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

Abstract

A camera array system characterized by a plurality of camera clusters attached to a plurality of multiprong stabilization mounting plates arranged in a split rig configuration, wherein the mounting plates are configured to attach the camera clusters to a moving vehicle.

Description

Technical Field

[0001] Priority Claim This PCT application claims the benefit and priority of U.S. Provisional Application No. 63 / 382,373, filed on November 4, 2022; U.S. Provisional Application No. 63 / 386,161, filed on December 5, 2022; U.S. Non - Provisional Application No. 17 / 835,903, filed on June 8, 2022; and U.S. Non - Provisional Application No. 18 / 149,051, filed on December 30, 2022. The applications mentioned above are hereby incorporated by reference in their entirety as if fully rewritten herein.

Background Art

[0002] Currently, there are several solutions for providing a camera array that can capture images in multiple directions simultaneously. Some of these solutions arrange the cameras in a "rosette configuration", and some utilize an overlapping camera configuration. The "rosette configuration" is by far the most utilized, but it has very little overlap and increasing parallax, thus not meeting industry standards. When all cameras face outwards and are separated from each other, these configurations essentially result in less - than - desirable outcomes.

[0003] Parallax is the optical displacement of the apparent position of an object when seen from two or more positions. Each position reveals a distinct "face" or angle of the object, as well as different contextual facts, namely, the position of the object relative to other objects. Different fields of view are utilized in stereopsis, a mental process by which an observer judges object distance, but the differences result in parallax errors in photography. If the position of the lens observer is different from that of the photographic lens, there may be a parallax error for one of the cameras being photographed, but here the error simply means that the field of view seen through the observer is not the same as the field of 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 a field of view is photographed through a plurality of shots, more prominent types of parallax errors occur because the shots cannot simply be stitched together to produce a single natural image. In particular, any given object within each shot is viewed from a different perspective and thus reveals surfaces that are not replicated across the shots, so that the fields of view do not align. Even if the surfaces are stitched at their seams to create a single object, that single object may look unnatural depending on the displacement of its position. More importantly, however, that object does not have the same position relative to other objects within the shot, and it may not be possible to stitch multiple objects together because of occlusion configurations. An occlusion configuration occurs when the lines of sight of a particular field of view converge on a line where both objects are located, and complete occlusion occurs when the line of sight is the same as the position line.

[0005] At the same time, it is desirable to take advantage of this kind of parallax error in the sense that the multiple captured surfaces provide additional information in terms of allowing a more complete view of the object.

[0006] Exacerbating the above-described parallax error is the natural distortion effect of the camera lens. Multiple shots created by cameras directed at adjacent areas produce a repeating distortion pattern, specifically a radial moiré pattern. When the shots are stitched, the pattern of distortion from the center to the periphery (i.e., an expanding one) is repeated across the panorama.

[0007] If the overlap between camera fields of view is insufficient, another type of parallax error occurs. Objects placed obliquely between the fields of view of each camera may not be fully present in the shot. This problem is more likely to occur the closer the object is to the camera and the farther apart 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. Thus, the omission of such objects can be mitigated by bringing the cameras closer to each other, but this solution is limited by the physical depth of the device itself.

[0008] In filmmaking, shooting with a moving camera essentially introduces multiple fields of view, but since the multiple fields of view are not displayed simultaneously but over time, this does not generate parallax error. Stitching is not required, and thus, alignment problems do not occur. However, when multiple cameras are used, the above-described parallax error occurs for the same reason.

[0009] Some solutions to parallax error utilize camera overlap forms including conventional two-image overlap and three-image overlap. The two-image form uses a timing algorithm to reduce errors. However, a mere timing algorithm only helps to obtain shots that are likely to be overlapped 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 do not rely heavily on algorithmic assistance and / or manual correction. SUMMARY OF THE INVENTION

[0011] There is a need for a system that can simultaneously capture images in multiple directions while reducing optical errors leading to parallax. Also, a system that places all cameras close to each other on a common plate is desirable. Further, it is desirable to have multiple nested node forms on the common plate. The disclosed system advantageously meets these needs and addresses the aforementioned drawbacks by providing a camera configuration that yields images at substantially overlapping angles in all directions.

[0012] A camera array system is disclosed that includes a plurality of outward-facing camera clusters attached to a plate structure and surrounding an upward-facing camera. The disclosed system is unique when compared to other known systems and solutions in that it provides a camera configuration that yields images at substantially overlapping angles in all directions. The node forms 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. An important feature of the node form is the intersection of the field of view angles, which not only provides more complete coverage of the object closest to a given node form but also ensures coverage overlap, specifically panoramic overlap, with the images captured by adjacent node forms. The system can provide the image data, quality, and stability required for use in state-of-the-art visual effects and software environments.

[0013] This disclosure provides a more detailed and specific description with reference to the accompanying drawings. The drawings and the 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, the camera array may be in many different forms and should not be construed as limited to the embodiments described herein. Rather, these embodiments are provided by way of example only to fully and comprehensively disclose this disclosure and to adequately convey understanding to those skilled in the art.

Brief Description of the Drawings

[0014]

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

[0016] In its most complete version, the system consists of the following components: a plurality of cameras arranged on each side of the plate structure and connected to a common trigger box and viewing monitor; alignment screws for facilitating the alignment of the plate structure; a cutout mechanism for providing access to the battery of each camera; a lidar; a method for capturing lidar information in conjunction with camera images; and a rigid mount for each camera. These components are combined together to create an architecture of a system that has the ability to take images while enhancing parallax reduction while providing stable images. It should be further noted that the electronic trigger, monitor, alignment screws, battery slots, and anti-drift mounts provide ease of use for the operator, and the lidar data helps to enhance the spatial relationship between each image and other images. The spatial relationship of the images helps to stitch them together if necessary.

[0017] The cameras are mounted in four clusters of three each along each side of the plate. Thus, each cluster can have a left camera, a center camera, and a right camera. The four clusters in their node form provide a substantial overlap of images on each side, thereby reducing parallax. In fact, the cameras forming each cluster, which are arranged close to and adjacent to each other, are directed towards the intersection such that the directions and fields of view of the left and right cameras cross those of the center camera, and thus the angle of view, which is a conceptual line arranged and oriented exactly in the center of the field of view, crosses. Also, the plurality of clusters allow for at least partial overlap of the fields of view not only within each cluster but also between clusters. This is because the cameras in adjacent clusters may have parallel angles of view.

