199 results about "Fish eye lens" patented technology

Disclosed is a photometer that employs high dynamic range (HDR) image processing and manipulation algorithms for capturing and measuring real-time sky conditions for processing into control input signals to a building's automated fenestration (AF) system, daylight harvesting (DH) system and HVAC system. The photometer comprises a color camera and a fitted fish-eye lens to capture 360-degree, hemispherical, low dynamic range (LDR) color images of the sky. Both camera and lens are housed in a sealed enclosure protecting them from environmental elements and conditions. In some embodiments the camera and processes are controlled and implemented by a back-end computer.

An apparatus and method are disclosed for scanning and detecting defects in sewer and similar pipelines that eliminate the need to stop and pan-and-tilt areas of concern. In the method of the invention, a pipeline (15) inspection probe (10) of the apparatus of the invention comprising a CCD camera (14) with fish-eye lens (12) travels through the pipeline (15) on a self-propelled tractor automatically collecting data and transmitting it to a computer to provide a real-time display of the pipeline (15) interior with quasi three-dimensional information for effective and quick data analysis and management. The data includes digitized forward views and unfolded 360 degree laid-flat side-san (22) views of the pipeline (15) interior. Additionally, the digitized data may be stored for further analysis, tabulation, and for use with pipeline infrastructure maintenance software.

The present invention provides an image acquisition and viewing system that employs a fish-eye lens and an imager, such as, a CCD array, to obtain a wide angle image, e.g., an image of a hemispherical field of view. The system of the invention further includes a primary display for displaying the image, and a secondary display for presenting a perspective-corrected view of a selected portion of the image. A processor effects correction of a selected portion of the image for distortions introduced by the fish-eye lens by utilizing methods according to the teachings of the invention. The processor further effects the display of the image and its perspective-corrected portion thereof on the primary and the secondary displays, respectively. Moreover, the processor effects the display of a graphical object on the first display to delineate the portion that is presented on the secondary display. This allows a viewer to view simultaneously the image and the perspective-corrected portion, thereby gleaning information regarding the context of the perspective-corrected portion within the entire image while viewing it.

The invention relates to a fish eye lens calibration and fish eye image distortion correction method which belongs to the field of digital image processing and is very suitable for occasions of vision navigation, mobile monitoring and so on. Since imaging using a large wide angle will cause serious distortion, generally, imaging correction is needed to facilitate human eye observation. The method provided by the invention is mainly technically characterized by establishing a space coordinate system 1 and employing a least square curve-fitting method to calibrate a fish eye image to determine the center andthe radius of a fish eye lens, establishing a cylindrical projection model in a space coordinate system UV, and setting one-to-one relationships among an image point q2 of the fish eye image, a point q1 on object sphere and a point q projected on a cylinder, wherein q1 is in vertical projection relation with a bottom plane on which q2 is located and line q1q parallels to line oq2, thus achieving the purpose of fish eye image correction.

The invention introduces a fish-eye image correction method based on multistep correction, and aims at overcoming the disadvantages of image magnification and loss of edge information caused by a normal correction model in the prior art. A correction model is established based on multistep correction. A size zooming factor, based on a polynomial model, of a fish-eye image is established; the fish-eye image is corrected for the first time by utilizing the size zooming factor; interpolation is carried out on the image corrected for the first time in a neighborhood interpolation method; a division model based on a backward mapping method is established; and via the division model, the image after interpolation is corrected for the second time to obtain a secondary corrected image. The fish-eye image is corrected via the correction model, the problems including loss of edge information, image magnification, distortion and incomplete correction of the corrected images are solved, most information of a fish-eye lens is completely reserved, and the condition that the edge of the image is fuzzy is changed.

A vehicle is provided with two circular fish-eye lens-type cameras and three displays of a rear-window display, rear-pillar display, and side-window display. The first camera takes an image from a first region rearward of the vehicle; the second camera takes an image from a second region left sideward of the vehicle. The first and second regions are partially overlapped. Ultrawide-angle image data of the taken images are converted to typical lens image data, a part of which is clipped to correspond to an integrated region. The integrated region including a part of the first and second regions is viewed by an artificial driver sightline, which is assumed to pass through entire frames of the three displays to reach the integrated region. The three displays then reproduce an image of the integrated region without overlap based on the clipped image data.

