GB2325815A - Wide visual-field recognizing system - Google Patents
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- GB2325815A GB2325815A GB9818050A GB9818050A GB2325815A GB 2325815 A GB2325815 A GB 2325815A GB 9818050 A GB9818050 A GB 9818050A GB 9818050 A GB9818050 A GB 9818050A GB 2325815 A GB2325815 A GB 2325815A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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Abstract
A wide visual-field recognizing system that can easily recognize the approximate original image of an object by accepting the image distortion at an object image pickup step and then performing an image distortion correcting process, thus solving the disadvantage due to a blind spot in a conventional recognizing device. The recognizing system includes an image pickup unit (1) having a wide-angle lens, an image processing unit (2) for correcting a picked image to an image analogous to the original image through an arithmetic processing, and a display (3) for displaying the output image from the image processing unit (2). The image processing unit (2) selects an interesting area of a pickup image and then performs and image processing to correct the image distortion of the area, to provide a three-dimensional image based on images picked up by a plurality of image pickup devices at the same time, and to reconfigure an image having a wider image area, thus easily recognizing an approximate original image of an object.
Description
1 1
SPECIFICATION
WIDE-ANGLE VIEWING SYSTEM 2325815 TECHNICAL FIELD
The present invention relates to a viewing system capable of producing an image of a wide field without moving a viewing point for taking an image of the field. More specifically, the present invention relates to a wideangle viewing system capable of displaying an image of an object taken through a wide-angle lens and of correcting a distorted image of a selected part of the image taken through the wide-angle lens to display a corrected image (hereinafter referred to as "approximate original image") approximately resembling an image of the original shape of the object (hereinafter referred to as "original image").
BACKGROUND AR
Various viewing systems for monitoring, observing, tracking and so on have been proposed and have practically been used. A generally known monitoring system illustrated by way of example in Fig. 16 controls an image pickup unit for turning in horizontal and vertical planes by a remote controller to monitor a field without leaving any dead area in the field. A known endoscope shown by way of example in Fig. 18 is provided with an image pickup unit in its end part, and the image pickup unit is turned in horizontal and vertical planes. Many practically used viewing systems of various types have mechanisms similar to those shown in Figs. 16 and 18.
These viewing systems for monitoring, observing, tracking and so on are used for many purposes. However, there is a limit to taking and displaying images without leaving any dead area, and the viewing systems axe useless if an object is in a dead angle as illustrated in Fig. 17. An image of an object P1 in a field angle defined by solid lines can be picked up, whereas an image of an object P2 outside the field angle cannot be picked up. The image pickup unit having a field angle must be turned in an appropriate direction to include the object P2 in the range of its field angle.
2 The viewing point of the image pickup unit must be moved manually or by remote control, or the image pickup unit must be controlled by an expensive automatic tracking'unit so that the object may not be in the dead angle. Another method controls an image pickup unit for a scanning operation, the principle of which is substantially the same as that of a monitoring system which turns an image pickup unit. A method of removing dead areas uses a wide-angle lens, such as a fish-eye lens. However, peripheral regions of an image taken by a wide-angle lens and displayed on a flat plane are distorted, and the image is greatly different from the original image of the object. Therefore wideangle lenses are applied only to special purposes including artistic and academic purposes.
It is an object of the present invention to overcome the disadvantages of conventional viewing systems by employing an image pick-up unit, an image processing unit and a display unit based on novel technical ideas to allow the distortion of an image of an object in taking the image of the object without leaving any dead area, to execute an image correcting operation for correcting the distortion of only a specific part of the image in order that an approximate original image of the object can be viewed.
DISCLOSURE OF THE INVENTION
According to a first aspect of the present invention, a wide-angle viewing system comprises: an image pickup unit I provided with a wide-angle lens for taking an image of an object; an image processing unit 2 for correcting a distorted image of a selected part of the image provided by the image pickup unit 1 by an arithmetic process which compares positions of points in the selected part with positions of set reference coordinate points in the image to provide an approximate original image of the object; and a display unit 3 for displaying an output image of the image Z!5 processing unit 2.
Accordincy to a second aspect of the present invention, a Z> wide-angle viewing system comprises: a plurality of image pickup units 1 respectively provided with wide-angle lenses for taking images of an object; an image processing unit 2 for converting the 3 images simultaneously taken by the plurality of image pickup units 1 into a three-dimensional image of the object by an arithmetic process fo r determining three-dimensional coordinates of the object; and a display unit 3 for displaying an output image of the image processing unit 2. According to a third aspect of the present invention, a wide-angle viewing system comprises: a plurality of image pickup units I respectively provided with wide-angle lenses and respectively having overlapping taking fields; an image 10 processing unit 2 for correcting images of an object taken simultaneously by the image pickup units I by an arithmetic process which connects the images by superposing overlapping parts of the images to provide a continuous image approximately resembling an original image of the object; and a display unit 3 for displaying an output image of the image processing unit 2. Thus, the present invention overcomes the disadvantages of the conventional viewing system due to dead angle, allows distortion of an image of an object when taking the same image, corrects a distorted image of only a specific part of the image by 20 image processing in order that an approximate original image of the object can be viewed. Accordingly, the wide-angle viewing system of the present invention enables observation of a wide field and accurate viewing of a specific part of the image. Preferably, the image processing unit 2 is capable of 25 optionally changing the coordinates of the reference coordinate points.
