring system can include a relay box mounted above the cameras and configured to transmit signals from each camera to a common receiver configured to match the signals to images. The central monitoring system can include a display screen configured to display the images in real time. Thus, the central monitoring system allows an operator to view all camera images at once without having to be at camera height, thereby providing ease of use when the system is mounted high above the operator's head.

[0024] The central monitoring system can separate and group sets of cameras in clusters, such that footage from cameras in a first cluster is grouped with footage from cameras in a second cluster. In particular, footage captured from cameras with the same angle of view can be grouped together to obtain overlapping coverage.

[0025] The plate structure, i.e., a double-plate design consisting of a top plate and a bottom plate, can be advantageously equipped with leveling screws installed at the corners and between the plates. The leveling screws allow for fine adjustment of the horizontal height once all cameras are attached to the plate. The leveling screws can include a set of rotatable disks threaded onto the screws, allowing for height changes through rotation. Three screws within the leveling screw unit allow for plane tilt. Slots can be cut out of the top plate to allow access to the battery compartments of each camera once it is attached. This configuration allows the operator access to the camera battery compartments while ensuring that the camera position does not change after it is attached to the plate.

[0026] The plate structure, including the top and bottom plates, can be square to better fit the four-cluster camera array, but other shapes may offer specific advantages for other array sets. Other possible shapes include a circle, triangle, or other polygon with the number of sides equal to the number of clusters.

[0027] In one version, a 1-3 axis gimbal can be attached to the lower corner of the bottom plate, providing additional stability to the camera when the system is in motion, thereby ensuring clean images are captured without aberrations or distorted images. Another version utilizes a lens stabilizer to maintain image clarity, omitting the gimbal.

[0028] A large central cutout on the bottom plate provides access to the battery compartment and to the top plate for the addition of pins used to attach stabilizing rods.

[0029] The lidar unit is mounted at the center of the system, positioned above the camera. The lidar data assists in spatial reconstruction of the captured camera images in a 3D software suite. The lidar can communicate distance-related data to a central controller for further processing.

[0030] FIG. 1 shows a top view of the system 100, with thirteen cameras mounted on a top plate 104. Four clusters 106a, 106b, 106c, and 106d of three cameras 108a, 108b, and 108c are arranged in a node configuration, attached to the plate at 90-degree intervals. The center 110 of the plate has a hole through which wires can be connected and additional mounting brackets can be placed from below. Above the hole, a platform 112 supported by four pins 114 is mounted, on which the lidar and a thirteenth camera 116 are located. The thirteenth camera is attached to the platform via an L-bracket, which is in turn attached to the top of the lidar. The thirteenth camera is configured to capture an overhead view when the system is in use.

[0031] FIG. 2 shows an exploded view of the top plate 104 with the connections necessary to mount the cameras 108a, 108b, and 108c to the top plate. After each camera is mounted in place, various rectangular cutouts 122a in the plate are used to access each camera's battery compartment. In one version, each camera has a quick-release mount 118 connected to the top plate via bolts 120. An anti-drift plate is attached to the underside of each of the twelve horizontal cameras, which are then connected to the quick-release plate. An additional slot 122b is also cut into the surface of the plate to accommodate a safety lever on the quick-release plate. However, in a preferred version, the cameras are mounted directly to the top plate, and the safety lever and its corresponding slot are omitted.

[0032] The center 111 hole is visible when the platform is not attached to the top plate. It is possible.

[0033] Figure 3 shows an exploded view of the platform 112 along with the lidar 126 and the thirteenth camera 116. The lidar is attached to the platform via bolts. An L-bracket 128 is then attached to the top of the lidar. Finally, a camera is attached to the L-bracket so that it can point upward. Pins 114 on the platform 112 can be adjusted to allow the lidar to clear the height of surrounding cameras mounted around the perimeter of the platform.

[0034] Figure 4 shows a side view of the platform 112 to which the lidar 126 and camera 116 are mounted. A pin 114 on the platform provides clearance for the cord that runs from the camera to the operator. The lidar is positioned above the platform so that it can capture data in 360 degrees when the system is in use. The camera is attached to the top of the lidar via an L-bracket 128.

[0035] Figure 5 shows a top view of the system's bottom plate (left) 105 and top plate (right) 104. The bottom plate features a large cutout 122c to provide access to the underside of the top plate. Holes 132a, 132b are located at the corners 134a, 134b of both the top and bottom plates and provide mounting points for adjustment screws mounted between the plates. The bottom plate also provides holes 109 for mounting stabilizing gimbals at each corner or for attaching the bottom plate to a vehicle mount. The top plate 104 is configured to mount 12 horizontal cameras in a node configuration on each side. The plate provides cutouts 122a for operator access to each camera's battery compartment while mounted. The top plate has a central hole 110 through which cables can be connected to a remote unit, and holes are provided through the plate for mounting leveling screws and a platform.

[0036] Figure 6 is a perspective view of the assembly of the top plate 104, bottom plate 105, leveling screw 136, stabilizing gimbal 138, and platform 112. The stabilizing gimbal is located at corner 134b of the bottom plate to provide the greatest possible stability when the system is moving during use. The leveling screw is also located near corner 134a and connected to the top plate. This allows the operator to make any necessary fine adjustments after the initial installation of the system is complete. In a preferred version, the gimbal may be omitted, and the bottom plate may be attached directly to the vehicle mounting bracket. The bottom plate has a large hole and a smaller hole (center hole) 110 at the top that provides access for routing cables. The platform 112 has four pins 114 that are positioned higher than the surrounding cameras when mounted to capture lidar data.

[0037] FIG. 7 shows an exploded view of the assembly of the top plate 104, bottom plate 105, platform 112, leveling screw 136, and stabilizing gimbal 138. The stabilizing gimbal is connected to the underside of the bottom plate using bolt 140. The leveling screw is connected to both the top and bottom plates by bolts 142a, 142b at each end. Disks 144 embedded in the leveling screws rotate clockwise or counterclockwise to lengthen or shorten the screws. Multiple disks surround the approximate center of each leveling screw to allow for planar tilt of the upper and lower heights of each leveling screw. As the length and planar tilt of each leveling screw are changed, the overall balance and height of the top plate are evaluated and adjusted. The platform 112 is attached to the top plate by bolts connected to pins 114. Pins of different lengths can be used if rider height adjustment is required.

[0038] FIG. 8 shows a top view of cameras 108a, 108b, and 108c mounted on the top plate 104, with electronic trigger relays 146 connected from the cameras to a central relay box 148 and then to a central trigger 150. The electronic trigger box allows simultaneous activation of the cameras from a central source, allowing an operator to properly control all cameras at once. The view shows cables 152 extending from each camera to a hole located in the center 110 of the plate. The cables then pass through holes in the top and bottom plates and connect to a common electronic relay box. The box is then connected to a single trigger that sends a signal to the cameras to start all recording simultaneously. The trigger then sends a signal when image capture is complete to pause the cameras. While the trigger can be connected to the cameras via cables, in a preferred version, the trigger and camera are remotely and wirelessly coupled, with the trigger wirelessly engaged to a receiver box connected to each camera. The triggers can then be mounted integrally to the central relay box, which can be a handheld device that allows centralized and remote control across the camera array. Thus, both the cables and the holes through which they pass can be omitted. The platform and pin structure may be replaced by an elevated platform of any shape.