[0018] The plate itself that arranges cameras on the same horizontal plane through attachment results in two types of overlaps. The first is the overlap of the field of view (parallel viewing angles) between one camera and another camera within the cluster adjacent to it, and the second is the overlap of the field of view between cameras within the cluster, but not an angular overlap. In the latter type of overlap, the viewing angles intersect. The common stable horizontal plane facilitates improved results when the images are used to construct 3D and virtual reality spatial environments. To compensate for various overlaps considering the camera array, another camera is placed at the center of the plate and lifted above the plate (and the camera cluster). This camera is directed upward, thereby providing a sky view for complementing the lateral field of view of the outward-facing camera cluster. Thus, the camera array can be characterized by 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 within each cluster. However, doing so results in an increase in material and process costs, as well as an increase in the complexity of processing the captured images. Conversely, reducing the number of clusters or the number of cameras within each cluster can reduce the aforementioned costs, but this can be done at the expense of an increase in video quality and parallax errors. It is important for the camera fields of view to overlap between clusters to obtain panoramic coverage from cameras with a common direction of view, and for the viewing angles to intersect within each cluster to obtain complete visual information about the object in front. At the same time, the intersection of the viewing angles enables the overlap between adjacent clusters.

[0020] Therefore, in a camera array system with four clusters of three cameras each, the camera field of view angles of the cameras within each cluster (which can also be understood as the "directions" the cameras face) must differ by at least 15 degrees between adjacent cameras, and the "wing" cameras arranged on both sides of the "central" camera must differ by at least 30 degrees. Each wing camera preferably differs from the central camera by approximately 45 degrees so that they differ from each other by 90 degrees. By differing from each other by 90 degrees, the wing cameras maintain the same field of view angle as another wing camera within a cluster 90 degrees from their own cluster. Thus, a sufficient degree of difference ensures that the wing cameras within one cluster not only overlap in field of view with the wing cameras in adjacent clusters but also have a common (i.e., parallel) field of view angle.

[0021] A camera array system with four clusters of four cameras each is similar, except that the difference in field of view angles between adjacent cameras can be smaller while still maintaining the above-described characteristics. Thus, the difference can be on the order of 10 degrees, but preferably it is 22.5 degrees. Conversely, a camera array system with four clusters of two cameras can be characterized by a 70-degree difference, but preferably the difference is 90 degrees.

[0022] An electronic trigger relay can be coupled to each camera to provide a simultaneous signal for starting or stopping image capture. The control switch for the electronic trigger relay is long enough to enable the operator to control the camera without having to go far. In fact, the control switch for the electronic trigger can be remotely located on a central controller, which may be ergonomically shaped. The electronic trigger relay can be physically attached to each camera and communicate commands with the central controller, or the electronic relay can be incorporated into the central controller and communicate wireless commands with the camera.

[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, and the common receiver is 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 enables an operator to view all camera images at once without the need to be at the height of the cameras, 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 a set of cameras within a cluster, such that video from cameras within a first cluster is grouped with video from cameras within a second cluster. In particular, video captured from cameras having the same field of view can be grouped together to obtain overlapping coverage.

[0025] A plate structure, i.e., a double-plate design consisting of an upper plate and a bottom plate, can be advantageous by including alignment screws installed at the corners of the plates and between the plates. The alignment screws allow for fine adjustment of the horizontal height when all cameras are attached to the plates. The alignment screws can include a set of rotatable disks threaded onto the screws, allowing for height changes by rotation. Three screws within the alignment screw unit allow for plane tilting. Slots may be cut out of the upper plate to allow access to the battery compartment of each camera once it is attached. This configuration allows the operator to access the camera battery compartment while ensuring that the camera position does not change after being attached to the plate.

[0026] The plate structure including the upper plate and the bottom plate can be square to better fit a camera array of four clusters, although other shapes can provide specific advantages for other array sets. Other possible shapes include a circle, a triangle, or other polygons having a number of sides equal to the number of clusters.

[0027] In one version, a 1-3 axis gimbal can be attached to the corners under the bottom plate, providing additional stability to the camera while the system is in motion, thereby ensuring that clear images are captured without aberration or distorted images. In another version, a lens stabilizer is utilized to maintain image clarity and the gimbal is omitted.

[0028] The large central cutout on the bottom plate provides access to the upper plate for access to the battery compartment and for the addition of pins for attaching the stabilization rods.

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

[0030] FIG. 1 is a top view of a system 100 with 13 cameras attached to an upper plate 104 at their respective positions. Four clusters 106a, 106b, 106c, 106d of three cameras 108a, 108b, 108c are arranged in a node configuration and attached to the plate every 90 degrees. The center 110 of the plate has holes where wires can be connected and additional mounting brackets can be placed from below. Above the holes, a platform 112 supported by four pins 114 is attached, on which the lidar and the 13th camera 116 are positioned. The 13th camera is attached to the platform via an L bracket, and the L bracket is sequentially attached to the top of the lidar. The 13th camera is configured to take an overhead image when the system is in use.

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

[0032] The hole in the center 111 can be seen when the platform is not attached to the upper plate.

[0033] Figure 3 shows an exploded view of the platform 112 with the rider 126 and the thirteenth camera 116. The rider is attached to the platform via bolts. Next, an L-bracket 128 is attached to the upper part of the rider. Finally, the camera is attached to the L-bracket so that it can face upward. The pin 114 of the platform 112 can be adjusted so that the rider clears the height of the surrounding cameras attached around the platform.

[0034] Figure 4 shows a configuration view from the side of the platform 112 with the rider 126 and the camera 116 attached. The pin 114 of the platform provides a space that allows a cord extending from the camera to the operator to pass through. The rider is positioned above the platform so that it can capture data 360 degrees during use of the system. The camera is attached to the upper part of the rider via an L-bracket 128.

[0035] Figure 5 is a top view of the bottom plate (left) 105 and the top plate (right) 104 of the system. The bottom plate features a large cutout 122c to provide access to the lower surface of the top plate. Holes 132a, 132b are located at the corners 134a, 134b of both the top and bottom plates, providing attachment points for adjustment screws that are attached between the plates. The bottom plate also provides holes 109 for attaching stabilizing gimbals at each corner or for attaching the bottom plate to a vehicle mount. The top plate 104 is configured to attach twelve horizontal cameras in node form on each side. The plate provides cutouts 122a for the operator to access the battery compartments of each camera while they are attached. 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 attaching alignment screws and the platform.

[0036] Figure 6 is a perspective view of an assembly of the top plate 104, the bottom plate 105, the alignment screw 136, the stabilizing gimbal 138, and the platform 112. The stabilizing gimbal is located at the corner 134b of the bottom plate to provide maximum stability possible when the system is moving during use. The alignment screw is also located near the corner 134a and is connected to the top plate. This allows the operator to make fine adjustments as needed after the initial attachment of the system. In a preferred version, the gimbal may be omitted and the bottom plate may be attached directly to a vehicle mounting bracket. The bottom plate has a large hole and the top has a small hole (central hole) 110 that provides access for passing cables. The platform 112 has four pins 114 that are higher than the surrounding cameras when attached, for capturing rider data.