The invention discloses a panorama shooting method based on a mobile platform, comprising steps of turning on a preposition camera and a postposition camera, reading images or video flows and real-time preview video flows of the preposition camera and the postposition camera, performing respective processing on two paths of images, wherein the processing comprises image correction, color regulation, noisy point elimination, exposure and contract ratio regulation, extracting, screening and matching the image characteristic points, rectifying, splicing and fusing the image, compressing and storing the panorama images and videos, and rendering the image and displaying the image on the mobile phone. The panorama shooting system comprises two fish eye lenses and one reinforcing mechanism; the two fish eye lenses are installed on the mobile phone or on the preposition camera and the postposition camera of a flat computer through the reinforcing mechanism. The invention discloses a panorama shooting system based on the moving platform and the method, which better solve the problems that the current panorama shooting method is high in the cost and complex in the shooting process, needs the independent shooting device and cannot record the panorama videos.

The invention discloses a vehicle around-view monitor system and an around-view monitor image generating method. The vehicle around-view monitor system is characterized in that the front camera of thesystem is located in the front of a vehicle, the left camera of the system is located on the left of the vehicle, the right camera of the system is located on the right of the vehicle, and the rear camera of the system is located at the rear of the vehicle; each of the front camera, the left camera, the right camera and the rear camera comprises a fish-eye lens module, the fish-eye lens modules are identical in structure, and the wide angle of each fish-eye lens module is 190 degrees; a processor is connected with the front camera, the left camera, the right camera, the rear camera and a vehicle-mounted display and used for splicing the image information acquired by the front camera, the left camera, the right camera and the rear camera into an around-view monitor image and transmitting the around-view monitor image to the vehicle mounted display for displaying. By the vehicle around-view monitor system, the around-view monitor image can be generated according to the acquired image information, around-view monitoring is achieved, the view of a driver is expanded, and driving safety is increased.

The invention is suitable for the digital image processing field and provides a fish-eye lens correction method and device and a portable terminal. The method comprises the following steps: carrying out distortion correction on a fisheye image through an equidistant projection model to obtain an initial correction image, the image content of which is a calibration board; obtaining all angle pointsof the calibration board from the initial correction image, re-projecting angle point coordinates to the fisheye image to obtain rough angle point coordinate values of the calibration board in the fisheye image, and serving the angle points as feature points in the fisheye image; and carrying out iteration on the feature points in the fisheye image to obtain different parameter values within a preset parameter range, carrying out correction on the fish-eye lens through the equidistant projection model, and serving the parameter value obtained when the deviation amount is minimum as an accurate correction value of the fish-eye lens. The fish-eye lens correction method reduces preparation workload in the early stage, and is simple in operation process; a camera does not need to change position and angle; and the fish-eye lens correction method is wide in application range, does not need to set a lot of parameters, is simple to calculate, and meanwhile, realizes an accurate fisheye correction effect.

Provided is a photographing apparatus which includes: a fish eye lens; a plurality of light emitters disposed around the fish eye lens and configured to emit light at different angles with respect to an optical axis of the fish eye lens; and an image sensor configured to receive the light emitted from the plurality of light emitters and reflected by at least one object, and convert the light into an electric signal.

The invention discloses a self-adaptive and rapid correcting method for a fish-eye lens. The self-adaptive and rapid correcting method for the fish-eye lens comprises the steps that an equidistant projection model is constructed and straight lines at different positions are extracted to obtain a point set; camera parameters are initialized and noise filtering is carried out on the point set; the image plane of the straight lines is further optimized according to the rule that the straight line must be projected as straight lines; the optimized image is projected to six faces of a largest inscribed cube of a unit watching ball by unfolding the cube, and the projection is output; secondary correction is carried out on primary calibration of the same equipment, and if the output projection result has deviation, recalibration is carried out. Through the self-adaptive and rapid correcting method for the fish-eye lens, the fish-eye lens can be rapidly corrected, a large amount of calculation is avoided, the result is accurate, and operation is convenient and rapid.

The present invention provides a rapid distortion correction method based on a Bayer image. The method comprises the steps of firstly, inputting the Bayer image acquired by a fish-eye lens and a CMOS sensor in an FPGA module, adopting an equidistant internal reference model to map a fish-eye image to a three dimensional spherical surface, utilizing a longitude and latitude mode to describe the three dimensional spherical surface, and obtaining a longitude and latitude coordinate transformation relation of the fish-eye image plane coordinate points and the corresponding mapping points of the three dimensional spherical surface; secondly, adopting a vertical fish-eye projection method to obtain a calculation formula of projecting the mapping points on the three dimensional spherical surface to the corresponding projection points in a two dimensional plane, and projecting the three dimensional spherical surface to the two dimensional plane again; and finally, adopting a transverse scanning interpolation method to transform the two dimensional Bayer image interpolation into a one-dimensional image interpolation, utilizing the multi-channel correlation of the Bayer image to divide an interpolation section into a plurality of segment sections, solving a cubic polynomial curve of the to-be-fitted variables in each section separately to obtain the pixel values of the to-be-interpolated points, and carrying out the interpolation on a corrected two dimensional plane image, thereby improving the Bayer image distortion correction precision.