Preferably, the wide-angle viewing system further comprises an:image producing unit 6 for producing an image, and the image processing unit 2 is capable of selectively receiving an image produced by the image producing unit 6 or an image provided by the image pickup unit 1.
The image processing unit 2 may carry out the arithmetic process by hardware including a fixed electronic circuit included therein or by software usable by the image processing unit 2.
3S Image storage units 4 and 5 to which image data is written and from which image data is read may be interposed between the image pickup unit I and the image processing unit 2 and 4 between the image processing unit 2 and the image display unit 3, or an image storage unit 4 or 5 may be interposed either between the image pickup unit I and the image processing unit 2 or between the image processing unit 2 and the image display unit 3.
The wide-angle lens may be a fish-eye lens having a field angle of 180' or above, and may be either an optical lens or an electronic lens.
The image pickup unit 1 may be capable of turning its visual field.
The display unit 3 may be a projector capable of projecting t> an image through a wide-angle lens on a substantially spherical screen.
The projector may be installed at a position dislocated from the center axis of the substantially spherical screen, and the image processing unit 2 may carry out an image correcting process so that an image projected by the projector looks like an approximate original image when viewed from a position substantially on the center axis of the screen.
The display unit 3 may be a projector capable of projecting a three-dimensional image of an object.
BRIEF DESCRIPTION OF THE DRAWINGS
Fig. 1 is a block diagram of a wide-angle viewing system in 25 a first embodiment according to the present invention; Fig. 2 is a diagrammatic view explaining principles on which the present invention is based; Fig. 3 is a diagrammatic view explaining principles on which the present invention is based; Fig. 4 is a diagrammatic view explaining principles on which the present invention is based; Fig. 5 is a diagrammatic view explaining principles on which the present invention is based; Fig. 6 is a pictorial view showing an image pickup unit included in a wide-angle viewing system in a second embodiment according to the present invention; Fig. 7 is a block diagram of a wide-angle viewing system in a third embodiment according to the present invention; Fig. 8 is a diagrammatic view explaining principles on which the present invention is based; Fig. 9 is a diagrammatic view explaining principles on s which the present invention is based; Fig. 10 is a diagrammatic view explaining principles on which the present invention is based; Fig. 11 is a diagrammatic view explaining principles on which the present invention is based; Fig. 12 is a pictorial view showing image pickup units included in a wide- angle viewing system in a fourth embodiment according to the present invention; Fig. 13 is a perspective view showing image pickup units included in a wide-angle viewing system in a fifth embodiment according to the present invention; Fig. 14 is a block diagram of a wide-angle viewing system in a sixth embodiment according to the present invention; Fig. 15 is a block diagram of a wide-angle viewing system in a seventh embodiment according to the present invention; Fig. 16 is a perspective view of an image pickup unit included in a conventional viewing system; Fig. 17 is a pictorial view explaining a conventional viewing system; and Fig. 18 is a perspective view of an image pickup unit 2 5 included in a conventional viewing system.
BEST MODE FOR CAR4YING OUT THE INVENTION Preferred embodiments of the present invention will be described hereafter with reference to the accompanying drawings, in which like or corresponding parts are designated by the same reference characters.
Referring to Fig. 1, a wide-angle viewing system in a first embodiment according to the present invention comprises, as essential components, an image pickup unit 1 provided with a wide-angle lens, an image processing unit 2 capable of correcting a distorted image of a selected part of an image taken by the image pickup unit 1 through comparison of positions of points in 6 the selected part with set reference coordinate points in the image to provide an approximate original image, and a display unit 3 for displaying an output image of the image processing unit 2.
Principles of operations of the wide-angle viewing system shown in Fig. 1 will be described with reference to Figs. 2 to 5.
Suppose that, as shown in Fig. 2, the circumference of a vertical right circular cylinder is divided equally by vertical Lines al-bl, a2-b2, a3b3,...' and a8-b8, the surfaces of the right circular cylinder are transparent, a rectangle c I-c4 is defined in a central region of the bottom surface bl-b8, a rectangle dl-d4 is defined in a section al-a2-b2-bl of the circumference, and the viewing point of the image pickup unit I provided with a circular fish-eye lens having a field angle of 180' or above and capable of forming a circular image is located at the center m of the top surface of the right circular cyhnder to take an image of a space extending below the image pickup unit 1.
An image as shown in Fig. 3 provided by the image pickup unit I is displayed on the display unit. The image shown in Fig.