[0039] 9 shows a top view of the cameras mounted on the top plate 104, with a video converter box 154 attached to a "hot shoe" mount on top of each camera. An additional video converter box 158 is mounted on the top plate itself for the overhead camera 116. The video converter box connects to the camera and sends the video signal via cable 156 to a central control box 160. The central control box then connects to a video monitor 162, which can provide images of one, several, or all cameras simultaneously on the same screen, allowing an operator to check the status of each camera without having to be on the top plate.

[0040] 10-12 illustrate components that may be omitted depending on the stabilization method, technique, and components incorporated elsewhere in the system.

[0041] Figure 10 shows a top view of the anti-drift plate 164 that connects to the bottom of each horizontal camera on the top plate. This side of the plate has holes 166 where bolts connect to the underside of the camera. The camera is placed on top of this plate, and after attaching the plate via bolts through the holes, a rigid bulk of material located across the body of the unit keeps the camera in one position. Without material on the surface of the mount, the camera would tend to rotate around the bolt holes and change position. The rigid bar 165 on the surface of the mount prevents the camera from drifting, especially when filming while moving on a vehicle.

[0042] 11 is a bottom view of anti-drift plate 164. Holes 166 have recesses 168 to prevent bolt heads from hanging below the plate. The lower portion of the plate, a quick-release mounting surface 170, is shaped to engage with a quick-release plate on the system's top plate to fully mount each camera.

[0043] 12 is a side view of the anti-drift plate 164, showing a rigid bar 165 extending across the surface of the plate that prevents the camera from rotating around the mounting hole. The underside of the plate has a mounting surface 170 that engages with a quick release plate on the top plate of the system.

[0044] FIG. 13 is a top view of a camera array system having four outward-facing camera clusters 200a, 200b, 200c, 200d of four cameras 202a, 202b, 202c, 202d, respectively.

[0045] 14-15 show top and side views of a camera array system having an upward-facing camera cluster 204 of five cameras 206a, 206b, 206c, 206d.

[0046] FIG. 16 shows a camera cluster of three cameras 302 a , 302 b , and 302 c , along with the corresponding angles of view 304 a , 304 b , 304 c , and intersection point 306 .

[0047] Various features, variations, and multiple different embodiments have been shown and described in various details. Descriptions in this application of specific embodiments are done for illustrative purposes only and are not intended to limit or imply that these are the only or specific embodiments contemplated.

[0048] It should be understood that the present disclosure is not limited to any single particular embodiment or variant listed. Numerous modifications, variations, and other embodiments will occur to those skilled in the art, which are intended to be, and are in fact, encompassed by the present disclosure. It is indeed intended that the scope of the present disclosure should be determined by proper legal interpretation and construction of the present disclosure, including equivalents, as understood by those skilled in the art relying on the full disclosure as it exists at the time of filing.

[0049] As shown in Figures 17a-17b, a camera array system can include an upward-facing camera 400. The camera has a field of view 404 and an optical axis 406 that passes orthogonally through the center of the field of view. The field of view is the extent of the world seen by the camera at any instant, and the optical axis includes a line from the center of the camera lens through the exact center of the field of view. The optical axis is sometimes colloquially referred to as the "heading" of the camera. However, the optical axis extends both forward and backward to coincide with the "heading," passing through and behind the lens. Thus, the optical axis can include both a forward direction and a backward direction 405, where both the forward direction and the backward direction occupy the same optical axis but point at opposite ends of the optical axis.

[0050] The upward-facing camera may be pointed upward from the plate 408 at an angle 410 between 0 and 90 degrees. The camera may be fixedly or adjustably pointed upward from the plate and may be attached to the plate directly or indirectly through one or more mechanical intermediaries. Such intermediaries may include a platform, stage, or other support to stabilize and connect the camera.

[0051] There, the camera array system can provide a series of sets of upward-facing cameras, each set at a different angle. In one variation, the first set of upward-facing cameras is pointed at approximately 90 degrees from the plate, the second set is pointed upward at approximately 75-90 degrees, the third set is pointed upward at approximately 60-75 degrees, the fourth set is pointed upward at approximately 60 degrees, the fifth set is pointed upward at approximately 45-60 degrees, the sixth set is pointed upward at approximately 30-45 degrees, the seventh set is pointed upward at approximately 15-30 degrees, and the eighth set is pointed upward at approximately 0-15 degrees. The upward-facing cameras can be used in conjunction with a set of outward-facing cameras, which can be angled at approximately 0 degrees from the plate, as described above. Unless otherwise specified, it can be assumed that any of the upward-facing cameras described below are angled less than 90 degrees upward from the plate and therefore can have a direction (forward or backward) with a common intersection, as described below.

[0052] As shown in FIG. 18, the camera array system can feature a cluster of four upward-facing cameras (1a, 2a, 3a, 4a), which target a common point in space. The camera orientations can therefore have a common intersection point. This common intersection point is above the cameras at a distance corresponding to the distance between the cameras. The cameras can be spaced approximately equidistantly around a center point, with the first camera positioned at approximately 0 degrees, the second camera positioned at approximately 90 degrees, the third camera positioned at 180 degrees, and the fourth camera positioned at 270 degrees. The center between the cameras can be aligned with the vehicle's central axis and thus substantially coincide with the direction of the moving vehicle. In one variation, the center is to the left of the vehicle's central axis. In another variation, the center is to the right of the central axis.

[0053] In one variation, the cameras are positioned relative to the direction or path of the moving vehicle to which the plate is attached, with the first camera facing in the direction of the moving vehicle but facing upward. The second camera facing opposite to the direction of the moving vehicle but facing upward. The third camera facing perpendicular to the direction of the moving vehicle but facing upward and to the right. The fourth camera facing perpendicular to the direction of the moving vehicle but facing upward and to the left. In another variation, the first camera is facing approximately 45 degrees forward to the left and at a specified angle above it. The second camera is facing approximately 45 degrees forward to the right and at a specified angle above it. The third camera is facing approximately 135 degrees forward to the left and at a specified angle above it. The fourth camera is facing approximately 135 degrees forward to the right and at a specified angle above it.

[0054] As shown in FIG. 19, the camera array system can feature a cluster of two upward-facing cameras (1a, 2a), which target a common point in space. As previously described, the camera orientations can have a common intersection point. The cameras can be spaced approximately equidistantly around a center point, with the first camera positioned at approximately 0 degrees and the second camera positioned at approximately 180 degrees. The center between the cameras can be aligned with the vehicle's central axis and thus substantially coincide with the direction of the moving vehicle. In one variation, the center is to the left of the vehicle's central axis. In another variation, the center is to the right of the central axis.

[0055] In one variation, the cameras are positioned relative to the direction or path of the moving vehicle, with a first camera facing in the direction of the moving vehicle but upward, and a second camera facing opposite to the direction of the moving vehicle but upward. In another variation, the first camera is facing perpendicular to the direction of the moving vehicle but upward and to the right, and the second camera is facing perpendicular to the direction of the moving vehicle but upward and to the left. The center between the cameras can be aligned with the central axis of the car and therefore can substantially coincide with the direction of the moving vehicle.