[0037] FIG. 7 is an exploded view of an assembly of an upper plate 104, a bottom plate 105, a platform 112, alignment screws 136, and a stabilization gimbal 138. The stabilization gimbal is connected to the underside of the bottom plate using bolts 140. The alignment screws are connected to both the upper plate and the bottom plate by bolts 142a, 142b at each end. A disk 144 embedded in the alignment screw rotates clockwise or counterclockwise to make the (alignment) screw longer or shorter. A plurality of disks surround the approximate center of each alignment screw to allow for planar tilting of the upper and lower heights of each alignment screw. When the length and planar tilt of each alignment screw are changed, the overall balance and height of the upper plate are evaluated and adjusted. The platform 112 is attached to the upper plate by bolts connected to pins 114. Different lengths of pins can be used if it is necessary to adjust the height of the rider.

[0038] FIG. 8 shows a top view of cameras 108a, 108b, 108c mounted on the upper plate 104 with the electronic trigger relay 146 connected from the cameras to the central relay box 148 and then to the central trigger 150. The electronic trigger box enables simultaneous activation of the cameras from a central source so that an operator can properly control all the cameras at once. This figure shows cables 152 extending from each camera to a hole located at the center 110 of the plate. The cables then pass through holes in the upper and bottom plates and are connected 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 recordings simultaneously. After that, the trigger sends a signal when the image capture is complete to pause the cameras. The trigger can be connected to the cameras via cables, but in a preferred version, the trigger and the cameras are remotely and wirelessly coupled, and the trigger wirelessly engages a receiver box connected to each camera. Next, the trigger may be mounted to be incorporated into the central relay box, and the central relay box may be a handheld device that enables 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 with an elevated platform of any shape.

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

[0040] Figures 10 to 12 show components that may be omitted depending on the stabilization method, technology, and components incorporated elsewhere in the system.

[0041] Figure 10 shows a top view of the anti - drift plate 164 connected to the bottom of each horizontal camera on the upper plate. This side of the plate has holes 166 through which 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, the rigid bulk of the material across the body of the unit holds the camera in one position. Without material on the mount surface, the camera tends to rotate around the bolt holes and change position. The rigid bar 165 on the mount surface prevents the camera from drifting, especially when shooting while moving on a vehicle.

[0042] Figure 11 is a bottom view of the anti - drift plate 164. The holes 166 have recesses 168 to prevent the heads of the bolts from hanging down below the plate. The quick - release mounting surface 170, which is the lower part of the plate, is shaped to engage with the quick - release plate on the upper plate of the system to fully attach each camera.

[0043] Figure 12 is a side view of the anti - drift plate 164, showing the rigid bar 165 extending across the surface of the plate that prevents the camera from rotating around the mounting holes. On the lower side of the plate is the mounting surface 170 that engages with the quick - release plate on the upper plate of the system.

[0044] Figure 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] Figures 14 to 15 show a top view and a side view 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 302a, 302b, and 302c, along with corresponding field angles 304a, 304b, 304c, and intersection point 306.

[0047] Various features, variations, and multiple different embodiments are shown and described in detail. What is described in this application with respect to specific embodiments is for illustrative purposes only and is not intended to limit or suggest that the ideas presented are the only embodiments or only specific embodiments.

[0048] It should be understood that the present disclosure is not limited to any single specific embodiment or recited variations. Those skilled in the art will envision many modifications, variations, and other embodiments, which are intended to be and in fact are encompassed by the present disclosure. The scope of the present disclosure is intended to be determined by the proper legal interpretation and construction of the present disclosure, including equivalents, as would be understood by those skilled in the art who rely on the complete disclosure as it exists at the time of filing.

[0049] As shown in FIGS. 17a-17b, the 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 that is visible to the camera at any given instant, and the optical axis includes the line passing precisely through the center of the field of view from the center of the camera lens. The optical axis is sometimes colloquially referred to as the "direction" of the camera. However, the optical axis extends both forward and backward so as to coincide with the "direction," passes through the lens, and extends behind the lens. Thus, the optical axis can include both a forward direction and a backward direction 405, and both the forward and backward directions occupy the same optical axis but point to opposite ends of the optical axis.

[0050] The upward-facing camera may be directed upward from the plate 408 at an angle 410 of 0 to 90 degrees. The camera may be fixedly or adjustably directed upward from the plate and may be attached directly to the plate or indirectly via one or more mechanical intermediaries. Such intermediaries can include platforms, stages, or other supports for stably connecting the camera.

[0051] Therein, 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 directed at approximately 90 degrees from the plate, the second set is directed upward between approximately 75 and 90 degrees, the third set is directed upward between approximately 60 and 75 degrees, the fourth set is directed upward at approximately 60 degrees, the fifth set is directed upward between approximately 45 and 60 degrees, the sixth set is directed upward between approximately 30 and 45 degrees, the seventh set is directed upward between approximately 15 and 30 degrees, and the eighth set is directed upward between approximately 0 and 15 degrees. The upward-facing cameras can be used in conjunction with a set of outward-facing cameras that can be angled at approximately 0 degrees from the plate as described above. Unless otherwise specified, any of the upward-facing cameras described hereinafter are at an angle of less than 90 degrees upward from the plate and can thus be assumed to have a (front or rear) direction with a common intersection as described hereinafter.

[0052] As shown in FIG. 18, the camera array system can feature a cluster of four upward-facing cameras (1a, 2a, 3a, 4a), and the upward-facing cameras target a common point in space. Thus, the directions of the cameras can 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 may be spaced approximately equidistantly around a center point such that the first camera is positioned at approximately 0 degrees, the second camera is positioned at approximately 90 degrees, the third camera is positioned at 180 degrees, and the fourth camera is positioned at 270 degrees. The center between the cameras can be aligned with the central axis of the vehicle and thus can substantially coincide with the direction of the moving vehicle. In one variant, the center is to the left of the central axis of the vehicle. In another variant, the center is to the right of the central axis.

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

[0054] As shown in FIG. 19, the camera array system can be characterized by a cluster of two upward cameras (1a, 2a), and the upward cameras target a common point in space. As described above, the directions of the cameras can have a common intersection point. The cameras may be spaced approximately equidistantly around the center point such that the first camera is arranged at approximately 0 degrees and the second camera is arranged at approximately 180 degrees. The center between the cameras can be aligned with the central axis of the vehicle, and thus can substantially coincide with the direction of the moving vehicle. In one variant, the center is to the left of the central axis of the vehicle. In another variant, the center is to the right of the central axis.

[0055] In one variant, the cameras are arranged with respect to the direction or path of the moving vehicle. The first camera is in the direction of the moving vehicle, but directed upward, and the second camera is in the opposite direction of the moving vehicle, but directed upward. In another variant, the first camera is perpendicular to the direction of the moving vehicle, but upward and to the right, and the second camera is perpendicular, but upward and to the left. The center between the cameras can be aligned with the central axis of the vehicle, and thus can substantially coincide with the direction of the moving vehicle.