3 is similar to a plan view of a truncated cone having a small circle bIb8 as an image of the bottom surface of the right circular cyhnder, and a large circle al-a8 as an image of the top surface of the right circular cylinder. A pattern cl-c4 substantially resembling the original rectangle is formed around the center n of the small circle b 1 -b8, i.e., the center of the image, and a distorted sectorial pattern dl-d4 is formed in a distorted sectorial pattern al-a2-b27bl. Thus, patterns in the neighborhood of the axis of the lens are distorted slightly and patterns remote from the axis of the lens are distorted greatly. Although distorted, the image is generally good enough to indicate the position of an object.
An image processing process of reconstructing the original image of the object, such as the pattern dl-d4 (an image of the pattern dl-d4 as viewed from a point 5 on the center vertical line) is carried out. For that purpose, a pattern al-a2-b2-bl of a region including the pattern dl-d4 as shown in Fig. 4 is selected and cut out. The respective coordinates of the points al, a2, b2 1 7 and bl in the original image are known. These points al, a2, b2 and bl are used as reference coordinate points for image processing. The respective positions of the points defining the pattern dl-d4 are corrected by an arithmetic operation which compares the positions of the points defining the pattern dl-d4 with the positions of the reference coordinate points to obtain an approximate original pattern dl-d4 shown in Fig. 5. This arithmetic process expresses the coordinates of each of the points defining the pattern d I -d4 shown in Fig. 2 as a function of angle in a horizontal plane and angle in a vertical plane about the viewing point m with respect to the reference coordinate points al, a2, b2 and b I. For example, the point dl is expressed by a function of angles 0 1 and 02 with respect to the reference coordinate point al. The image is corrected and reconstructed by arithmetic operations so that the ratios between the points are approximately equal to those between the corresponding points on the original image. The arithmetic operations are generally known geometrical and algebraic operations.
Similarly, a process of reconstructing the original image of the pattern cl-c4 (an image of the pattern cl-c4 as viewed from a point on the center vertical line) selects and cuts out a pattern containing the pattern cl-c4, such as the pattern bl-b8, and corrects the positions of the points defining the pattern c I -c4 by calculation using one of the points b 1 to b8 as a reference coordinate point to obtain an approximate original image. Figs. 4 and 5 illustrates a procedure for obtaining an approximate original image of a segment cl-c2-n of the pattern cl-c4. As is apparent from Figs. 4 and 5, a pattern formed near the center axis of the lens, such as the pattern c 1 -c4, is less distorted than a pattern remote from the center axis of the lens and requires slight image correction.
With this principle in view, the present invention allows the distortion of an image of an object in a process of taking the image of the object to recognize the object easilY, selects a specific pa.rt of the image optionally whenever necessary, and carries out an image processing process to correct the image of the specific part of the image in order that the object can be viewed in an 8 approximate original image.
The position of the image pickup unit I may be selectively determined according to the purpose. For example, In a wideangle viewing system in a second embodiment according to the present invention shown in Fig. 6, an image pickup unit I is held on the ceiling to include two objects P I and P2 in its visual field. In the wide-angle viewing system shown in Fig. 6, points f 1 to f4 at the four corners of a room may be used as reference coordinate points.
The image processing unit 2 has at least a function to carry out a process of directly displaying an image provided by the image pickup unit 1 on the display unit 3, a function to carry out a process of selecting a specific part of the image, and a function to carry out an arithmetic process of correcting and reconstructing the distorted specific part of the image to produce an approximate original image. The image provided by the image pickup unit 1 and the approximate original image may be displayed alternately, may be displayed simultaneously on the screen or may be displayed on separate display units 3. The distortion of the image may be corrected and reconstructed by a digital process which deals with pixels forming the image or by a geometrical process which deals with analog patterns.
The arithmetic process is based on the foregoing basic principle. The arithmetic process may be carried out by a fully automatic method which uses the coordinates of reference coordinate points stored beforehand or may be carried out by a semiautomatic method in which the coordinates of reference coordinate points are optionally changeable and dimensions, distortion ratio and so on are specified by the operator.
Naturally, the image processing process may further include image correcting steps to facilitate viewing, such as a step of enlarging or reducing the image, a step of inverting the image and a step of turning the image.
An image storage unit 4 or 5 may be interposed either between the image pickup unit 1 and the image processing unit 2 or between the image processing unit 2 and the display unit 3, or image storage units 4 and 5 may be interposed both between the 1 9 image pickup unit 1 and the image processing unit 2 and between the image processing unit 2 and the display unit 3, respectively.
Although a distorted image is stored in the image storage unit 4 when the image storage unit 4 is interposed between the image pickup unit 1 and the image processing unit 2, such a recording method is desirable for the time-series observation of a wide visual field. For example, when identifring a trespasser on a building in the future, the image of a wide visual field taken in a predetermined period and stored in the image storage unit 4 is reproduced and examined to find the trespasser, a part of the stored image including the trespasser is corrected by the image processing unit 2 to obtain an approximate original image of the part of the stored image, and the approximate original image is displayed to identify the trespasser. If the wide-angle viewing system is an endoscopic system, an image of a wide visual field as taken is stored in the image storage unit 4, the image is reproduced later for examination by a plurality of examiners having different views, different parts of the image showing different parts of the visual field are selected by the plurality of examiners, respectively, and the different parts of the image are processed to obtain approximate original images of the different parts of the visual field for examination, which is effective in avoiding failure in finding a serious problem.