The invention discloses a virtual and real lighting fusion method based on a fish-eye lens. The method mainly includes the following steps that firstly, a fish-eye lens camera is placed in the position of a virtual object in scene space and the real-time dynamic lighting environment in the scene is photographed through the fish-eye lens camera; then, the light source direction in a real scene is calculated through fish-eye lens images via image processing, the fish-eye lens images are converted into YUV space, and the light source intensity is calculated according to a light source intensity calculation formula; finally, calculated light source information is used, the virtual object is rendered faster by the adoption of a GPU, real-time augmented reality application with real scene lighting is achieved, and rapid and efficient scene lighting acquisition is achieved.

The invention provides a wide angle photograph shooting method, apparatus, holder, unmanned aerial vehicle and robot. The method for obtaining wide angle photographs comprises the following steps: controlling a lens to shoot in multiple azimuth angles, wherein the multiple azimuth angles comprise n latitude information and m longitude information, n is an integer which is more than or equal to 2, and m is an integer which is more than or equal to 1; photographs shot in multiple azimuth angles shot by the lens is synthesized into the wide angle photograph. The lens is controlled for shooting in azimuth angles, the photographs shot by the lens in multiple azimuth angles are synthesized into an ultra-wide photograph, in order to realize shooting of ultra-wide photographs without distortion problems of fish-eye lens, and improve quality of the ultra-wide photograph.

The invention relates to the technical field of lenses, in particular to an optical imaging lens. The invention discloses a fish-eye lens comprising nine lens from the first lens to the ninth lens successively along the optical axis from an object side to an image side. The first lens is a convex-concave lens having a positive refractive index; the second lens is a concave-convex lens having a negative refractive index; the third lens is a convex-convex lens having a positive refractive index; the fourth lens is a convex-convex lens having a positive refractive index; the fifth lens is a convex-convex lens having a positive refractive index; the sixth lens is a concave-concave lens having a negative refractive index; the seventh lens is a convex-concave lens having a negative refractive index; the eighth lens is a convex-convex lens having a positive refractive index; and the ninth lens is a concave-convex lens having a negative refractive index. The optical imaging lens has advantagesof long focal length, distortion prevention, high resolution and large light transmission.

The invention discloses a lens imaging system of a high-pixel fish-eye lens. The lens imaging system is divided into a first group and a second group. The first group is composed of a first lens, a second lens and a third lens. The first lens and the second lens are both concave lenses, and the third lens is a positive lens. A first face and a second face of the first lens are sequentially a convex face and a concave face, a first face and a second face of the second lens are sequentially a convex face and a concave face, and a first face and a second face of the third positive lens are both convex faces. The second group is composed of a fourth lens, a fifth lens and a sixth lens, and the fourth lens and the fifth lens are both positive lenses. A second face of the fourth lens is a convex face, a first face and a second face of the fifth lens are both convex faces, a first face and a second face of the sixth lens are sequentially a concave face and a convex face, and the fifth lens and the sixth lens are adhered together. A diaphragm is arranged between the two groups of lenses. The lens imaging system can reduce possibility of dark corners generated when light reaches a sensitization piece and can correct distortion well for a large field angle.

The invention provides a method for correcting barrel distortion of images for full-frame fish-eye lenses. The method includes: firstly, establishing corresponding pixel positional relation between a barrel-like distorted image and a restored image to obtain an expression of tertiary polar radius relation between the barrel-like distorted image and the restored image thereof; and secondly, algorithmically modifying the expression of tertiary polar radius relation, and operating the barrel-like distorted image pixel by pixel by the modified correcting relational expression to finish correction. The defect that the existing barrel distortion correcting technology with limited capacity is poor in correcting the periphery of an image is improved, a whole ultrawide-angle barrel-like distorted image generated by a full-frame fish-eye lens can be corrected satisfactorily, and especially the effect of correcting the periphery of the image is evident. The corrected image meets the requirement for image quality in image measurement in industrial application.