[0056] As shown in FIG. 20, the camera array system can be characterized by a cluster of three upward cameras (1a, 2a, 3a), and the upward cameras target a common point in space. As described above, the directions of the cameras can have a common intersection point. The cameras may be spaced approximately equidistantly around the center point such that the first camera is arranged at approximately 0 degrees, the second camera is arranged at approximately 120 degrees, and the third camera is arranged at approximately 240 degrees. The center between the cameras can be aligned with the central axis of the vehicle, and thus can substantially coincide with the direction of the moving vehicle. In one variant, the center is to the left of the central axis of the vehicle. In another variant, the center is to the right of the central axis.

[0057] In one variant, the cameras are arranged with respect to the direction or path of the moving vehicle, and the first camera is directed in the direction of the moving vehicle, but upward. The second camera is directed at an angle of about 120 degrees to the left of the direction of the moving vehicle and upward. The third camera is directed at an angle of about 120 degrees to the right of the direction of the moving vehicle and upward. In another variant, the first camera is directed at an angle of 180 degrees from the direction of the moving vehicle and upward. The second camera is directed at an angle of 60 degrees to the left of the direction of the moving vehicle and upward. The third camera is directed at an angle of 60 degrees to the right of the direction of the moving vehicle and upward.

[0058] As shown in FIG. 21, the camera array system can be characterized by four clusters (1b, 2b, 3b, 4b) of the type shown in FIG. 18. The camera clusters may be spaced approximately equidistantly around the central point such that the first camera cluster is arranged at about 0 degrees, the second camera cluster is arranged at about 180 degrees, the third camera cluster is arranged at 270 degrees, and the fourth camera cluster is arranged at 90 degrees. This camera array system allows for combinations of forward directions that are parallel and intersecting between cameras of different clusters having intersections. The intersecting 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 intersecting and parallel forward directions enables excellent stitching of the video. Generally and throughout, the cameras must have the same angle upward from the plate to allow for parallel directions.

[0059] As shown in FIG. 22, the camera array system can feature two clusters (1a and 1b) of the type shown in FIG. 19. The camera clusters may be spaced approximately equidistantly around the center point such that the first camera cluster is disposed at approximately 0 degrees and the second camera cluster is disposed at approximately 180 degrees. The intersecting forward directions occur between camera 1a of cluster 1b and camera 2a of cluster 2b. The parallel directions occur, firstly, between camera 1a of cluster 1b and camera 1a of cluster 2b, and secondly, between camera 2a of cluster 1b and camera 2a of cluster 2b.

[0060] As shown in FIG. 23, the camera array system can feature three clusters of the type shown in FIG. 20. The camera clusters may be spaced approximately equidistantly around the center point such that the first camera cluster is disposed at approximately 0 degrees, the second camera cluster is disposed at approximately 120 degrees, and the third camera cluster is disposed at approximately 240 degrees. The intersecting forward directions occur between camera 1a of cluster 1b, camera 2a of cluster 2b, and camera 3a of cluster 3b. The parallel directions occur, firstly, between camera 1a of each cluster, secondly, between camera 2a of each cluster, and thirdly, between camera 3a of each cluster.

[0061] As shown in FIG. 24, the camera array system can feature four clusters of the type shown in FIG. 21, with an additional fifth cluster (5b) disposed approximately in the center of the four clusters. Of the cameras of cluster 5b, camera 1a can be included in the first parallel direction referenced in FIG. 21, 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 forward 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.

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

[0063] As shown in FIG. 26, the camera array system can feature three clusters of the type shown in FIG. 23, with an additional fourth cluster (4b) arranged approximately in the center of the three clusters. In this configuration, an additional parallel direction is not possible, but an additional intersecting forward direction can occur between cameras 1a, 2a, and 2a of cluster 4b and cameras 1a of cluster 1b, 2a of cluster 2b, and 3a of cluster 3b, respectively.

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

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

[0066] As shown in FIG. 29, the camera array system can feature three camera clusters of the type shown in FIG. 20, having an additional camera 4a. Camera 4a is inclined by approximately 90 degrees from the plate, and thus its forward direction intersects the forward directions of cameras 1a, 2a, and 3a.

[0067] As shown in FIG. 30, the camera array system can feature a modified version of the four camera clusters of the type shown in FIG. 21. This configuration provides the same parallel field of view relationship between the cameras. However, the intersecting forward 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.

[0068] As shown in FIG. 31, the camera array system can feature a modified version of the two camera clusters of the type shown in FIG. 22. This configuration provides the same parallel field of view relationship between the cameras but does not allow for an intersecting direction between the clusters.

[0069] FIGS. 32 to 35 show the relative positions of the images taken in the parallel field of view of FIG. 24. FIGS. 36 to 37 show the relative positions of the images taken in the parallel field of view of FIG. 25. FIGS. 38 to 40 show the relative positions of the images taken in the parallel field of view of FIG. 23.

[0070] As shown in FIG. 41, the camera array system can feature a cluster of four cameras (1a, 2a, 3a, 4a) with intersecting forward directions. The cameras are spaced approximately equidistantly around the central point without completely surrounding it. Here, each camera is arranged between 0 degrees and 60 degrees from its adjacent camera.

[0071] As shown in FIG. 42, the camera array system can feature a cluster of two cameras (1a and 2a) with intersecting forward directions. The cameras are spaced approximately equidistantly around the central point without completely surrounding it. Here, each camera is arranged between 0 degrees and 180 degrees from its adjacent camera.

[0072] As shown in FIG. 43, the camera array system can be characterized by a cluster of three cameras (1a, 2a, and 3a) having intersecting forward directions. The cameras are spaced approximately equidistantly around the center point without completely surrounding it. Here, each camera is arranged at an angle between 0 degrees and 90 degrees from its adjacent camera.

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

[0074] As shown in FIG. 45, the camera array system can have two or more clusters of cameras, each cluster being in the same orientation with respect to its adjacent cameras around their center points, and each camera within a cluster being equidistant from its adjacent cameras. This is possible when each cluster has its own center. Thus, the clusters can be arranged side by side. The parallel directions occur, firstly, between camera 1a of each cluster, secondly, between camera 2a of each cluster, thirdly, between camera 3a of each cluster, and fourthly, between camera 4a of each cluster.

[0075] FIG. 46 shows the relative positions of the images taken in the field of view of FIG. 44.

[0076] FIG. 47 is the same as FIG. 44 except that the number of cameras varies for each cluster. In a preferred embodiment, each subsequent layer includes more cameras than the preceding layer. In the center, there may be a "zero layer" cluster (0a) of a single camera. In one variant, this single camera is directed 90 degrees from the plate.