When the image storage unit 5 is interposed between the image processing unit 2 and the display unit 3, image data including an approximate original image obtained by correcting the image provided by the image pickup unit 1 can be stored.
Referring to Fig. 7 showing a wide-angle viewing system in a third embodiment according to the present invention, image pickup units 1 are installed at a plurality of positions specified by coordinates to obtain three-dimensional image data on an object in a wide visual filed without performing a scanning operation by simultaneously taking images of the object by the image pickup units I from a plurality of viewing points. The wide-angle viewing system comprises, as principal components, a plurality of image pickup units I each provided with a wide-angle lens, an image processing unit 2 capable of converting the images simultaneously provided by the image pickup units 1 into a three-dimensional image of the object by an arithmetic process of determining coordinates of points on the object in a threedimensional coordinate system, and a display unit 3 for displaying an output image of the image processing unit 2.
A principle of operation of the wide-angle viewing system shown in Fig. 7 will be described with reference to Figs. 8 to 11.
Referring to Fig. 8, suppose that a rectangle dl-d4 is defined on the circumference al-a2-W-bl of a circular cylinder having a top surface ala8 and a bottom surface bl-b8. Suppose also that a point dl' on a straight line connecting the center m of the top surface of the circular cylinder and an end point dI on the rectangle dl-d4, a point d2' on a straight line connecting the center m of the top surface of the circular cylinder and an end point d2, and end points d3 and d4 define a trapezoidal pattern d1'-d2'-d3-d4 in the space defined by the circular cylinder. Furthermore, suppose that the image pickup unit I provided with a circular fish-eye lens having a field angle of 180' and capable of providing a circular image is located at the center m of the top surface of the circular cylinder to take an image of the space extending below the image pickup unit 1.
An image as provided by the image pickup unit 1 and displayed on the display unit, similarly to the image shown in Fig. 3, has a pattern resembling a truncated cone having a small circle bl-b8 corresponding to the bottom surface, a large circle al-a8 corresponding to the ' top surface. A pattern dl-d4 distorted in a sectorial shape is formed in a pattern a 1 -a2-b2 -b I distorted in a sectorial shape. The trapezoidal pattern dl'-d2'd3-d4 and the pattern dl-d4 axe superposed and those patterns cannot be discriminated from each other because the image pickup unit I is provided with a single lens and is incapable of obtaining threedimensional information about the position of the object necessary for determining the distance between the image pickup unit and the object. Therefore, the reconstruction of an approximate original image of an object in a space apart from a known plane is impossible, although the reconstruction of 11 an approximate original image of an object on the known plane is possible.
Then, suppose that, as shown in Fig. 9, two image pickup units 1 are disposed at viewing points m and m on the circular cylinder to take images of an object below the image pickup units 1 simultaneously to make possible the reconstruction of an approximate original image of the object by using three dimensional information about the position of the object in the space.
As shown in Fig. 10, an image taken by the image pickup unit 1 disposed at the viewing point m has a large circle having its center at a point n directly below the viewing point m and corresponding to the top surface al-a8 of the circular cylinder, and a small circle corresponding to the bottom surface b 1 -b8 and having its center dislocated in one direction from the center n of thelargecircle. A distorted pattern dl-d4 appears in a distorted sectorial pattern al-a2-b2-b I. As shown in Fig. 11, an image taken by the image pickup unit 1 disposed at the viewing point m has a large circle having its center at a point n directly below the viewing point ni: and corresponding to the top surface al-a8 of the circular cylinder, and a small circle corresponding to the bottom surface bl-b8 and having its center dislocated in the other direction from the center n of the large circle. A distorted pattern dl-d4 different from that shown in Fig. 10 appears in a distorted sectorial pattern al-a2-W-b 1 different from that shown in Fig. 10. The positional difference between the viewing points m and m causes the positional difference between the images.
Three-dimensional information about positions are calculated on the basis of the positional difference between the images, and then an image processing process for converting the images provided by the image pickup units into a threedimensional image of the object is carried out. Suppose that the pattern dl-d4 isan object. An arithmetic process expresses the coordinates of each of the points defining the pattern dl-d4 shown in Fig. 9 as a function of an angle in a horizontal plane and an angle in a vertical plane about the viewing point m with respect to one of the reference coordinate points al, a2, b2, bl, 12 and ni (for example, the point d I is expressed by a function of angles el and e2 with respect to the point al as a reference coordinate point or angles E)3 and 62 with respect to the point M as a reference coordinate point), and a function of an angle in a horizontal plane and an angle in a vertical plane about the viewing point m with respect to one of the reference coordinate points al, a2, b2, bl, and m (for example, the point dl is expressed by a function of angles 6 1' and E)2' with respect to the point a I as a reference coordinate point or angle s E) 3' and E3 2' with respect to the point m as a reference coordinate point), and reconstruct a three- dimensional image. The arithmetic operations are generally known geometrical and algebraic operations. Although time necessary for the arithmetic process increases, redundancy is increased and errors are reduced if the number of the used reference coordinate points is increased.
