Omnidirectional vision system using two mirrors
Omnidirectional vision system using two mirrors
复制标题
使用两个镜子的全向视觉系统
DOI：
10.1117/12.332486
复制
发表时间：
1998
期刊：
影响因子：
--
通讯作者：
A. Ichikawa
中科院分区：
文献类型：
--
作者：
A. Takeya;T. Kuroda;K. Nishiguchi;A. Ichikawa
对于移动机器人的研究而言，获取全方位视觉信息对于理解机器人定位非常重要。通常，此类视觉系统使用鱼眼镜头或反射镜（圆锥形、球形或双曲面形）。传统系统存在一个问题，即不必要的视野占据了图像的大部分。传统系统还存在一个问题，即由于反射镜的物理特性，相机图像会模糊，尤其是在黑暗环境中无法获得清晰的图像。为了克服这些困难，我们提出一种使用两个具有特殊曲率的反射镜来获取全景图像的全方位视觉系统。该视觉系统由两个轴对称反射镜（类似于反射望远镜）和一个CCD相机组成。来自360度周围环境的入射光线经主反射镜和次反射镜两次反射后进入CCD相机。从理论上考虑对反射光学系统的像差程度进行估算，它使用两个具有任意曲率的反射镜。开发了一种设计方法，以将两个反射镜反射后的图像像差降至最低。该视觉系统能够以最小的模糊实现清晰的全方位全景图像。对设计的光学特性进行了评估，结果表明了所提出的视觉系统的有效性。
Obtaining omnidirectional visual information for a study of mobile robots is important for understanding robot positioning. Usually, such vision systems use a fish-eye lens or a reflecting mirror (conical, spherical or hyperboloidal). A conventional system has a problem in that an unnecessary visual field occupies most of the image. The conventional one also has a problem where the camera image is blurred due to the physical property of the mirror and a clear image cannot be obtained, especially in a dark environment. In order to overcome these difficulties, we propose an omnidirectional vision system using two mirrors with a contrived curvature for obtaining a panoramic image. The vision system consists of two axisymmetric mirrors (like a reflecting telescope) and a CCD camera. Incident rays from 360 degree surroundings are reflected twice by a primary mirror and a secondary mirror, then enter the CCD camera. A theoretical consideration is made to estimate the degree of aberration for the reflecting optical system and it uses two mirrors with arbitrary curvatures. The design method is developed to minimize the aberration of the image after the reflections of the two mirrors. The vision system can realize a clear omnidirectional panoramic image with minimum blur. The optical characteristics of the design are evaluated and the results show the effectiveness of the proposed vision system.