[0077] FIG. 48 shows the relative positions of the images taken in the field of view of FIG. 47.

[0078] FIG. 49 is the same as FIG. 18 and shows a camera array system characterized by a cluster of four upward-facing cameras (1a, 2a, 3a, and 4a), but the upward-facing cameras are not targeting a common point in space. They are all upward-facing, but they are in opposite directions to each other in the horizontal plane. However, importantly, the rear directions of the cameras have a common intersection. This common intersection is behind the cameras at a distance corresponding to the distance between the cameras. The cameras may be spaced approximately equidistantly around the center point such that the first camera is arranged at approximately 0 degrees, the second camera is arranged at approximately 90 degrees, the third camera is arranged at 180 degrees, and the fourth camera is arranged at 270 degrees. The center between the cameras can be aligned with the central axis of the vehicle and thus can substantially coincide with the direction of the moving vehicle. In one variant, the center is to the left of the central axis of the vehicle. In another variant, the center is to the right of the central axis.

[0079] Figure 50 is the same as Figure 19 with respect to orientation. However, similar to the change between Figure 18 and Figure 49, the upward cameras do not target a common point in space, do not have intersecting forward directions, and instead share a common intersection point in their rear directions.

[0080] Figure 51 is the same as Figure 20 with respect to orientation. However, similar to the change between Figure 18 and Figure 49, the upward cameras do not target a common point in space, do not have intersecting forward directions, and instead share a common intersection point in their rear directions.

[0081] Figure 52 is the same as Figure 21 with respect to orientation and parallel directions. However, similar to the change between Figure 18 and Figure 49, the upward cameras do not target a common point in space, do not have intersecting forward directions, and instead share a common intersection point in their rear directions. The intersecting rear directions occur first between camera 1la 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 the intersecting rear directions and the parallel directions enables excellent stitching of the video. Generally and throughout, the cameras must have the same angle upward from the plate for the parallel directions to be possible.

[0082] Figure 53 is the same as Figure 22 with respect to orientation and parallel directions. However, similar to the change between Figure 18 and Figure 49, the upward cameras do not target a common point in space, do not have intersecting forward directions, and instead share a common intersection point in their rear directions. The intersecting rear direction occurs 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] FIG. 54 is the same as FIG. 23 with respect to orientation and parallel directions, but similar to the change between FIGS. 18 and 49, the upward cameras do not target a common point in space, do not have intersecting forward directions, and instead share a common intersection point in their rear directions. The intersecting rear directions occur between each camera within each cluster. The parallel directions occur first between cameras 1a of each cluster, second between cameras 2a of each cluster, and third between cameras 3a of each cluster.

[0084] FIG. 55 is the same as FIG. 24 with respect to orientation and parallel directions, but similar to the change between FIGS. 18 and 49, the upward cameras do not target a common point in space, do not have intersecting forward directions, and instead share a common intersection point in their rear directions. The camera array system is the same as the camera array system of FIG. 52, but is characterized by an additional fifth cluster (5b). Of the cameras of cluster 5b, camera 1a can be included in the first parallel direction referenced in FIG. 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 cameras 2a of cluster 2b, 1a of cluster 1b, 4a of cluster 4b, and 3a of cluster 3b, respectively.

[0085] FIG. 56 is the same as FIG. 25 with respect to orientation and parallel directions, but similar to the change between FIGS. 18 and 49, the upward cameras do not target a common point in space, do not have intersecting forward directions, and instead share a common intersection point in their rear directions. This camera array system can be characterized by two clusters of the type shown in FIG. 53, with an additional third cluster (3b) arranged between the two clusters. Of the cameras of cluster 3b, camera 1a can be included in the first parallel direction and camera 2a can be included in the second parallel direction. Additional intersecting rear directions can occur between cameras 1a and 2a of cluster 3b and cameras 2a of cluster 2b and 1a of cluster 1b, respectively.

[0086] Figure 57 is the same as Figure 26 with respect to orientation and parallel directions. However, similar to the change between Figure 18 and Figure 49, the upward-facing cameras do not target a common point in space, do not have intersecting forward directions, and instead share a common intersection point in their rearward directions. This camera array system can be characterized by three clusters of the type shown in Figure 54, and an additional fourth cluster (4b) is arranged approximately at the center of the three clusters. The parallel directions include, first, the 1a cameras of each cluster, second, the 2a cameras of each cluster, and third, the 3a cameras of each cluster. All cameras within the 4b cluster have intersecting rearward directions.

[0087] Figure 58 is the same as Figure 27 with respect to orientation. However, similar to the change between Figure 18 and Figure 49, the upward-facing cameras do not target a common point in space, do not have intersecting forward directions, and instead share a common intersection point in their rearward directions. This camera array system can be characterized by four cameras of the type shown in Figure 49, having an additional camera 5a. Camera 5a is inclined by approximately 90 degrees from the plate, and thus the rearward direction of camera 5a intersects the rearward directions of cameras 1a, 2a, 3a, and 4a.

[0088] Figure 59 is the same as Figure 28 with respect to orientation. However, similar to the change between Figure 18 and Figure 49, the upward-facing cameras do not target a common point in space, do not have intersecting forward directions, and instead share a common intersection point in their rearward directions. This camera array system can be characterized by two camera clusters of the type shown in Figure 50, having an additional camera 3a. Camera 3a is inclined by approximately 90 degrees from the plate, and thus the rearward direction of camera 3a intersects the rearward directions of cameras 1a and 2a.

[0089] Figure 60 is similar to Figure 29 with respect to orientation. Similar to the change between Figures 18 and 49, the upward cameras do not target a common point in space, do not have intersecting forward directions, and instead share a common intersection point in their rearward directions. This camera array system can be characterized by three camera clusters of the type shown in Figure 51, having an additional camera 4a. Camera 4a is inclined by approximately 90 degrees from the plate, and thus the rearward direction of camera 4a intersects the rearward directions of cameras 1a, 2a, and 3a.

[0090] Figure 61 is similar to Figure 30 with respect to orientation and parallel directions. Similar to the change between Figures 18 and 49, the upward cameras do not target a common point in space, do not have intersecting forward directions, and instead share a common intersection point in their rearward directions. This camera array system can be characterized by a modified version of the four-camera cluster of the type shown in Figure 52. This configuration provides the same parallel field-of-view relationship between the cameras. However, 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 with respect to orientation and parallel directions. Similar to the change between Figures 18 and 49, the upward cameras do not target a common point in space, do not have intersecting forward directions, and instead share a common intersection point in their rearward directions. This camera array system can be characterized by a modified version of the two-camera cluster of the type shown in Figure 53. This configuration provides the same parallel field-of-view relationship between the cameras but does not allow for intersecting directions between the clusters.