In the figure, two image pickup units 1 are shown by way of example, but three or more image pickup units could of course be used.
Using the above stated principle, the present invention executes an image processing operation to obtain a threedimensional image of an object and obtains an effect of being able to easily construct an image similar to the original.
The positions of the image pickup units I may be selected appropriately depending on each application. In Fig. 12, for 2S example, two parallel image pickup units I are installed side by side on the ceiling of a room so as to be able to view two objects pl and p2. These image pickup units 1 may be installed at an angle to each other. Fig. 13 shows an example in which more than two image pickup units I are installed for image pickup in an arrangement directed toward a common object p. This arrangement makes it possible to catch the object without shades, that is, threedimensional positional information is obtained covering the entire object whereby a three-dimensional precise image can be obtained.
An image of a further increased field can be taken by installing a plurality of image pickup units so as to look outward and operating the plurality of image pickup units simultaneously.
13 An image pickup unit similar to the compound eye of an insect can be constructed by combining a plurality of image pickup units 1. If such an image pickup unit similarto the compound eye of an insect is employed, the image processing unit 2 carries out an arithmetic process for constructing an image of a large field by superposing overlapping regions of the images provided by the image pickup units 1.
A method by which the display unit 3 displays an image will be described hereafter. - Although the image may be displayed by the display unit 3 on a known image displaying means, such as a CRT or a liquid crystal display, the image may be projected through a wide-angle lens on a curved screen instead of on a flat screen as shown in Figs. 1 and 7.
Fig. 14 illustrates an image projection system which projects an image of a wide visual field on a substantially spherical screen by an image projection method reverse to an image pickup method by which the image is provided. In this image projection system, a projector (display unit) 3 is disposed at a position dislocated from a position substantially on the center axis of a screen to enable a viewer to view an image projected on the screen from a position on the center axis of the screen, which is a visually optimum position for observing the image projected on the screen. An image processing unit 2 carries out an image correcting process for correcting a distortion due to the difference between the position from which the image is projected and the position, from which the projected image is viewed in order that the image g l'-g2'-g3' projected on the screen from a position dislocated from the center axis of the screen 30 looks most similar to an original image gl-g2-g3.
Fig. 15 shows a wide-angle viewing system which takes an image of a visual field by a plurality of image pickup units 1 and projects the image by a plurality of projectors 3 on a screen to make a viewer view the image with a realistic visual sensation. Images provided by the image pickup units 1 arranged in the form of the compound eye of an insect are projected by a plurality of projectors 3 arranged in a positional relation different from the
14 positional relation between the image pickup units 1 on a substantially spherical screen, and the viewer views the images from a position substantially on the center axis of the screen, so that the viewer feels a realistic visual sensation. This wideangle viewing system is applicable to, for example, flight simulators and playing machines which enable people experience virtual reality.
The image processing unit 2 carries out at least an arithmetic process forconstructing an image by superposing overlapping regions of the images and an arithmetic process for correcting a distortion due to the difference between the positions from which the images are projected and the position from which the projected images are viewed in order that the image gl'-g2'g3'-g4 projected on the screen looks most similar to an original image gl-g2-g3-g4.
In this wide-angle viewing system, a seat for the viewer, the seat for the viewer and the projectors or the seat for the viewer and the screen may be moved to make the viewer feel a sensation of acceleration.
As shown in Fig. 15, the wide-angle viewing system is provided with an image producing unit 6 which produces images in addition to the image pickup units 1. Images produced by the image producing unit 6 can be selectively projected, and an image formed by combining an image produced by the image producing unit 6 and images provided by the image pickup units I can be displayed. Naturally, only images produced by the image producing unit 6 may be displayed.
A three-dimensional image of the object can be displayed on a flat or curved screen by various image projecting methods, and the three-dimensional image can be displayed in a space by using a projector which projects the three-dimensional image into the space, such as a three-dimensional hologram projector, as the display unit 3.
Matters common to the foregoing embodiments will be described hereafter.
Although the image pickup units 1 of the foregoing embodiments are provided with the fish-eye lens having a field angle of 180", the image pickup units 1 may be provided with a lens having a field angle of 180' or above or 180(' or below if the purpose permits.
Although the principle has been described in connection with Figs. 2 to 5 and 8 to 11 on an assumption that the wideangle lens is a circular fisheye lens having a field angle of 1800 or above and capable of forming a circular image of the visual field, the wide-angle lens may be a diagonal fish-eye lens having a field angle of 180' or above with respect to directions parallel to the diagonals of its visual field and capable of forming a rectangular image of the visual field if the purpose permits. Although image processing arithmetic operations to be carried out when a diagonal fish- eye lens is employed are different from those to be carried out when a circular fish-eye lens is employed, the effect of the diagonal fish-eye lens is the same as that of the circular fish-eye lens.