[0056] As shown in FIG. 20, the camera array system can feature a cluster of three upward-facing cameras (1a, 2a, 3a), which target a common point in space. As previously described, the camera orientations can have a common intersection point. The cameras can be spaced approximately equidistantly around a center point, with the first camera positioned at approximately 0 degrees, the second camera positioned at approximately 120 degrees, and the third camera positioned at approximately 240 degrees. The center between the cameras can be aligned with the vehicle's central axis and thus substantially coincide with the direction of the moving vehicle. In one variation, the center is to the left of the vehicle's central axis. In another variation, the center is to the right of the central axis.

[0057] In one variation, the cameras are positioned relative to the direction or path of the moving vehicle, with the first camera pointed in the direction of the moving vehicle but upward. The second camera is pointed approximately 120 degrees to the left of the direction of the moving vehicle and at a specified angle upward. The third camera is pointed approximately 120 degrees to the right of the direction of the moving vehicle and at a specified angle upward. In another variation, the first camera is pointed 180 degrees from the direction of the moving vehicle and at a specified angle upward. The second camera is pointed 60 degrees to the left of the direction of the moving vehicle and at a specified angle upward. The third camera is pointed 60 degrees to the right of the direction of the moving vehicle and at a specified angle upward.

[0058] As shown in FIG. 21, the camera array system can feature four clusters (1b, 2b, 3b, 4b) of the type shown in FIG. 18. The camera clusters may be spaced approximately equidistantly around a center point, with the first camera cluster positioned at approximately 0 degrees, the second camera cluster positioned at approximately 180 degrees, the third camera cluster positioned at 270 degrees, and the fourth camera cluster positioned at 90 degrees. This camera array system allows for a combination of parallel and crossing forward directions between cameras in different clusters with intersections. The crossing forward directions occur first between camera 1a of cluster 1b and camera 2a of cluster 2b, and second between camera 3a of cluster 3b and camera 4a of cluster 4b. The parallel directions occur first between camera 1a of each cluster, second between camera 2a of each cluster, third between camera 3a of each cluster, and fourth between camera 4a of each cluster. The combination of crossing forward and parallel directions allows for excellent stitching of footage. In general and throughout, the cameras should have the same angle pointing upward from the plate to allow for parallel orientation.

[0059] As shown in Figure 22, the camera array system can feature two clusters (1a and 1b) of the type shown in Figure 19. The camera clusters may be spaced approximately equidistant around a center point, with the first camera cluster positioned at approximately 0 degrees and the second camera cluster positioned at approximately 180 degrees. A cross-forward direction occurs between camera 1a of cluster 1b and camera 2a of cluster 2b. A parallel direction occurs first between camera 1a of cluster 1b and camera 1a of cluster 2b, and second between camera 2a of cluster 1b and camera 2a of cluster 2b.

[0060] As shown in Figure 23, the camera array system can feature three clusters of the type shown in Figure 20. The camera clusters may be spaced approximately equidistantly around a center point, with the first camera cluster positioned at approximately 0 degrees, the second camera cluster positioned at approximately 120 degrees, and the third camera cluster positioned at approximately 240 degrees. Intersecting forward directions occur between camera 1a of cluster 1b, camera 2a of cluster 2b, and camera 3a of cluster 3b. Parallel directions occur first between camera 1a of each cluster, second between camera 2a of each cluster, and third between camera 3a of each cluster.

[0061] As shown in Figure 24, the camera array system may feature four clusters of the type shown in Figure 21, with an additional fifth cluster (5b) located approximately in the middle of the four clusters. Of the cameras in cluster 5b, camera 1a may be included in the first parallel direction referenced in Figure 21, camera 2a may be included in the second parallel direction, camera 3a may be included in the third parallel direction, and camera 4a may be included in the fourth parallel direction. Additional crossing forward directions may occur between cameras 1a, 2a, 3a, and 4a of cluster 5b and camera 2a of cluster 2b, camera 1a of cluster 1b, camera 4a of cluster 4b, and camera 3a of cluster 3b, respectively.

[0062] As shown in Figure 25, a camera array system can feature two clusters of the type shown in Figure 22, with an additional third cluster (3b) located between the two clusters. Of the cameras in cluster 3b, camera 1a can be included in a first parallel direction and camera 2a can be included in a second parallel direction. Additional cross-forward directions can occur between cameras 1a and 2a of cluster 3b and camera 2a of cluster 2b and camera 1a of cluster 1b, respectively.

[0063] As shown in Figure 26, a camera array system may feature three clusters of the type shown in Figure 23, with an additional fourth cluster (4b) located approximately in the middle of the three clusters. In this configuration, no additional parallel directions are possible, but additional cross-forward directions may occur between cameras 1a, 2a, and 2a of cluster 4b and camera 1a of cluster 1b, camera 2a of cluster 2b, and camera 3a of cluster 3b, respectively.

[0064] As shown in Figure 27, the camera array system can feature a four-camera cluster of the type shown in Figure 18 with an additional camera 5a. Camera 5a is tilted approximately 90 degrees from the plate so that its forward direction intersects with the forward directions of cameras 1a, 2a, 3a, and 4a.

[0065] As shown in Figure 28, the camera array system can feature two camera clusters of the type shown in Figure 19 with an additional camera 3a. Camera 3a is tilted approximately 90 degrees from the plate so that its forward direction intersects with the forward directions of cameras 1a and 2a.

[0066] As shown in Figure 29, the camera array system can feature a three-camera cluster of the type shown in Figure 20 with an additional camera 4a. Camera 4a is tilted approximately 90 degrees from the plate so that its forward direction intersects with the forward directions of cameras 1a, 2a, and 3a.

[0067] As shown in Figure 30, a camera array system can feature a modified version of a four-camera cluster of the type shown in Figure 21. This configuration provides the same parallel viewing relationship between the cameras, except that the intersecting forward directions are different: first, between camera 1a in cluster 1b and camera 2a in cluster 3b; second, between camera 1a in cluster 4b and camera 2a in cluster 2b; third, between camera 3a in cluster 1b and camera 4a in cluster 4b; and fourth, between camera 3a in cluster 3b and camera 4a in cluster 2b.

[0068] As shown in Figure 31, a camera array system can feature a modified version of two camera clusters of the type shown in Figure 22. This configuration provides the same parallel viewing relationship between the cameras, but does not allow for cross orientation between the clusters.

[0069] Figures 32 to 35 show the relative positions of the images captured in the parallel field of view of Figure 24. Figures 36 and 37 show the relative positions of the images captured in the parallel field of view of Figure 25. Figures 38 to 40 show the relative positions of the images captured in the parallel field of view of Figure 23.

[0070] As shown in Figure 41, a camera array system can feature a cluster of four cameras (1a, 2a, 3a, 4a) with intersecting forward directions. The cameras are spaced approximately equidistant around a center point without completely surrounding the center point, where each camera is positioned between 0 and 60 degrees from its neighboring camera.

[0071] As shown in Figure 42, a camera array system can feature a cluster of two cameras (1a and 2a) with intersecting forward directions. The cameras are spaced approximately equidistant around a center point without completely surrounding the center point, where each camera is positioned between 0 and 180 degrees from its neighboring camera.