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

[0093] Figure 69 is similar to Figure 41 with respect to the positioning and the parallel direction. However, similar to the change between Figures 18 and 49, the upward cameras do not target a common point in space, do not have intersecting forward directions, but instead share a common intersection point in their rear directions. The cameras are spaced approximately equidistantly around the central point without completely surrounding it. Here, each camera is arranged between 0 degrees and 60 degrees from its adjacent camera.

[0094] Figure 70 is similar to Figure 42 with respect to the positioning and the parallel direction. However, similar to the change between Figures 18 and 49, the upward cameras do not target a common point in space, do not have intersecting forward directions, but instead share a common intersection point in their rear directions. The cameras are spaced approximately equidistantly around the central point without completely surrounding it. Here, each camera is arranged between 0 degrees and 180 degrees from its adjacent camera.

[0095] Figure 71 is similar to Figure 43 with respect to the positioning and the parallel direction. However, similar to the change between Figures 18 and 49, the upward cameras do not target a common point in space, do not have intersecting forward directions, but instead share a common intersection point in their rear directions. The cameras are spaced approximately equidistantly around the central point without completely surrounding it. Here, each camera is arranged between 0 degrees and 90 degrees from its adjacent camera.

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

[0097] Figure 73 is the same as Figure 45 with respect to orientation and parallel direction. However, similar to the change between Figures 18 and 49, the upward cameras do not target a common point in space, do not have intersecting forward directions, and instead share a common intersection point in their rear directions.

[0098] Figure 74 shows the relative positions of the images taken in the field of view of Figure 72.

[0099] Figure 75 is the same as Figure 47 with respect to orientation and parallel direction. However, similar to the change between Figure 18 and Figure 49, the upward-facing cameras do not target a common point in space, do not have intersecting forward directions, and instead share a common intersection point in their rearward directions. In a preferred embodiment, each subsequent hierarchy includes more cameras than the preceding hierarchy. In the center, there may be a "zero hierarchy" cluster (0a) of a single camera. In one variant, this single camera is oriented 90 degrees from the plate.

[0100] Figure 76 is the same as Figure 48 with respect to orientation and parallel direction. However, similar to the change between Figure 18 and Figure 49, the upward-facing cameras do not target a common point in space, do not have intersecting forward directions, and instead share a common intersection point in their rearward directions.

[0101] Disclosure of split ring.

[0102] A camera array system is disclosed that includes a plurality of outward-facing cameras mounted on a plate structure. The disclosed system is unique when compared to other known systems and solutions in that it provides a camera configuration that yields images at substantially overlapping angles in all directions. An important feature of the node form is the intersection of the viewing angles, which not only provides more complete coverage of the object closest to a given node form but also ensures coverage overlap, specifically panorama overlap, with the video captured by adjacent node forms. The system can provide the image data, quality, and stability required for use in the latest visual effects and software environments.

[0103] This disclosure provides a more detailed and specific description with reference to the accompanying drawings. The drawings and the 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, the camera array may be embodied in many different forms and should not be construed as limited to the embodiments described herein. Rather, these embodiments are provided by way of example only to fully and comprehensively convey the disclosure to those skilled in the art.

[0104] In a first embodiment, as shown in FIGS. 77-88, the camera array includes a set 12 of left side cameras, a set 14 of left middle cameras, a set 16 of center cameras, a set 18 of right middle cameras, and a set 20 of right side cameras. The camera array captures images in the range of 0 degrees to 180 degrees in the horizontal plane, with the left side cameras targeting an average field of view of 0 degrees, the right side cameras targeting an average field of view of 180 degrees, and the center cameras targeting an average field of view of 90 degrees. The middle cameras target average fields of view of 45 degrees and 135 degrees, but in a preferred version of this embodiment, the left side cameras target a field of view of 135 degrees and the right side cameras target a field of view of 45 degrees, so the sequence of the series of fields of view is 0 degrees, 135 degrees, 90 degrees, 45 degrees, and 180 degrees. This arrangement allows the images to be stitched together in such a way as to reduce or eliminate the common stitching problems that would result from a less innovative sequence of the fields of view of the series of cameras, namely the sequence of 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 side set being equal to the number of cameras in the right side set and the number of cameras in the left middle set being equal to the number of cameras in the right middle set. In one version, the target angles of each camera within 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 side camera, left middle camera, center camera, right middle camera, and right side camera, respectively.

[0106] In one version, the set of cameras may be arranged substantially on a single plane such that the distances from each camera to the vehicle mounting plate are approximately equal. The set of cameras may be arranged on an approximate axis spanning from one side of the vehicle mounting plate to the other such that the distances from each camera to the trailing edge of the vehicle mounting plate are approximately equal.

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

[0108] In another variant, one or more camera sets can be omitted. For example, the camera array can include the central camera and the intermediate cameras, but the side cameras can be omitted. The camera array can include the central camera and the side cameras, but the intermediate cameras can be omitted. The camera array can include the intermediate cameras and the side cameras, but the central camera can be omitted.

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

[0110] In the first embodiment, the rear-facing camera array may be arranged on the vehicle mounting plate, particularly facing in the opposite direction of the vehicle mounting plate.

[0111] In the second embodiment, the front-facing camera array may be arranged on the vehicle mounting plate, particularly facing in the forward direction of the vehicle mounting plate.

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

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

[0114] Each of the front-facing camera array and the top camera array can have any of the features described for the rear-facing camera array. 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 a side camera set.

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

[0117] In one version, each camera in the camera array may be independently connected to a common trigger box and a viewing monitor. In another version, each camera in the camera set may connect to a controller local to the camera set, which can then make the connections such that it, together with a controller local to other camera sets, connects to the common trigger box and the viewing monitor. In yet a third version, each camera in the camera array may connect to a controller local to the camera array, which can then make the connections such that it, together with a controller local to other camera arrays, connects to the common trigger box and the viewing monitor.

[0118] In one embodiment, the video captured by the camera may be stitched together during the production / post-production / editing phase. In one version, a given section of the stitched video can include video obtained from multiple cameras within a given camera set. In another version, a given section of the stitched video can include video obtained from multiple cameras within a given camera array. In yet another version, a given section of the stitched video can include video from cameras in a parallel camera set between arrays, e.g., the side camera set closest to a given side of a vehicle license plate. In yet another version, a given section of the stitched video can include video from some but not all of the cameras in a first camera set and some but not all of the cameras in a second camera set. In yet another version, a given section of the stitched video can include video from some but not all of the cameras in a first camera array and some but not all of the cameras in a second camera array.