Although the lenses employed in the foregoing embodiments are supposed to be optical lenses for convenience, naturally, the lenses may be electronic lenses provided with an electromagnetic deflecting systems. An image of an object formed by irradiating the object with an electromagnetic radiation other than visible radiations, such as ultraviolet rays, infrared rays, x-rays or gamma rays, may be taken by an image pickup unit I provided with a wide- angle electronic lens. Thus, the present invention is applicable to an electron microscope or the like.
The image pickup unit 1 may be provided with an image sensor, such as a solid-state image sensor, capable of providing electric signals representing an image and disposed behind the lens or may be provided with an image sensor and an image transmitting member, such as an optical fiber, connected to the image sensor. The image pickup unit 1 may be provided with an illuminating device for illuminating an object.
Although it is one of the features of the present invention that the image pickup unit 1 is capable of taking an image of the object without leaving any dead area even if the same is kept stationary, the present invention may employ an image pickup 16 unit of a swing type to pick up an image of an object in a wider field.
The image processing unit 2 may carry out the arithmetic process by hardware including a ffixed electronic circuit included therein or by software incorporated into the image processing unit 2.
The image processing unit 2 may selectively give an image provided by the image pickup unit 1, an image produced by subjecting the image provided by the image pickup unit to an arithmetic process by the image processing unit 2 or an image produced by the image producing unit 6, may simultaneously give all those images or may give an image produced by combining those images to the display unit 3. It is desirable that the image processing unit 2 has the function of a system is controller.
The image storage units 4 and 5 included in the wideangle viewing system may be of a digital system or an analog system. A known storage medium, such as a semiconductor storage device, a magnetic tape, a magnetic disc, an optical disc or the like, may be used. Naturally, an image data compressing and reproducing function may be employed.
The image pickup unit 1, the image processing unit 2, the display unit 3, the image storage units 4 and 5, and the image producing unit 6 may be interconnected by a communication system. The images may be either color images or monochromatic images. Image processing and voice processing may be used in combination. ' When voice processing is used, it is preferable to use a nondirectional microphone for collecting sounds because the wide-angle lens is used for taking the image.
A stereophonic sound collecting method may be used to coordinate the respective positions of the image and a corresponding sound source Although the foregoing embodiments have been described on an assumption that a viewer watches the image, the image maybe compared with a predetermined pattern by an automatic device and a predetermined action may be performed on the basis of the result of comparison.
1 1 17 The configurations of the devices and the members employed in the present invention and materials for forming the those devices and members may be selectively determined on the basis of generally known techniques. The present invention is not limited in its practical application to the foregoing embodiments specifically described herein and many changes and variations in design may be made therein without departing from the scope of the invention.
INDUSTRIAL APPLICABILI - The present invention employs an image pickup unit, an image processing unit and a display unit based on novel technical ideas to overcome disadvantages of the conventional viewing system due to dead angle, to allow the distortion of an image of an object in taking the image of the object, and to execute an image correcting operation for correcting the distortion of only a specific part of the image in order that an approximate original image of the object can be viewed. The present invention also processes a plurality of images of an object taken simultaneously by a plurality of image pickup units to provide a threedimensional image or to reconstruct an image of a wide visual field to facilitate viewing an approximate original image of the object. Thus, the wide-angle viewing system of the present invention is effectively applicable to systems for the observation of a wide field and for the accurate visual recognition of a specific part of a wide field, such as monitoring systems, tracking systems, surveying systems, pattern recognition systems, guidance systems, endoscopic systems and simulation systems.
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Claims (17)
1. A wide-angle viewing system comprising: an image pickup unit (1) provided with a wide-angle lens for taking an image of an object; an image processing unit (2) for correcting a distorted image of a selected part of the image provided by the image pickup unit (1) by an arithmetic process which compares positions of points in the selected part with positions of set reference coordinate points in the image to provide an approximate original image of the object; and a display unit (3) for displaying an output image of the image processing unit (2).
2. A wide-angle viewing system comprising: a plurality of image pickup units (1) respectively provided with wide-angle lenses for taking images of an object; an image processing unit (2) for converting the images simultaneously taken by the plurality of image pickup units (1) into a three-dimensional image of the object by an arithmetic process for determining threedimensional coordinates of the object; and a display unit (3) for displaying an output image of the image processing unit (2).
3. A wide-angle viewing system comprising: a plurality of image pickup units (1) respectively provided with wide-angle lenses and respectively having overlapping taking fields; an image processing unit (2) for correcting images of an object taken simultaneously by the image pickup units (1) by an arithmetic process which connects the images by superposing overlapping parts of the images to provide a continuous image approximately resembling an original image of the object; and a display unit (3) for displaying an output image of the image processing unit (2).
4. The wide-angle viewing system according to claim 1, t) wherein the image processing unit (2) is capable of optionally changing the coordinates of the reference coordinate points.
