Multi-Camera Imaging System for Occlusion-Free 3D Positioning
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Solution Overview
Problem
Existing image capturing systems with fish-eye lenses face challenges in obtaining wide-angle images and three-dimensional positions due to occlusion issues, where areas behind cameras are not visible, leading to incomplete data and errors in disparity estimation.
Innovation Solution
An image capturing apparatus using at least three cameras with parallel optical axes and close proximity, incorporating a position calculation unit, occlusion information, and an image complementing unit to generate complementary images and select non-occluded position information, allowing for accurate three-dimensional position calculation and occlusion-free images.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of moving object
If fish-eye lenses are used to capture wide-angle images, then the field of view is expanded, but occluded areas appear where other cameras are visible
Solution Approach 1:
The patent transitions from 2D image plane analysis to 3D spatial reasoning by calculating three-dimensional positions of objects and cameras. This allows the system to determine which areas are occluded by projecting camera positions and fields of view into three-dimensional space, enabling accurate identification and handling of occluded regions in the wide-angle captured images.
2Area of stationary object
If multiple cameras are arranged closely with parallel optical axes, then wide-angle coverage is achieved, but occlusion by camera bodies increases
Solution Approach 1:
The system performs preliminary calculation of occluded areas based on pre-stored camera parameters (positions, orientations, and fields of view) before actual image processing. By pre-computing which regions will be occluded by each camera body, the system can identify and handle these areas appropriately during image synthesis, preventing occlusion artifacts from degrading the final wide-angle image quality.
3Measurement precision
If three-dimensional position calculation is performed from multiple images, then spatial information is obtained, but errors occur in occluded areas
Solution Approach 1:
The patent extracts and separates occluded areas from the image data before performing three-dimensional position calculations. By identifying occluded regions using pre-stored camera parameters and removing or flagging these areas, the system ensures that position calculations are only performed on valid, non-occluded regions, thereby maintaining high accuracy and reliability in the resulting three-dimensional position information.
Data Source
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AI summary
There is provided an image capturing apparatus that captures a plurality of images, calculates a three-dimensional position from the plurality of images, and outputs the plurality of images and information about the three-dimensional position. The image capturing apparatus includes an image capturing unit, a camera parameter storage unit, a position calculation unit, a position selection unit, and an image complementing unit. The image capturing unit outputs the plurality of images using at least three cameras. The camera parameter storage unit stores in advance camera parameters including occlusion information. The position calculation unit calculates three dimensional positions of a plurality of points. The position selection unit selects a piece of position information relating to a subject area that does not have an occlusion, and outputs selected position information. The image complementing unit generates a complementary image, and outputs the complementary image and the selected position information.