[0119] In one embodiment, a camera set can have a field of view and an optical axis passing orthogonally through the center of the field of view. The field of view is the extent of the world visible to the camera at any instant, and the optical axis includes the line passing precisely through the center of the field of view from the center of the camera lens. The optical axis may be colloquially referred to as the "direction" of the camera. However, the optical axis extends both forward and backward so as to coincide with the "direction", passes through the lens, and extends behind the lens. Thus, the optical axis can include both the forward and backward directions 405, and both the forward and backward directions occupy the same optical axis but face opposite ends of the optical axis.

[0120] Various features, variations, and multiple different embodiments are shown and described in various details. What is described in this application with respect to a particular embodiment is for illustrative purposes only and is not intended to limit or suggest that the ones considered are the only embodiments or only the particular embodiments.

[0121] It should be understood that the present disclosure is not limited to any single specific embodiment or recited variation. Many modifications, variations, and other embodiments will occur to those skilled in the art, and they are intended to be encompassed by the present disclosure and are in fact encompassed by the present disclosure. The scope of the present disclosure is intended to be determined by the proper legal interpretation and construction of the present disclosure, including equivalents, as understood by those skilled in the art who rely on the complete disclosure as it exists at the time of filing.

[0122] In one embodiment, as shown in FIGS. 84-88 and FIGS. 93-96, the set 12 of left-side cameras and the set 20 of right-side cameras are disposed behind the set of middle cameras and the set of forward cameras. By disposing the sets near the center point of the array, it becomes easier to stitch the resulting images. Further, by disposing the sets of side cameras closer to the centerline of the vehicle, the problem that other vehicles or objects enter the image too abruptly is improved. This improvement is very simply due to an additional distance being provided between the sets of side cameras and those other vehicles or objects.

[0123] In one embodiment, when there are multiple cameras including the sets of side cameras, the sets are divided such that each of those cameras is arranged in a row, and the row consists of the set of middle cameras, the first subset of side cameras, and the second subset of side cameras. In one variation, the side cameras directed sideward and forward are disposed in front of the side cameras directed sideward and rearward, thereby resulting in an intersection of their optical axes behind the fields of view of those cameras. In another variation, the side cameras directed sideward and forward are disposed behind the side cameras directed sideward and rearward, thereby resulting in an intersection of their optical axes within the fields of view of those cameras.

[0124] Split ring configuration.

[0125] In one embodiment, as shown in FIG. 98, the rear camera array, the front camera array, and the top camera array each engage a separate dedicated vehicle mounting plate, with the rear camera array engaging a rear vehicle mounting plate, the front camera array engaging a front vehicle mounting plate, and the top camera array engaging a top vehicle mounting plate. The front vehicle mounting plate, the top vehicle mounting plate, and the rear vehicle mounting plate are arranged such that the front vehicle mounting plate is mounted to the vehicle in front of the vehicle relative to the other vehicle mounting plates, the rear vehicle mounting plate is mounted to the vehicle behind the vehicle relative to 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 such that the plates occupy a common plane. In another variation, the plates are offset such 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, the separate dedicated vehicle mounting plates may be interconnected such that one or more plates are indirectly mounted to the vehicle via one or more other plates and are not directly mounted to the vehicle.

[0128] In one variation, as shown in FIG. 99, in a so-called split ring configuration, the front camera array occupies a common vehicle mounting plate with the top camera array. In a variation of the split ring configuration, as shown in FIG. 100, the rear camera array occupies a common vehicle mounting plate with the top camera array. In a third variation of the split ring configuration, as shown in FIGS. 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 rotate relative to the vehicle and / or another plate via mechanical or structural means, such as a lazy Susan type configuration, coupled to a mechanism for locking the plate in a given rotational direction at least temporarily.

[0130] In one variation, each vehicle mounting plate can 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, top, and / or rearward camera array is utilized. Each replicated 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 within the top camera array face above the ground corresponding to 0 degrees.

[0132] In one embodiment, a partial camera array is utilized. In the partial camera array, the central and / or intermediate set of cameras is omitted and only the set of side cameras remains.

[0133] In one embodiment, a plurality of vehicle mounting plates may be stacked vertically. In one version of this embodiment, the forward and rearward camera arrays occupy a common vehicle mounting plate or are disposed on separate dedicated vehicle mounting plates, and the dedicated vehicle mounting plates occupy substantially a common plane. Further, in this version, the dedicated vehicle mounting plate for the top camera array is disposed above the forward and rearward vehicle mounting plates. In this way, the top camera array does not interfere with the forward and rearward camera arrays.

[0134] Stabilization technology.

[0135] Disclosed is a stabilization technique used when attaching a camera and a camera array to an attachment plate including a vehicle attachment plate. As shown in FIGS. 103-107, the stabilization technique includes the configuration of an upper attachment plate 1202 and a lower attachment plate 1204. The embodiments, configurations, and variations described below constitute a new "floating plate" design.

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

[0137] In one embodiment, the lower attachment plate is attached to the vehicle via a first set of connectors 1208, and the upper attachment plate is attached to the lower attachment 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. The vertical axis is substantially orthogonal to the attachment plates and ideally corresponds to an axis passing through each attachment plate.

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

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

[0140] In another version, the first and second sets of connectors do not share a common vertical axis and 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 is 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 is 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, and the screws pass 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 nut or bolt over a larger area.

[0143] In one embodiment, the first set of connectors and / or the second set of connectors may include one or more stabilizers 1300. In the stabilizer, the fixed upper part 1302 and the fixed base 1304 are flexibly connected via an intermediate body 1306, the upper part is connected to the upper mounting plate, and the base is connected to the 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, compressed 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 the vibration. A connector configured to absorb or laterally distribute the mechanical energy described herein can be referred to as a "donut" 1502.

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

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

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

[0147] In one version, the stabilizer is a multi-prong stabilizer 1400, where the upper and base portions of each stabilizer include one or more prongs 1402, 1404, 1406, 1408, and intermediates 1403, 1405, 1407, 1409 are disposed between the upper and base pairs of each prong. This configuration enables the distribution and absorption of energy not only within a given intermediate but also among several intermediates and from one intermediate to another 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 "tricycle" alignment screw.

[0148] In one embodiment, as described above, the stabilizer can be used when attaching a camera, camera set, or camera array to a camera plate, camera set plate, or camera array plate, and also when attaching the camera plate, camera set plate, or camera array plate to the upper mounting plate. The stabilizer can similarly be used when attaching the lower mounting plate to the vehicle.

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

[0150] In another embodiment, the upper mounting plate is connected to the upper and / or lower sets of the stabilizer, and the upper and / or lower sets of the stabilizer are connected by means such as threading to a set of rods. These rods can be attached to the vehicle via any of the above-described attachment means including suction cups.