5. The wide-angle viewing system according to any one of claims 1 to 4, further comprising an image producing unit (6) for 1 1 19 producing an image, wherein the image processing unit (2) is capable of selectively receiving an image produced by the image producing unit (6) or an image provided by the image pickup unit (1) -
6. The wide-angle viewing system according to any one of claims 1 to 5, wherein the image processing unit (2) carries out the arithmetic process by hardware including aflixed electronic circuit included therein.
7. The wide-angle viewing system according to any one of claims 1 to 5, wherein the image processing unit (2) carries out the arithmetic process by software usable by the image processing unit (2).
8. The wide-angle viewing system according to any one of claims 1 to 7 further comprising image storage units (4 and 5) to which image data is written and from which image data is read interposed between the image pickup unit (1) and the image processing unit (2) and between the image processing unit (2) and the display unit (3), respectively, or an image storage unit (4 or 5) interposed either between the image pickup unit (1) and the image processing unit (2) or between the image processing unit (2) and the display unit (3).
9. The wide-angle viewing system according to any one of claims 1 to 8, wherein the wide-angle lens is a fish-eye lens having a field angle of 180' or above.
10. The wide-angle viewing system according to any one of claims 1 to 9, wherein, the wide-angle lens is an optical lens.
Z>
11. The wide-angle viewing system according to any one of claims 1 to 9, wherein, the wide-angle lens is an electronic lens.
12. The wide-angle viewing system according to any one of claims I to 11, wherein the image pickup unit (1) is capable of turning its visual field.
13. The wide-angle viewing system according to any one of claims 1 to 12, wherein the display unit (3) is a projector for projecting an image through a wide-angle lens on a substantially spherical screen.
14. The wide-angle viewing system according to claim 13 wherein the projector is installed at a position dislocated from the center axis of the substantially spherical screen, and the image processing unit (2) carries out an image correcting process so that an image projected by the projector looks like an approximate original image of an object when viewed from a position substantially on the center axis of the screen.
15. The wide-angle viewing system according to claim 2 wherein the display unit (3) is a projector for projecting a threedimensional image of an object.
2 Amendments to the claims have been filed as follows 1.(Amended) A xkride-angle viewing system comprising: an image pickup unit (1) provided with a wide-angle lens for taking an image of an object; an image processing unit (2) for correcting a distorted image of a selected part of the image provided by the image pickup unit (1) by an arithmetic process which compares positions of points in the selected part with positions of set reference coordinate points in the image to provide an approximate original image of the object; and a display unit (3) for displaying an output image of the image processing unit (2), wherein the coordinates of the set reference coordinate points are optionally changeable in said image processing unit (2).
2.(Amended) The wide-angle viewing system according to claim 1, wherein an image producing unit (6) for producing an internal image is provided, and the internal image from the image producing unit (6) and the image from the image pickup unit (1) are selectively-inputtable to the image processing unit (2).
0 3. (Amended) A wide-angle viewing system comprising: an image pickup unit (1) provided with a wide-angle lens for taking an image of an object; an image processing unit (2) for correcting a distorted image of a selected part of the image provided by the image pickup unit (1) by an arithmetic process which compares positions of points in the selected part with positions of set reference coordinate points in the image to provide an approximate original image of the object; an image producing unit (6) connected to the image processing unit (2), for producing an internal image; and a display unit (3) for displaying an output image of the image processing unit (2), wherein the internal image from the image producing unit (6) and the image from the image pickup unit (1) are selectively inputtable to the image processing unit (2).
Z> 4.(Amended) A wide-angle viewing system comprising: a plurality of image pickup units (1) respectively provided with wide-angle lenses for taking images of an object; an image processing unit (2) for converting the images simultaneously taken by the plurality of image pickup units'(1) into a threedimensional image of the object by an arithmetic process for determining three-dimensional coordinates of the object; an image producing unit (6) connected to the image processing unit (2) for producing an internal image and a display unit (3) for displaying an output image of the image processing unit (2). wherein the internal image from the image producing unit (6) and the image from the image pickup units (1) are selectively inputtable to the image processing unit (2).
5.(Amended) A wide-angle viewing system comprising: a plurality of image pickup units (1) respectively provided with wide-angle lenses and respectively having overlapping taking fields; an image processing unit (2) for correcting images of an object taken simultaneously by the image pickup units (1) by an arithmetic process which connects the images by superposing overlapping parts of the images to provide a continuous image approximately resembling an original image of the object; an image producing unit (6) connected to the image processing unit (2) for producing an internal image and a display unit (3) for displaying an output image of the image processing unit (2). wherein the internal image from the image producing unit (6) and the image from the image pickup units (1) are selectively inputtable to the image processing unit (2).
6. (Amended) The wide-angle viewing system according to CI any one of claims 1 to 5, wherein the display unit (3) is a device (3) for projecting an image through a wide-angle lens on a substantially spherical screen.