[0072] As shown in Figure 43, a camera array system can feature a cluster of three cameras (1a, 2a, and 3a) with intersecting forward directions. The cameras are spaced approximately equidistant around a center point without completely surrounding the center point, where each camera is positioned between 0 and 90 degrees from its neighboring camera.

[0073] As shown in FIG. 44, a camera array system may have two or more clusters of cameras, each cluster positioned in the same way relative to its neighboring cameras around its center point. However, the clusters here are arranged in layers, with each additional layer positioned behind the previous layer. As a result, the distance between each camera in the cluster of each subsequent layer increases. In one variation, camera 1a, camera 2a, camera 3a, and camera 4a have first, second, third, and fourth parallel fields of view across the cluster, such that, for example, camera 1 in cluster 1b, camera 1a in cluster 2b, and camera 1a in cluster 3b have parallel fields of view. In this variation, the cameras in all clusters have a common upward angle above the plate. However, in another variation, the cameras in a cluster may have a common upward angle above the plate, but different angles may occur between clusters. Thus, camera 1a, camera 3a, camera 3a, and camera 4a across all clusters may have a common intersection point. This is possible if the clusters in the subsequent layers have a lower upward angle above the plate than the clusters in the preceding layers. For example, a camera in cluster 1b may have an upward angle of 75 degrees, a camera in cluster 2b located behind the camera in cluster 1b may have an upward angle of 60 degrees, and a camera in cluster 3b may have an upward angle of 45 degrees.

[0074] As shown in Figure 45, a camera array system can have two or more clusters of cameras, each cluster at the same position relative to its neighboring cameras around its center point, and each camera in a cluster at an equal distance from its neighboring cameras. This is possible if each cluster has its own center. Therefore, the clusters can be arranged side by side. Parallel directions occur first between camera 1a of each cluster, second between camera 2a of each cluster, third between camera 3a of each cluster, and fourth between camera 4a of each cluster.

[0075] FIG. 46 shows the relative positions of the images taken in the field of view of FIG.

[0076] Figure 47 is similar to Figure 44, except that the number of cameras varies from cluster to cluster. In a preferred embodiment, each subsequent tier contains more cameras than the preceding tier. In the center, there may be a "zero tier" cluster (0a) of a single camera. In one variation, this single camera is oriented 90 degrees from the plate.

[0077] FIG. 48 shows the relative positions of the images taken in the field of view of FIG.

[0078] FIG. 49 is similar to FIG. 18 and illustrates a camera array system featuring a cluster of four upward-facing cameras (1a, 2a, 3a, and 4a), but the upward-facing cameras do not target a common point in space. While they all face upward, they face opposite each other in the horizontal plane. Importantly, however, the rear directions of the cameras share a common intersection point. This common intersection point is behind the cameras at a distance corresponding to the distance between the cameras. The cameras may be spaced approximately equidistantly around a center point, with the first camera positioned at approximately 0 degrees, the second camera positioned at approximately 90 degrees, the third camera positioned at 180 degrees, and the fourth camera positioned at 270 degrees. The centers between the cameras may be aligned with the central axis of the vehicle and thus substantially coincide with the direction of the moving vehicle. In one variation, the center is to the left of the vehicle's central axis. In another variation, the center is to the right of the central axis.

[0079] FIG. 50 is similar to FIG. 19 in terms of positioning, but similar to the change between FIG. 18 and FIG. 49, the upward-facing cameras do not target a common point in space and do not have intersecting forward directions, but instead share a common intersection point with their rear directions.

[0080] FIG. 51 is similar to FIG. 20 in terms of positioning, but similar to the change between FIG. 18 and FIG. 49, the upward-facing cameras do not target a common point in space and do not have intersecting forward directions, but instead share a common intersection point with their rear directions.

[0081] Figure 52 is similar to Figure 21 in terms of positioning and parallel directions, but similar to the change between Figures 18 and 49, the upward-facing cameras do not target a common point in space and do not have intersecting forward directions; instead, their rear directions share a common intersection point. The intersecting rear directions occur first between camera 11a of cluster 1b and camera 2a of cluster 2b, and second between camera 3a of cluster 3b and camera 4a of cluster 4b. The parallel directions occur first between camera 1a of each cluster, second between camera 2a of each cluster, third between camera 3a of each cluster, and fourth between camera 4a of each cluster. The combination of intersecting rear and parallel directions allows for excellent stitching of footage. In general, and throughout, the cameras must have the same angle pointing upward from the plate for parallel directions to be possible.

[0082] Figure 53 is similar to Figure 22 in terms of positioning and parallel directions, but similar to the change between Figures 18 and 49, the upward-facing cameras do not target a common point in space and do not have intersecting forward directions, but instead share a common intersection point for their rear directions. The intersecting rear directions occur between camera 1a of cluster 1b and camera 2a of cluster 2b. The parallel directions occur first between camera 1a of cluster 1b and camera 1a of cluster 2b, and second between camera 2a of cluster 1b and camera 2a of cluster 2b.

[0083] Figure 54 is similar to Figure 23 in terms of positioning and parallel directions, but similar to the change between Figures 18 and 49, the upward-facing cameras do not target a common point in space and do not have intersecting forward directions, but instead share a common intersection point for their rear directions. Intersecting rear directions occur between each camera in each cluster. Parallel directions occur first between camera 1a of each cluster, second between camera 2a of each cluster, and third between camera 3a of each cluster.

[0084] Figure 55 is similar to Figure 24 in terms of positioning and parallel directions, but similar to the change between Figures 18 and 49, the upward-facing cameras do not target a common point in space and do not have intersecting forward directions, but instead share a common intersection point in their rear directions. The camera array system is similar to the camera array system of Figure 52, but features an additional fifth cluster (5b). Of the cameras in cluster 5b, camera 1a can be included in the first parallel direction referenced in Figure 52, camera 2a can be included in the second parallel direction, camera 3a can be included in the third parallel direction, and camera 4a can be included in the fourth parallel direction. Additional intersecting rear directions can occur between cameras 1a, 2a, 3a, and 4a of cluster 5b and camera 2a of cluster 2b, camera 1a of cluster 1b, camera 4a of cluster 4b, and camera 3a of cluster 3b, respectively.

[0085] Figure 56 is similar to Figure 25 in terms of positioning and parallel directions, but similar to the change between Figures 18 and 49, the upward-facing cameras do not target a common point in space and do not have intersecting forward directions, but instead share a common intersection point in their rear directions. This camera array system may feature two clusters of the type shown in Figure 53, with an additional third cluster (3b) positioned between the two clusters. Of the cameras in cluster 3b, camera 1a may be included in the first parallel direction and camera 2a may be included in the second parallel direction. Additional intersecting rear directions may occur between cameras 1a and 2a of cluster 3b and camera 2a of cluster 2b and camera 1a of cluster 1b, respectively.

[0086] Figure 57 is similar to Figure 26 in terms of positioning and parallel directions, but similar to the change between Figures 18 and 49, the upward-facing cameras do not target a common point in space and do not have intersecting forward directions, but instead share a common intersection point in their rear directions. This camera array system can feature three clusters of the type shown in Figure 54, with an additional fourth cluster (4b) located approximately in the middle of the three clusters. The parallel directions include, first, a 1a camera in each cluster, second, a 2a camera in each cluster, and third, a 3a camera in each cluster. All cameras in the 4b cluster have intersecting rear directions.