Claims

1. A camera array system including a plurality of cameras, wherein the plurality of cameras includes a first camera cluster, a second camera cluster, a third camera cluster, a first plate, and a second plate, a. the first plate and the second plate are each configured to be attached to a moving vehicle, b. the first camera cluster is attached to the first plate, and the third camera cluster is attached to the second plate, c. the first camera cluster includes a first camera, a second camera, and a third camera, d. the second camera cluster includes a fourth camera and a fifth camera, e. the third camera cluster includes a sixth camera, a seventh camera, and an eighth camera, f. the first camera has a first optical axis, the second camera has a second optical axis, the third camera has a third optical axis, the fourth camera has a fourth optical axis, the fifth camera has a fifth optical axis, the sixth camera has a sixth optical axis, the seventh camera has a seventh optical axis, and the eighth camera has an eighth optical axis, g. the first, second, and third optical axes intersect within the fields of view of the first, second, and third cameras, h. the fields of view of the fourth and fifth cameras do not overlap, i. the sixth, seventh, and eighth optical axes intersect within the fields of view of the sixth, seventh, and eighth cameras, j. the second and seventh optical axes are oriented along the path along which the moving vehicle moves, A camera array system.

2. The camera array system according to claim 1, wherein the second camera cluster is attached to the second plate.

3. The camera array system according to claim 1, wherein the second camera cluster is attached to the first plate.

4. The camera array system according to claim 1, wherein the first and second plates occupy a common plane.

5. The camera array system according to claim 1, wherein the first and second plates are each parallel to a given plane.

6. The camera array system according to claim 1, wherein the first plate is parallel to a given plane and is below the given plane, and the second plate is parallel to the given plane and is above the given plane.

7. The camera array system according to claim 1, wherein the first plate is parallel to a given plane and above the given plane, and the second plate is parallel to the given plane and below the given plane.

8. The camera array system according to claim 1, wherein the first and second plates are each separately attachable to the moving vehicle.

9. The camera array system according to claim 1, wherein the first plate is attached to the second plate.

10. The camera array system according to claim 1, further comprising a third plate, wherein the third plate is configured to be attached to the moving vehicle.

11. The camera array system according to claim 10, wherein the first and second plates are each attachable to the third plate.

12. The camera array system according to claim 10, wherein the second camera cluster is attached to the third plate, and the third plate is disposed between the first plate and the second plate.

13. The camera array system according to claim 1, wherein the first camera cluster faces substantially forward of the moving vehicle, and the second camera cluster faces substantially rearward of the moving vehicle.

14. The camera array system according to claim 1, wherein the first camera, the second and third cameras are disposed on an axis perpendicular to the forward direction of the moving vehicle.

15. The camera array system according to claim 1, wherein the fourth and fifth cameras are disposed on an axis perpendicular to the forward direction of the moving vehicle.

16. The camera array system according to claim 1, wherein the sixth, seventh, and eighth cameras are disposed on an axis perpendicular to the forward direction of the moving vehicle.

17. The camera array system according to claim 1, wherein the optical axes of the first, second, third, fourth, fifth, sixth, seventh, and eighth cameras occupy a common plane.

18. A camera array system including a plurality of cameras, the plurality of cameras including a first camera cluster, a second camera cluster, a third camera cluster, and one or more plates, a. The one or more plates are configured to be attached to a moving vehicle, b. The first, second, and third camera clusters are attached to the one or more plates, c. The first camera cluster includes a first camera, a second camera, and a third camera; d. The second camera cluster includes a fourth camera and a fifth camera; e. The third camera cluster includes a sixth camera, a seventh camera, and an eighth camera; f. The first camera, the second and third cameras are arranged on an axis perpendicular to the forward direction of the moving vehicle; g. The first camera, the second and third cameras are arranged on an axis perpendicular to the forward direction of the moving vehicle; h. The sixth, seventh, and eighth cameras are arranged on an axis perpendicular to the forward direction of the moving vehicle; i. The first camera has a first optical axis, the second camera has a second optical axis, the third camera has a third optical axis, the fourth camera has a fourth optical axis, the fifth camera has a fifth optical axis, the sixth camera has a sixth optical axis, the seventh camera has a seventh optical axis, and the eighth camera has an eighth optical axis; j. The optical axes of the first, second, third, fourth, fifth, sixth, seventh, and eighth cameras occupy a common plane; k. The first, second, and third optical axes intersect within the fields of view of the first, second, and third cameras; l. The fields of view of the fourth and fifth cameras do not overlap; m. The sixth, seventh, and eighth optical axes intersect within the fields of view of the sixth, seventh, and eighth cameras; n. The second and seventh optical axes are oriented along the path along which the moving vehicle moves; A camera array system.

19. A camera array system including a plurality of cameras, the plurality of cameras including a first camera cluster, a second camera cluster, a third camera cluster, and one or more plates; a. The first, second, and third camera clusters are attached to one or more plates; b. The one or more plates are configured to be attached to a moving vehicle; c. The first camera cluster includes a first camera, a second camera, and a third camera; d. The second camera cluster includes a fourth camera and a fifth camera; e. The third camera cluster includes a sixth camera, a seventh camera, and an eighth camera; f. The first camera, the second and third cameras are arranged on an axis perpendicular to the forward direction of the moving vehicle; g. The first camera, the second and third cameras are arranged on an axis perpendicular to the forward direction of the moving vehicle, h. The sixth, seventh, and eighth cameras are arranged on an axis perpendicular to the forward direction of the moving vehicle, i. The first camera has a first optical axis, the second camera has a second optical axis, the third camera has a third optical axis, the fourth camera has a fourth optical axis, the fifth camera has a fifth optical axis, the sixth camera has a sixth optical axis, the seventh camera has a seventh optical axis, and the eighth camera has an eighth optical axis, j. The optical axes of the first, second, third, fourth, fifth, sixth, seventh, and eighth cameras occupy a common plane, k. The first, second, and third optical axes intersect within the fields of view of the first, second, and third cameras, l. The fields of view of the fourth and fifth cameras do not overlap, m. The sixth, seventh, and eighth optical axes intersect within the fields of view of the sixth, seventh, and eighth cameras, n. The second and seventh optical axes are oriented along the path along which the moving vehicle moves, Camera array system.

20. a. The one or more mounting plates are sandwiched between the upper and lower stabilizers, b. The upper stabilizer is attached to the lower stabilizer via bolts, c. The one or more mounting plates are attached to a set of rods via the lower stabilizer, d. The set of rods is attached to the moving vehicle via suction cups, e. Each of the lower stabilizers includes an upper part, a base, and an intermediate body, f. The upper part is attached to the one or more mounting plates, and the bottom part is attached to a rod among the set of rods, g. The upper part and the base each have a plurality of prongs, h. Each prong of the upper part is flexibly connected to the corresponding prong of the base via the intermediate body, i. The intermediate body is a tension spring, a viscoelastic material, a fluid-filled pouch, a disk, a pad, a ring, a washer, or a flange, The camera array according to claim 19.

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