Spherical Imaging Array for Occlusion-Free Depth Estimation
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Solution Overview
Problem
Existing all-celestial cameras can only obtain depth information for objects within overlapping angles of view and fail to do so when occlusion occurs, limiting their effectiveness in imaging objects behind other objects.
Innovation Solution
An all-celestial imaging apparatus with multiple imaging parts arranged to overlap each other's angles of view by 50% or more, ensuring that all directions of 360° are covered, allowing for precise estimation of depth information by using a relational equation to determine the optimal arrangement of cameras and their viewing angles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If multiple imaging parts are arranged to cover all directions of 360°, then the imaging coverage is improved, but the depth information cannot be obtained when occlusion occurs
Solution Approach 1:
The patent transitions from a two-dimensional arrangement of imaging parts to a three-dimensional spherical arrangement. By positioning imaging parts on the surface of a sphere and directing them toward the center, the system achieves omnidirectional coverage while creating multiple overlapping viewing angles from different spatial dimensions, thereby enabling depth information acquisition even when occlusion occurs in certain directions.
Solution Approach 2:
The imaging system is divided into multiple discrete imaging parts (cameras) distributed across the spherical surface. Each imaging part captures images from its specific direction, and through the segmentation of the field of view into multiple overlapping regions, the system can select appropriate image pairs for depth calculation based on occlusion conditions, improving reliability.
2Measurement precision
If imaging parts are arranged with overlapping angles of view to obtain depth information, then depth estimation capability is improved, but the case where depth information can be obtained is limited to overlapping angles of view
Solution Approach 1:
By arranging imaging parts in three-dimensional space on a sphere rather than in a single plane, the system creates overlapping fields of view from multiple angular perspectives. This spatial dimensionality allows depth information to be obtained for objects in all directions, not limited to a single two-dimensional overlap region.
Solution Approach 2:
The spherical arrangement makes the system universally applicable for depth estimation in all directions. Each imaging part serves multiple functions: capturing images for its primary direction and simultaneously providing overlapping views for depth calculation in adjacent directions, enhancing the overall adaptability of the system.
3Reliability
If imaging parts are densely arranged to ensure overlapping angles of view in all directions, then depth information can be obtained more reliably, but the device complexity increases
Solution Approach 1:
The spherical geometry provides an efficient framework for distributing imaging parts. By utilizing the three-dimensional spherical surface, the system achieves comprehensive overlapping coverage with fewer imaging parts compared to a two-dimensional planar arrangement, as each imaging part can contribute to overlapping views in multiple directions simultaneously.
Solution Approach 2:
The system optimizes the arrangement parameters (number of imaging parts, their angular spacing, and radial distance from the center) to achieve the minimum necessary overlap for reliable depth estimation. By carefully controlling these parameters, the system maintains high reliability while minimizing device complexity.
Data Source
AI summary
There is provided an all-celestial imaging apparatus enabling imaging of images that enable estimation of depth information relating to an object to be imaged by suppressing any generation of occlusion. An all-celestial imaging apparatus that is an aspect of the present technique includes plural imaging parts each arranged being directed in a direction different from that of each other, and the plural imaging parts are arranged such that all imaging ranges on at least one circumference of the imaging ranges by the plural imaging parts are each overlapped by angles of view of two or more pairs of the imaging parts. The present technique is applicable to, for example, an all-celestial camera imaging images that are used in the case where the depth information on a distance to an object to be imaged that may be present in an optional direction of all azimuth directions of 360° is estimated.