[0087] Figure 58 is similar to Figure 27 in terms of positioning, but similar to the change between Figures 18 and 49, the upward-facing cameras do not target a common point in space and do not have intersecting forward directions, but instead share a common intersection point with their rear directions. This camera array system can feature four cameras of the type shown in Figure 49, with an additional camera 5a. Camera 5a is tilted approximately 90 degrees from the plate, so the rear direction of camera 5a intersects with the rear directions of cameras 1a, 2a, 3a, and 4a.

[0088] Figure 59 is similar to Figure 28 in terms of positioning, but similar to the change between Figures 18 and 49, the upward-facing cameras do not target a common point in space and do not have intersecting forward directions, but instead share a common intersection point in their rear directions. This camera array system can feature two camera clusters of the type shown in Figure 50, with an additional camera 3a. Camera 3a is tilted approximately 90 degrees from the plate, so the rear direction of camera 3a intersects with the rear directions of cameras 1a and 2a.

[0089] Figure 60 is similar to Figure 29 in terms of positioning, but similar to the change between Figures 18 and 49, the upward-facing cameras do not target a common point in space and do not have intersecting forward directions, but instead share a common intersection point with their rear directions. This camera array system can feature a three-camera cluster of the type shown in Figure 51 with an additional camera 4a. Camera 4a is tilted approximately 90 degrees from the plate, so the rear direction of camera 4a intersects with the rear directions of cameras 1a, 2a, and 3a.

[0090] FIG. 61 is similar to FIG. 30 in terms of positioning and parallel orientation, but similar to the change between FIG. 18 and FIG. 49, the upward-facing cameras do not target a common point in space and do not have intersecting forward directions, but instead share a common intersection point in their rearward directions. This camera array system can feature a modified version of four camera clusters of the type shown in FIG. 52. This configuration provides the same parallel viewing relationship between the cameras, except that the intersecting rearward directions are different: first, between camera 1a of cluster 1b and camera 2a of cluster 3b; second, between camera 1a of cluster 4b and camera 2a of cluster 2b; third, between camera 3a of cluster 1b and camera 4a of cluster 4b; and fourth, between camera 3a of cluster 3b and camera 4a of cluster 2b.

[0091] Figure 62 is similar to Figure 31 in terms of positioning and parallel orientation, but similar to the change between Figures 18 and 49, the upward-facing cameras do not target a common point in space and do not have intersecting forward directions, but instead share a common intersection point in their rear directions. This camera array system can feature a modified version of two camera clusters of the type shown in Figure 53. This configuration provides the same parallel viewing relationship between the cameras, but does not allow for intersecting orientations between the clusters.

[0092] Figures 63 to 66 show the relative positions of the images captured in a parallel field of view in Figure 55. Figures 67 and 68 show the relative positions of the images captured in a parallel field of view in Figure 56. The relative positions of the images captured in a parallel field of view in Figure 54 are the same as those in Figure 23, as shown in Figures 38 to 40.

[0093] Figure 69 is similar to Figure 41 in terms of positioning and parallel orientation, but similar to the change between Figures 18 and 49, the upward-facing cameras do not target a common point in space and do not have intersecting forward directions, but instead share a common intersection point with their rear directions. The cameras are spaced approximately equidistant around a center point without completely surrounding the center point, where each camera is positioned between 0 and 60 degrees from its neighboring camera.

[0094] Figure 70 is similar to Figure 42 in terms of positioning and parallel orientation, but similar to the change between Figures 18 and 49, the upward-facing cameras do not target a common point in space and do not have intersecting forward directions, but instead share a common intersection point with their rear directions. The cameras are spaced approximately equidistant around a center point without completely surrounding the center point, where each camera is positioned between 0 and 180 degrees from its neighboring camera.

[0095] Figure 71 is similar to Figure 43 in terms of positioning and parallel orientation, but similar to the change between Figures 18 and 49, the upward-facing cameras do not target a common point in space and do not have intersecting forward directions, but instead share a common intersection point with their rear directions. The cameras are spaced approximately equidistant around a center point without completely surrounding the center point, where each camera is positioned between 0 and 90 degrees from its neighboring camera.

[0096] Figure 72 is similar to Figure 44 in terms of positioning and parallel orientation, but like the variation between Figures 18 and 49, the upward-facing cameras do not target a common point in space and do not have intersecting forward directions. Instead, they share a common intersection point in their rearward directions. The clusters here are arranged in layers, with each additional layer positioned behind the preceding layer. As a result, the distance between each camera in the cluster of each subsequent layer increases. In one variation, camera 1a, camera 2a, camera 3a, and camera 4a have first, second, third, and fourth parallel fields of view across the cluster, such that, for example, camera 1a in cluster 1b, camera 1a in cluster 2b, and camera 1a in cluster 3b have parallel fields of view. In this variation, the cameras in all clusters have a common upward angle above the plate. However, in another variation, the cameras in a cluster can have a common upward angle above the plate, but different angles may occur between clusters. All cameras can have a common intersection point in their rearward directions. This is possible if the clusters in subsequent tiers have a lower upward angle above the plate than the clusters in the preceding tiers. For example, the cameras in cluster 1b can have an upward angle of 75 degrees, the cameras in cluster 2b, which is located behind the cameras in cluster 1b, can have an upward angle of 60 degrees, and the cameras in cluster 3b can have an upward angle of 45 degrees.

[0097] FIG. 73 is similar to FIG. 45 in terms of positioning and parallel direction, but similar to the change between FIG. 18 and FIG. 49, the upward-facing cameras do not target a common point in space and do not have intersecting forward directions, but instead share a common intersection point with their rear directions.

[0098] FIG. 74 shows the relative positions of the images taken in the field of view of FIG.

[0099] Figure 75 is similar to Figure 47 in terms of positioning and parallel direction, but similar to the change between Figures 18 and 49, the upward-facing cameras do not target a common point in space and do not have intersecting forward directions, but instead share a common intersection point in their rear directions. In a preferred embodiment, each subsequent tier contains more cameras than the preceding tier. In the center, there may be a "zero tier" cluster (0a) of a single camera. In one variation, this single camera is pointed 90 degrees from the plate.

[0100] FIG. 76 is similar to FIG. 48 in terms of positioning and parallel direction, but similar to the change between FIG. 18 and FIG. 49, the upward-facing cameras do not target a common point in space and do not have intersecting forward directions, but instead share a common intersection point with their rear directions.

[0101] Split rig disclosure.

[0102] A camera array system is disclosed that includes multiple outward-facing cameras mounted on a plate structure. The disclosed system is unique compared to other known systems and solutions in that it provides a camera configuration that provides images at substantially overlapping angles in all directions. A key feature of the node configurations is the intersection of the fields of view, which not only provides more complete coverage of objects closest to a given node configuration, but also ensures overlapping coverage, specifically panoramic overlap, with footage captured by adjacent node configurations. The system is capable of providing the image data, quality, and stability required for use in modern visual effects and software environments.