The invention relates to a processing method of a projector spherical display and a rotary output image. The processing method of the projector spherical display and the rotary output image includes that a to-be-projected plane rectangular image is taken as a source image and an image outputted by a projector spherical display is taken as a target image, a source image coordinate system, a target image coordinate system and a spherical coordinate system are built firstly, a pixel coordinate of the target image is converted to a three-dimensional coordinate under the spherical coordinate system according to optical path characteristics of a fish-eye lens, and then a rotating transformation is conducted to the three-dimensional coordinate, the three-dimensional coordinate after the rotating transformation is converted to a coordinate under a polar coordinate system, and then a pixel coordinate of the source image can be obtained according to the coordinate under the polar coordinate system. Pixel color output of corresponding pixel coordinate of the target image can be conducted according to the pixel color of the obtained pixel coordinate of the source image. The processing method of the projector spherical display and the rotary output image is capable of solving the problem of image transformation, rotating on any shafts on a spherical screen, and improving spherical display effects projected on the spherical screen.

A checkerboard angular point automatic detection method under a fish-eye lens comprises the steps of selecting a particular region of a checkerboard and shielding useless information to reduce angular point detection time and raise detection precision; carrying out Harris angular point detection on the particular region; adding an angular point manual extraction step in an algorithm and manually adding the hidden angular point information; adding angular point combining operation according to the total number of checkerboard angular points and angular point separation situations; as for the checkerboard which is small in checkerboard rotating angle, slight in distortion and few in angular corner, sorting the angular points in a binomial fitting manner; and as for the checkerboard distorted under the fish-eye lens, calculating the sequence of the checkerboard angular points by using a modified convex hull algorithm. Simulation software is utilized to automatically detect coordinates of the checkerboard angular points, and under the condition of ensuring detection reliability of the angular points, the detection speed and precision of the angular points are greatly raised, and the complexity of manually extracting the checkerboard angular points is removed.

The invention discloses a system for real-time correction and splicing of an image formed by a fish-eye lens through using a hardware circuit. The system comprises an optical lens unit, an image sensor unit, an image correction and splicing unit, an image digital processing unit and an attachment unit, wherein the optical lens unit is formed by one or more of fish-eye lenses and is responsible for collecting a multi-channel optical image in one or more of directions; the image sensor unit is formed by one or more of CCD (Charge Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor) image sensors and is responsible for digitizing collection of the image shot by the fish-eye lens; the image correction and splicing unit is formed by general type programmable devices, such as an FPGA (Field Programmable Gate Array) or CPLD (Complex Programmable Logic Device), or a special integrated circuit realized by an ASIC (Application Specific Integrated Circuit) technology mainly, and attached SRAM (Static Random Access Memory) and FLASH storage device, and is responsible for distortion calibration, plane development and panoramic stitching of the image shot by the fish-eye lens; and the image digital processing unit is mainly responsible for carrying out encoding and compression processing on the image after correction and splicing and outputting a real-time panoramic video signal.

The invention discloses a panoramic image acquiring device. The device comprises two fish eye lens modules, an image sensor and a signal transmitting line. The optical axes of the fish eye lens modules overlap with each other and the fish eye lens modules are oppositely arranged at two ends of the same optical axis; a prism is arranged at the center of a connecting line connecting the optical centers of the two fish eye lens modules. The image sensor is arranged below the prism. With the panoramic image acquiring device, complete unification of image qualities and complete synchronization of images of different fields in a panoramic image can be realized. As only one video output channel is adopted, the data collection task and panoramic splicing task in post-processing of a panoramic image can be greatly simplified, and therefore, difficulty and cost are reduced. Further, the number of image sensor chips and the number of lenses are reduced, and the cost of an image acquiring system is reduced. Images obtained from the device are higher in quality and image quality is more stable.

The method includes steps: the picture taken by fish-eye lens is as original image; multiple coordinates of correction points (CCP) are obtained from the original image; estimating actual coordinates of actual plane from CCP; using CCP and actual coordinates calculate a set of parameter of image distortion; using CCP calculates out rearranged coordinates and outputting image of corrected image in order to build image correction relation table of coincidence relation between original image and coordinates of each position in the output image. Using implied functions of interpolation and resetting magnitude, the table corrects fish-eye distorted image better and rapidly in real time. When applying image correction relation table on hardware platform, the method uses interpolation function in table, and operational method in the invention to reduce calculation amount of digital signal processor greatly, obtain optimal corrected output result.