Vision Sensor with Wide Angle and High Distortion Lens
Vision Sensor with Wide Angle and High Distortion Lens
复制标题
具有广角和高畸变镜头的视觉传感器
DOI：
10.1109/robot.1995.526006
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发表时间：
1995
期刊：
影响因子：
--
通讯作者：
Y. Suematsu
中科院分区：
文献类型：
--
作者：
S. Shimizu;Y. Suematsu
本实验室设计了一种广角高畸变透镜单元，实现了类似人眼锐度分布的放大倍数分布。投影图像在视场中心区域分辨率高，而在外围区域分辨率较低。使用这种镜头，我们可以大大减少每个场景的图像数据量。在这个视频中，我们比较了我们的畸变镜头和市场上出售的广角镜头的图像，并展示了我们的视觉系统的特点。在120度的广角视场下，畸变镜头的图像在视场中心区域的信息比市售的广角镜头更丰富。利用视场外围区域的平行直线图像，可以检测到摄像机的位置和凝视角度。在实验中，我们采用了三维的测试模式，黑色的地板和天花板，白色的侧壁盒子。因此，我们的畸变镜头对相机位置和凝视角度的检测精度远远高于普通广角镜头。通过改变运行控制模式的四轮机器人通过台阶的控制1 (Osamu Mastumoto, Shuuji Kajita， Kazuo Tani和Mitsuhiro Oooto) *机械工程实验室，通工业省1-2，筑波，茨城305，JAPAN *筑波大学，JAPAN E-mail: matsumotoQmel.go.jp （Osamu Matsumoto）
A wide angle and high distortion lens unit was designed in our laboratory to realize a distribution of magnification factor similar to the acuity distribution of human eye. The projected image has high resolution in the central area of viewfield, and lower to the peripheral area. Using this lens, we can reduce greatly the amount of image data per scene. In this video, we compare the images by our distortion lens with those by wide angle lens sold in the market, and demonstrate the features of our vision system. Keeping a wide viewfield of 120 degrees, the images by our distortion lens has more abundant information in the central area of viewfield than by commercially available wide angle lens. Utilizing the image of parallel straight lines in the peripheral area of viewfield, we can detect the camera position and gazing angle. In the experiment we use 3 dimensional test pattern a black floor & ceiling and white side wall box. As a result it can be said that the accuracy of detecting the camera position and gazing angle by our distortion lens is much better than by usual wide angle lens. Control 1 A Four-wheeled Robot to Pass Over Steps by Changing Running Control Modes Osamu Mastumoto, Shuuji Kajita, Kazuo Tani and Mitsuhiro Oooto* Mechanical Engineering Laboratory, MITI 1-2 Namiki, Tsukuba, Ibaraki 305, JAPAN *University of Tsukuba, JAPAN E-mail: matsumotoQmel.go.jp (Osamu Matsumoto)