Omnidirectional Stereo Imaging With Folded Mirror Baseline
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Solution Overview
Problem
Conventional single-camera omnidirectional stereo systems have low depth resolution and are bulky, with a short distance between effective viewpoints, leading to low depth resolution and difficulty in finding corresponding points due to resolution differences between images.
Innovation Solution
An apparatus using a single camera with a folded mirror system, where multiple coaxial reflectors increase the distance between effective viewpoints and facilitate compactness, while a panoramic image converter compensates for resolution differences using scale-space sampling and Gaussian kernels.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Volume of moving object
If a single camera with a double-lobed mirror is used to implement omnidirectional stereo system, then the system size is reduced, but the distance between effective viewpoints becomes very short resulting in low depth resolution
Solution Approach 1:
The patent introduces a folded mirror structure that extends the optical path in the axial direction (z-axis) while maintaining a compact lateral footprint. By folding the light path using additional mirrors, the system achieves a large effective baseline distance between viewpoints without increasing the overall apparatus volume, thus resolving the contradiction between compact size and depth resolution.
2Measurement precision
If the distance between effective viewpoints is increased to improve depth resolution, then the apparatus size increases, but compactness is compromised
Solution Approach 1:
The folded mirror configuration redirects light paths along the axial direction, allowing the effective baseline to extend in the z-axis while the physical apparatus remains compact in the lateral dimensions. This dimensional transformation enables large baseline distance without proportional increase in overall apparatus volume.
Solution Approach 2:
The patent employs a nested arrangement where multiple mirrors are positioned coaxially, with inner mirrors reflecting light to outer mirrors in sequence. This nesting allows the optical path to fold back on itself multiple times within a confined space, achieving extended baseline distance while maintaining compact apparatus dimensions.
3Adaptability or versatility
If images are obtained at two different viewpoints with different resolutions, then omnidirectional stereo coverage is achieved, but ability to find corresponding points decreases
Solution Approach 1:
The patent applies resolution compensation techniques that adjust the sampling parameters and scaling factors for images captured at different viewpoints. By dynamically changing resolution parameters based on the specific viewpoint and baseline distance, the system maintains consistent effective resolution across stereo pairs, thereby facilitating corresponding point detection while preserving omnidirectional coverage.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enhances depth recovery resolution, simplifies the detection of corresponding points, and achieves compactness by increasing the distance between effective viewpoints and compensating for resolution differences, thereby improving the accuracy and efficiency of 3D information extraction.
Implementation Method 1
a first reflector reflecting a first omnidirectional view viewed from a first viewpoint
Implementation Method 2
a second reflector positioned to be coaxial with and separated from the first reflector to reflect a second omnidirectional view from a second viewpoint
Implementation Method 3
a third reflector positioned to be coaxial with the first and second reflectors to reflect the second omnidirectional view reflected by the second reflector
Data Source
AI summary
An apparatus for providing an omnidirectional stereo image with a single camera includes a first reflector reflecting a first omnidirectional view viewed from a first viewpoint, a second reflector positioned to be coaxial with and separated from the first reflector to reflect a second omnidirectional view viewed from a second viewpoint, a third reflector positioned to be coaxial with the first and second reflectors to reflect the second omnidirectional view reflected by the second reflector, wherein the second and third reflectors have a folded structure satisfying a single viewpoint constraint, and an image sensor positioned to be coaxial with the first, second and third reflectors to capture an omnidirectional stereo image containing the first omnidirectional view reflected by the first reflector and the second omnidirectional view reflected by the third reflector, and output the captured omnidirectional stereo image, wherein shapes of the first, second, and third reflectors and a relative positional relationship between the first, second, third reflectors and the image sensor satisfy the single viewpoint constraint for the first viewpoint and for the second viewpoint. The apparatus provides a high three-dimensional recovery resolution, accomplishes compactness, and facilitates search of corresponding points in two images.