[0103] This disclosure provides a more detailed and specific description with reference to the accompanying drawings. The drawings and specific description of the drawings, as well as any specific or alternative embodiments described, are intended to be read in conjunction with the entirety of this disclosure. However, camera arrays may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided merely as examples so that this disclosure will be thorough and comprehensive, and will fully convey the understanding to those skilled in the art.

[0104] In a first embodiment, as shown in Figures 77-88, the camera array includes a set of left side view cameras 12, a set of left middle cameras 14, a set of center cameras 16, a set of right middle cameras 18, and a set of right side view cameras 20. The camera arrays capture video in the range of 0 to 180 degrees in the horizontal plane, with the left side view cameras targeting an average 0-degree field of view, the right side view cameras targeting an average 180-degree field of view, and the center cameras targeting an average 90-degree field of view. While the middle cameras target average 45- and 135-degree fields of view, in a preferred version of this embodiment, the left side view cameras target a 135-degree field of view and the right side view cameras target a 45-degree field of view, so that the sequential order of fields of view is 0, 135, 90, 45, and 180 degrees. This arrangement allows for the footage to be stitched together in a way that reduces or eliminates common stitching problems that arise from a less innovative sequence of camera fields of view, i.e., 0, 45, 90, 135, and 180 degrees.

[0105] The number of cameras in a set may be one, two, three, or more cameras. The number may be consistent across sets or may vary from set to set, although some symmetry may be desirable, such as the number of cameras in the left lateral set equaling the number of cameras in the right lateral set and the number of cameras in the left middle set equaling the number of cameras in the right middle set. In one version, the target angle of each camera in a camera set may be different, but their combined angles are ideally 0 degrees, 135 degrees, 90 degrees, 45 degrees, and 180 degrees for the left lateral camera, left middle camera, middle camera, right middle camera, and right lateral camera, respectively.

[0106] In one version, the set of cameras may be approximately arranged on a single plane so that each camera is approximately the same distance to the vehicle mounting plate.The set of cameras may be approximately arranged on an axis spanning from one side of the vehicle mounting plate to the other so that each camera is approximately the same distance to the trailing edge of the vehicle mounting plate.

[0107] In another version, the set may be staggered such that the center camera, the middle camera, and / or the side camera are positioned on different left-right axes. As an example, in terms of distance from the trailing edge, the cameras may be ordered as follows: center camera, middle camera, and side camera. As another example, the order may be reversed: side camera, middle camera, center camera. In yet another version, the set may be staggered such that the cameras are on different planes above the vehicle mounting plate. As an example, in terms of distance from the mounting plate, the cameras may be ordered as follows: center camera, middle camera, and side camera. As another example, the order may be reversed: side camera, middle camera, center camera. In yet another example, the cameras may be staggered such that they are positioned on both different planes above the vehicle mounting plate as well as on different left-right axes. In a further example, the cameras may be stacked one above the other, with the center and / or middle cameras stacked above or below the side cameras.

[0108] In another variation, one or more camera sets can be omitted. For example, a camera array can include a center camera and a middle camera but omit the side cameras. A camera array can include a center camera and a side camera but omit the middle camera. A camera array can include a middle camera and a side camera but omit the center camera.

[0109] In one version, the camera set may be fixedly but adjustably connected to the vehicle mounting plate, while in another version, the camera set is controlled to rotate or pivot via an external controller.

[0110] In a first embodiment, the rear-facing camera array may be positioned on the vehicle mounting plate, specifically facing away from the vehicle mounting plate.

[0111] In a second embodiment, a forward-facing camera array may be positioned on the vehicle mounting plate, specifically facing forward of the vehicle mounting plate.

[0112] In a third embodiment, the top camera array may be positioned on the vehicle mounting plate, particularly facing forward of the vehicle mounting plate, at an angle of approximately 90 degrees from the vehicle mounting plate, or at an angle between 0 and 90 degrees from the vehicle mounting plate.

[0113] The first, second, and / or third embodiments of the rear-facing, front-facing, and top camera arrays may be combined.

[0114] The front-facing and top camera arrays can each have any of the features described with respect to the rear-facing camera array, and the features may be consistent or different across the front-facing, rear-facing, or top camera arrays.

[0115] In one version, the top camera array has only a single camera, and the front camera array lacks the side camera set.

[0116] As shown in FIG. 89, a forward-facing camera array 82 may be positioned on the vehicle mounting plate near the front 80 of the vehicle mounting plate, a rear-facing camera array 86 may be positioned on the vehicle mounting plate near the rear 81 of the vehicle mounting plate, and a top camera array 84 may be positioned between the forward-facing and rear-facing camera arrays.

[0117] In one version, each camera in a camera array may be independently connected to a common trigger box and viewing monitor. In another version, connections can be made so that each camera in a camera set connects to a controller local to the camera set, which in turn connects to a common trigger box and viewing monitor along with controllers local to the other camera sets. In yet a third version, connections can be made so that each camera in a camera array connects to a controller local to the camera array, which in turn connects to a common trigger box and viewing monitor along with controllers local to the other camera arrays.

[0118] In one embodiment, footage captured by the cameras may be stitched together during production, post-production, or editing. In one version, a given section of stitched footage may include footage captured from multiple cameras in a given camera set. In another version, a given section of stitched footage may include footage captured from multiple cameras in a given camera array. In yet another version, a given section of stitched footage may include footage from cameras in a parallel camera set between arrays, such as a side camera set closest to a given side of the vehicle mounting plate. In yet another version, a given section of stitched footage may include footage from some but not all cameras in a first camera set and some but not all cameras in a second camera set. In yet another version, a given section of stitched footage may include footage from some but not all cameras in a first camera array and some but not all cameras in a second camera array.

[0119] In one embodiment, a camera set can have a field of view and an optical axis that passes orthogonally through the center of the field of view. The field of view is the extent of the world seen by the camera at any instant, and the optical axis comprises a line from the center of the camera lens through the exact center of the field of view. The optical axis is sometimes colloquially referred to as the "direction" of the camera. However, the optical axis extends both forward and backward to coincide with the "direction," passing through and behind the lens. Thus, the optical axis can include both a forward direction and a backward direction 405, both of which occupy the same optical axis but point at opposite ends of the optical axis.

[0120] Various features, variations, and multiple different embodiments have been shown and described in various details. Descriptions in this application of specific embodiments are done for illustrative purposes only and are not intended to limit or imply that these are the only or specific embodiments contemplated.

[0121] It should be understood that the present disclosure is not limited to any single particular embodiment or variant listed. Numerous modifications, variations, and other embodiments will occur to those skilled in the art, which are intended to be, and are in fact, encompassed by the present disclosure. It is indeed intended that the scope of the present disclosure should be determined by proper legal interpretation and construction of the present disclosure, including equivalents, as understood by those skilled in the art relying on the full disclosure as it exists at the time of filing.

[0122] In one embodiment, as shown in Figures 84-88 and 93-96, the left side camera set 12 and the right side camera set 20 are positioned behind the middle camera set and the forward-facing camera set. By positioning the sets near the center point of the array, it becomes easier to stitch the resulting footage. Furthermore, by positioning the side camera sets closer to the centerline of the vehicle, the problem of other vehicles or objects entering the footage too suddenly is ameliorated. This improvement is quite simply due to the additional distance provided between the side camera sets and those other vehicles or objects.