7.(Amended) The wide-angle viewing system according to t) claim 6 wherein said device (3) is installed at a position dislocated from the center axis of the substantially spherical screen, and the image processing unit (2) carries out an image correcting process so that an image projected by said device looks like an 2_ approximate original image of an object when viewed from a position substantially on the center axis of the screen.
8.(Amended) A wide-angle viewing system comprising: at least one image pickup unit (1) provided with a wide-angle lens; an image processing unit (2) for correcting an image provided by the image pickup unit (1) by an arithmetic process; and at least one display unit (3) for projecting an output image of the image processing unit (2) through a wide-angle lens on a substantially spherical screen, wherein said display unit (3) is installed at a position dislocated from the center axis of the substantially spherical screen, and the image processing unit (2) carries out an image correcting process so that an image projected from the display unit looks like an approximate original image when viewed from a position substantially on the center axis of the screen.
9.(Amended) The wide-angle viewing system according to claims 8, further comprising an image producing unit (6) for producing an image, wherein the image processing unit (2) is capable of selectively receiving an image produced by the image producing unit (6) or an image provided by the image pickup unit Z-D (1).
10.(Amended) The wide-angle viewing system according to claim 4, wherein the display unit (3) is a device for projecting a three-dimensional image of an object.
11. (Amended) The wide-angle viewing system according to any one of claims 1 to 10, wherein the image processing unit (2) carries out the arithmetic process by hardware including a fixed electronic circuit included therein.
12.(Amended). The wide-angle viewing system according to any one of claims 1 to 10, wherein the image processing unit (2) carries out the arithmetic process by software usable by the image processing unit (2).
2ú1 13.(Amended) The wide-angle viewing system according to any one of claims 1 to 12 further comprising image storage units (4 and 5) to which image data is written and from which image data is read interposed between the image pickup unit (1) and the image processing unit (2) and between the image processing unit (2) and the display unit (3), respectively, or an image storage unit (4 or 5) interposed either between the image pickup unit (1) and the image processing unit (2) or between the image processing unit (2) and the display unit (3).
14.(Amended) The wide-angle viewing system according to any one of claims 1 to 13, wherein the wide-angle lens is a fish-eye lens having a field angle of 180' or above.
15.(Amended) The wide-angle viewing system according to any one of claims 1 to 14, wherein, the wide-angle lens is an optical lens.
16.(Added) The wide-angle viewing system according to any one of claims 1 to 14, wherein, the wide-angle lens is an electronic lens.
17.(Added) The wide-angle viewing system according to any one of claims I to 16, wherein the image pickup unit (1) is capable of turning its visual field.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3616496 | 1996-02-23 | ||
| PCT/JP1997/000480 WO1997031484A1 (en) | 1996-02-23 | 1997-02-21 | Wide visual-field recognizing system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| GB9818050D0 GB9818050D0 (en) | 1998-10-14 |
| GB2325815A true GB2325815A (en) | 1998-12-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB9818050A Withdrawn GB2325815A (en) | 1996-02-23 | 1997-02-21 | Wide visual-field recognizing system |
Country Status (3)
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| AU (1) | AU1734197A (en) |
| GB (1) | GB2325815A (en) |
| WO (1) | WO1997031484A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001037028A1 (en) * | 1999-11-15 | 2001-05-25 | Equal Reverse Thoughts Limited | Method of improved image depth perception |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4304997B2 (en) * | 2003-02-06 | 2009-07-29 | 株式会社日立製作所 | Multi-camera video composition display device |
| JP2005277825A (en) * | 2004-03-25 | 2005-10-06 | Hitachi Ltd | Multi-camera image display device |
| JP2006020141A (en) * | 2004-07-02 | 2006-01-19 | Denso Corp | Display controller |
| US8174562B2 (en) * | 2007-11-09 | 2012-05-08 | Honeywell International Inc. | Stereo camera having 360 degree field of view |
| JP6124570B2 (en) * | 2012-11-30 | 2017-05-10 | 株式会社ミツトヨ | XYZ orthogonal measuring device |
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- 1997-02-21 WO PCT/JP1997/000480 patent/WO1997031484A1/en active Application Filing
- 1997-02-21 AU AU17341/97A patent/AU1734197A/en not_active Abandoned
- 1997-02-21 GB GB9818050A patent/GB2325815A/en not_active Withdrawn
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| JPH0380239A (en) * | 1989-08-24 | 1991-04-05 | Seiko Epson Corp | Projection type liquid crystal device |
| US5185667A (en) * | 1991-05-13 | 1993-02-09 | Telerobotics International, Inc. | Omniview motionless camera orientation system |
| EP0539565A1 (en) * | 1991-05-13 | 1993-05-05 | Omniview, Inc. | Omniview motionless camera orientation system |
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| WO2001037028A1 (en) * | 1999-11-15 | 2001-05-25 | Equal Reverse Thoughts Limited | Method of improved image depth perception |
Also Published As
| Publication number | Publication date |
|---|---|
| AU1734197A (en) | 1997-09-10 |
| GB9818050D0 (en) | 1998-10-14 |
| WO1997031484A1 (en) | 1997-08-28 |
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