[0123] In one embodiment, when there are multiple cameras including a set of side cameras, the set is divided so that each of the cameras is arranged in a row, the row consisting of the set of middle cameras, a first subset of side cameras, and a second subset of side cameras. In one variation, the side cameras facing side and forward are arranged in front of the side cameras facing side and rearward, thereby resulting in the intersection of their optical axes behind their fields of view. In another variation, the side cameras facing side and forward are arranged behind the side cameras facing side and rearward, thereby resulting in the intersection of their optical axes behind their fields of view.

[0124] Split rig configuration.

[0125] In one embodiment, the rear-facing camera array, the forward-facing camera array, and the top camera array each engage a separate, dedicated vehicle mounting plate, with the rear-facing camera array engaging the rear vehicle mounting plate, the forward-facing camera array engaging the front vehicle mounting plate, and the top camera array engaging the top vehicle mounting plate, as shown in Figure 98. The front, top, and rear vehicle mounting plates are arranged such that the front vehicle mounting plate is mounted to the vehicle further forward of the other vehicle mounting plates, the rear vehicle mounting plate is mounted to the vehicle further rearward of the other vehicle mounting plates, and the top mounting plate is mounted to the vehicle between the other vehicle mounting plates.

[0126] In one variation, the front, top, and rear vehicle mounting plates are mounted so that the plates occupy a common plane. In another variation, the plates are staggered so that one or more plates occupy a first plane, one or more plates occupy a second plane, and one or more plates occupy a third plane. In one variation, the height of the plates relative to the vehicle is controlled via mechanical or structural means, such as telescoping mounting legs. In another variation, the height of the plates is fixed.

[0127] In one variation, separate dedicated vehicle mounting plates may be interconnected such that one or more plates are indirectly attached to the vehicle via one or more other plates and are not directly attached to the vehicle.

[0128] In one variation, the forward-facing camera array occupies a common vehicle mounting plate with the top camera array in a so-called split-rig configuration, as shown in Figure 99. In a variation of the split-rig configuration, the rear-facing camera array occupies a common vehicle mounting plate with the top camera array, as shown in Figure 100. In a third variation of the split-rig configuration, as shown in Figures 101-102, one of the camera arrays, such as the top camera array, is omitted along with its associated vehicle mounting plate.

[0129] In one variation, a given vehicle mounting plate can be rotated relative to the vehicle and / or other plates via mechanical or structural means, such as a Lazy Susan type arrangement, coupled to a mechanism for at least temporarily locking the plate in a given rotational orientation.

[0130] In one variation, each vehicle mounting plate may be coupled to a unique, dedicated set of one or more controllers and / or trigger boxes and / or viewing monitors.

[0131] In one embodiment, a second forward-facing, top-facing, and / or rear-facing camera array is utilized. Each duplicate camera array may have its own dedicated vehicle mounting plate or may share a vehicle mounting plate with another camera array. In a similar embodiment, the cameras in the top camera array are pointed above the ground, corresponding to 0 degrees.

[0132] In one embodiment, a partial camera array is utilized, in which the central and / or middle set of cameras is omitted, leaving only the side sets of cameras.

[0133] In one embodiment, multiple vehicle mounting plates may be stacked vertically. In one version of this embodiment, the forward-facing and rear-facing camera arrays occupy a common vehicle mounting plate or are located on separate, dedicated vehicle mounting plates, with the dedicated vehicle mounting plates occupying a generally common plane. Furthermore, in this version, the dedicated vehicle mounting plate for the top camera array is located above the forward-facing and rear-facing vehicle mounting plates. In this way, the top camera array does not interfere with the forward-facing and rear-facing camera arrays.

[0134] Stabilization technology.

[0135] Stabilization techniques are disclosed for use in mounting cameras and camera arrays to mounting plates, including vehicle mounting plates. As shown in Figures 103-107, the stabilization techniques include configurations of an upper mounting plate 1202 and a lower mounting plate 1204. The embodiments, configurations, and variations described below constitute a novel "floating plate" design.

[0136] In one embodiment, one or more camera arrays 1201 are mounted to an upper mounting plate 1202. The upper mounting plate is then mounted to a lower mounting plate 1204. The lower mounting plate is then mounted to the vehicle 1200. The lower mounting plate can be mounted to the vehicle via a roof rack 1205 or related mounting structure. Another mounting mechanism includes suction cups that attach to the roof of the vehicle. These suction cups can secure the lower and / or upper mounting plates directly or via an intermediate such as a rod.

[0137] In one embodiment, the lower mounting plate attaches to the vehicle via a first set of connectors 1208, and the upper mounting plate attaches to the lower mounting plate via a second set of connectors 1206. In one version, the centers of the first and second sets of connectors share a common vertical axis that is approximately perpendicular to the mounting plates and ideally corresponds to an axis that passes through each mounting plate.

[0138] In one embodiment, the upper mounting plate 1202 is attached to a vehicle roof rack 1205. This attachment can be achieved via a set of connectors 1206.

[0139] In another version, the points on the upper mounting plate to which the first set of connectors connect share a common vertical axis with the points on the lower mounting plate to which the second set of connectors connect. In one variation, each connector directly connects the upper mounting plate to the vehicle roof rack.

[0140] In another version, the first and second sets of connectors do not share a common vertical axis, but rather have separate axes 1207, 1209. In yet another version, the points on the upper and lower mounting plates do not share a common vertical axis.

[0141] In one version, the second set of connectors can be closer to the center of the second mounting plate than the first set of connectors, and the first set of connectors can substantially surround the second set of connectors. In another version, the first set of connectors can be closer to the center of the second mounting plate than the second set of connectors, and the second set of connectors can substantially surround the first set of connectors.

[0142] The first set of connectors and / or the second set of connectors can include screw and nut / bolt components, with the screws passing through points (i.e., holes) in the mounting plate. A series of washers can be used to further secure the connectors, prevent the screws from loosening, and distribute the load from the nuts or bolts over a larger area.

[0143] In one embodiment, the first connector set and / or the second connector set may include one or more stabilizers 1300. In a stabilizer, a fixed top 1302 and a fixed base 1304 are flexibly connected via intermediate bodies 1306, with the top connected to an upper mounting plate and the base connected to a lower mounting plate. These intermediate bodies, such as tension springs, screws, nuts, and nut-case connections, elastomers, viscoelastic, or fluid-filled elastic pouches, disks, pads, rings, washers, sheets, spheres, compression spheres, flanges, or hemispheres, not only provide support but also laterally distribute or absorb any mechanical energy (e.g., vibration or "shock") received from one end, so that the energy is reduced before being applied to the other end, thereby damping vibration. Connectors configured to absorb or laterally distribute mechanical energy as described herein may be referred to as "donuts" 1502.

[0144] In one embodiment, a vibration damper can be used as a stabilizer. The vibration damper may be composed of a top and base made of a rigid material such as metal and an elastomeric or viscoelastic intermediate body, such as a disk, pad, ring, washer, sheet, sphere, compression sphere, cylinder, flange, or hemisphere made of rubber, polyurethane, or a similar material. The top, base, and intermediate body may have a central channel to allow a screw to pass through to provide attachment to the upper and lower mounting plates. The top and base may be centrally threaded to allow tightening or expansion of the intermediate body and to secure the vibration damper to the upper and / or lower mounting plates.

[0145] In one version, the pad or disc may be a hollow elastomeric or viscoelastic disc having a hollow structure and configured to contain a fluid that can further absorb mechanical energy, which may be air, water, or a specified viscous fluid.

[0146] When multiple stabilizers are used, the intermediate ones can be modified to increase or decrease the relative distance between the top and base, and thereby the relative distance between corresponding points on the upper and lower mounting plates. This allows the operator to make any necessary fine adjustments after the initial installation of the system is complete. One example of a stabilizer is a leveling screw.

[0147] In one version, the stabilizer is a multi-prong stabilizer 1400, with each stabilizer's top and base including one or more prongs 1402, 1404, 1406, 1408, and intermediate bodies 1403, 1405, 1407, 1409 positioned between each pair of prongs at the top and base. This configuration allows for energy distribution and absorption not only within a given intermediate body, but also among several intermediate bodies and from intermediate bodies to other intermediate bodies within the stabilizer. Each prong may be individually connected to the upper and / or lower mounting plates. An example of a multi-prong stabilizer is a three-prong "tri-ring" leveling screw.

[0148] In one embodiment, as described above, stabilizers may be utilized in mounting the camera, camera set, or camera array to the camera plate, camera set plate, or camera array plate, and in mounting the camera plate, camera set plate, or camera array plate to the upper mounting plate, and stabilizers may similarly be utilized in mounting the lower mounting plate to the vehicle.

[0149] In one embodiment, the mounting plate is sandwiched between an upper set of stabilizers and a lower set of stabilizers, and the upper and lower sets of stabilizers are connected via bolts that pass through the mounting plate.

[0150] In another embodiment, the upper mounting plate is connected to an upper and / or lower set of stabilizers, which are connected by threads or other means to a set of rods, which can be attached to the vehicle via any of the attachment means described above, including suction cups.

Claims

1. A camera array stabilizer system for multiple cameras, comprising: a mounting plate; and a stabilizer unit; a. the mounting plate is configured to mount the plurality of cameras to a vehicle; i. the mounting plate has a plate hole; b. each of the stabilizer units is configured to be attached to the mounting plate through the plate hole; c. each of the stabilizer units includes an upper stabilizer, a lower stabilizer, and a bolt; i. each of the upper stabilizers has an upper upper portion, an upper middle portion, and an upper lower portion; ii. each of the lower stabilizers has a lower upper portion, a lower intermediate portion, and a lower lower portion; iii. the upper upper portion and the lower upper portion, the upper intermediate portion and the lower intermediate portion, and the upper lower portion and the lower lower portion each have a central channel; iv. the bolt passes through the central channel of the upper upper part, the upper intermediate part, and the upper lower part, the plate hole of the mounting plate, and the central channel of the lower upper part, the lower intermediate part, and the lower lower part; v. the bolts apply a clamping force to the upper stabilizer, the mounting plate, and the lower stabilizer; vi. the upper upper portion, the upper lower portion, the lower upper portion, and the lower lower portion are stiffer than the intermediate body; Camera array stabilizer system.

2. 2. The camera array stabilizer system of claim 1, wherein a majority of the at least two stabilizer units do not share a vertical axis with any of the cameras of the plurality of cameras, and the vertical axis is approximately aligned with the direction of gravity.

3. The camera array stabilizer system of claim 1 , wherein the intermediate body is at least one of a tension spring, a viscoelastic material, or a fluid-filled pouch.

4. A camera array stabilizer system for multiple cameras, comprising: a mounting plate; and at least two stabilizer units; a. the mounting plate is configured to mount the plurality of cameras to a vehicle; i. the mounting plate has a plate hole; b. each of the at least two stabilizer units is configured to engage the mounting plate at the plate hole; c. each of the at least two stabilizer units includes an upper stabilizer, a lower stabilizer, and a bolt; i. the upper stabilizer and the lower stabilizer each have an intermediate body; ii. the upper stabilizer and the lower stabilizer each have a central channel; iii. The bolt passes through the plate hole of the mounting plate and the central channel of the upper stabilizer and the lower stabilizer; iv. the intermediate body is at least one of a tension spring, a viscoelastic material, or a fluid-filled pouch; v. A majority of the at least two stabilizer units do not share a vertical axis with any of the cameras of the plurality of cameras, and the vertical axis is substantially aligned with the direction of gravity; Camera array stabilizer system.

5. 5. The camera array stabilizer system of claim 4, wherein the mounting plate is configured to mount the plurality of cameras to the vehicle via a vehicle mounting member, and the vehicle mounting member is configured to be attached to the vehicle.

6. The camera array stabilizer system of claim 5 , wherein the bolt is configured to engage the vehicle mounting member.

7. 7. The camera array stabilizer system of claim 6, wherein a portion of the vehicle mounting member comprises a rod, the rod having threads that engage with the threads of the bolt.

8. The camera array stabilizer system of claim 4 , wherein the bolts provide a clamping force to the upper stabilizer, the mounting plate, and the lower stabilizer.

9. 1. A camera array stabilizer system for multiple cameras, comprising a plurality of stabilizer intermediate bodies, a. each of the stabilizer intermediate bodies is configured to engage with a mounting plate for mounting the plurality of cameras to a vehicle; b. each of the stabilizer intermediate bodies includes an intermediate body and a bolt; i. the bolt secures the intermediate body to the mounting plate; ii. the intermediate body is made of a more compressible material than the mounting plate; iii. Each of the stabilizer intermediate bodies does not share a vertical axis with any of the cameras of the plurality of cameras, and the vertical axis substantially coincides with the direction of gravity; Camera array stabilizer system.

10. The camera array stabilizer system of claim 9 , wherein the intermediate body has a central channel, and the bolt passes through the central channel of the mounting plate and the intermediate body.

11. 9. The camera array stabilizer system of claim 8, wherein each of the stabilizer intermediate bodies is configured to be fixed to the mounting plate at the plate hole by the bolt passing through the plate hole and the central channel of the mounting plate.

12. The camera array stabilizer system of claim 9 , wherein the bolts provide a clamping force to the upper stabilizer, the mounting plate, and the lower stabilizer.

13. The camera array stabilizer system of claim 9 , wherein the intermediate body comprises a tension spring, a viscoelastic material, or a fluid-filled pouch.

14. The camera array stabilizer system of claim 9 , wherein the bolt is configured to engage a vehicle mounting member.

15. 10. The camera array stabilizer system of claim 9, wherein the mounting plate is configured to mount the plurality of cameras to the vehicle via a vehicle mounting member, and the vehicle mounting member is configured to be mounted to the vehicle.

16. The camera array stabilizer system of claim 15 , wherein the vehicle mounting member includes a rod, the rod configured to engage the bolt.

17. The camera array stabilizer system of claim 16 , wherein the rod and the bolt are threadedly engaged with each other.

18. The camera array stabilizer system of claim 9 , wherein the mounting plate is attached to a lower mounting plate.

19. 20. The camera array stabilizer system of claim 18, wherein the mounting plate is attached to a roof rack.

20. 16. The camera array stabilizer system of claim 15, wherein the vehicle mounting member is configured to be attached to the vehicle via a suction cup.

Images