WO2004066013A1 - Camera catadioptrique - Google Patents

Camera catadioptrique Download PDF

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Publication number
WO2004066013A1
WO2004066013A1 PCT/EP2004/000177 EP2004000177W WO2004066013A1 WO 2004066013 A1 WO2004066013 A1 WO 2004066013A1 EP 2004000177 W EP2004000177 W EP 2004000177W WO 2004066013 A1 WO2004066013 A1 WO 2004066013A1
Authority
WO
WIPO (PCT)
Prior art keywords
mirror
optical system
camera
lens
catadioptric camera
Prior art date
Application number
PCT/EP2004/000177
Other languages
German (de)
English (en)
Inventor
Pascal Paysan
Alexander Würz-Wessel
Original Assignee
Daimlerchrysler Ag
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Daimlerchrysler Ag filed Critical Daimlerchrysler Ag
Publication of WO2004066013A1 publication Critical patent/WO2004066013A1/fr

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Classifications

    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B13/00—Optical objectives specially designed for the purposes specified below
    • G02B13/06—Panoramic objectives; So-called "sky lenses" including panoramic objectives having reflecting surfaces

Definitions

  • the present invention relates to a catadioptric camera, that is to say a camera in which not only lenses but also curved mirror surfaces are used as imaging elements.
  • 6,392,687 B1 a cathodic camera in which a lens system is accommodated inside a mirror referred to as the main reflector, a front lens of this lens system being inserted into an opening of the main reflector and observing an opposing second reflector, the one with the latter
  • the cone-shaped space that can be observed by the camera has an opening angle of significantly more than 180 °, but within this field of view there is a dead area in which the second reflector blocks a view of the lens system straight ahead, but this was not perceived as annoying, since essentially one Application of the camera with a vertically oriented optical axis was thought In such a setup, the camera has a 360 ° horizontal view, and the dead area is oriented toward the zenith or nadir, in a direction that is generally of less interest to observe.
  • the object of the invention is therefore to provide a catadioptric camera in which the dead area, if not completely eliminated, is at least substantially reduced.
  • the object is achieved by a camera with the features of claim 1.
  • the optical auxiliary system is preferably designed as a lens system. Its viewing angle can correspond exactly to the opening angle of the blind area of the main optical system. If this is the case, the dead area is reduced to a hollow cone with a wall thickness which corresponds approximately to the radius of the first mirror. Such a remaining dead area is negligible if the objects to be observed are at a distance from the camera that is a multiple of the radius of the first mirror.
  • the viewing angle of the auxiliary system is slightly larger than the opening angle of the blind area.
  • the observation areas of the main system and the auxiliary system overlap at a great distance from the camera, but there is one level where the observation areas seamlessly adjoin each other.
  • the greater the difference in the opening angle of the dead area the smaller the distance of this plane from the camera of the main optical system and the observation area of the auxiliary system.
  • the blind spot of the main optical system or the surface area of the first mirror replaced by the window in accordance with the invention corresponds to a conical volume between the first mirror and the image plane through which no light beam contributing to image generation passes.
  • a camera is presented which has a blackened cone in this volume, which serves to suppress highlights and multiple reflections in the image generated by the camera.
  • this pin is preferably replaced by a tube through which the beam path of the auxiliary system runs It also considerably simplifies the construction of the optical auxiliary system, since it enables lenses of the auxiliary system to be placed anywhere along the op table axis between the first mirror and the image plane.
  • the camera preferably also comprises a second mirror, which is located upstream of the first mirror in the beam path of the main optical system.
  • These two mirrors can be permanently and permanently connected by a transparent dome, which also forms an entry window for the main optical system. It is also conceivable that the two mirrors are surfaces of a single transparent body, in which case the tube, if present, is formed by an axial bore in the transparent body.
  • FIG. 1 shows a section along the optical axis through a catadioptric camera according to a first embodiment of the invention
  • FIG. 2 shows a section analogous to that of FIG. 1 through a variant of this camera
  • FIG. 3 shows a schematic section through a camera according to a second embodiment of the invention.
  • the camera comprises a cup-like housing 1 with a light-sensitive element arranged on the optical axis A, such as a CCD (Charge Coupled Device) 2.
  • the top of the housing is closed by a convex carrier body 3 made of glass, a dimensionally stable plastic or the like ,
  • the carrier body 3 carries on the outside a mirror 4, e.g. in the form of a vapor-deposited, possibly tempered aluminum or silver layer.
  • Opposite the CCD 2 and the mirror 4 is another carrier body 6, on the underside thereof in the same way as in Carrier body 3 a mirror 7 is formed.
  • the two carrier bodies 3, 6 are rigidly connected by a transparent dome 8, which at the same time forms an entry window of the main optical system of the camera.
  • This main optical system comprises the two mirrors 4, 7 and possibly a lens or a lens system (not shown), which can be attached in the bore 5 in order to possibly. Correcting aberrations of the mirror.
  • the figure shows the course of two beams 9, 10, each of which designates the limits of the region observable with the main optical system.
  • the main optical system draws a ring-shaped image of this observable area on the CCD 2, the dead area covered by the mirror 7 corresponding to a central dark zone in the interior of the ring.
  • a window 11 is formed in the mirror 7 and its support body 6 on the optical axis A.
  • the window does not influence the imaging properties of the main optical system, since it is in a blind spot at which the CCD 2 would only see its own mirror image if the mirror 7 were continuous there.
  • a tubular tube 12 is inserted into the window 11. The tube is black on the outside to intercept stray light in the space between the mirrors 4, 7, which could otherwise cause annoying highlights on the CCD 2.
  • a plurality of lenses 13, 14 are anchored in the interior of the tube 12, which - if present, together with lenses mounted in the bore 5 - form a lens objective. This lens objective projects an image of its observation space into the dark spot in the middle of the ring that is not illuminated by the main optical system.
  • the opening angle of the field of view is exactly the same as that of the blind area of the main optical system.
  • Figure 4 illustrates this relationship.
  • the dead area 16 of the main optical system and the observation area 17 of the auxiliary optical system formed by the lens lens are two around optical axis A centered cone with the same opening angle.
  • this wall thickness is a maximum of a few centimeters and can therefore usually be neglected when it comes to detecting objects of at least several centimeters in size at a distance of approximately one meter or more.
  • the opening angle of the observation area of the auxiliary optical system can also be chosen to be larger than that of the blind area of the main optical system. If this is the case, there is a plane 18 perpendicular to the optical axis A, in which the observation areas of the main system and the auxiliary system merge seamlessly into one another. Beyond this level 18, the observation areas partially overlap, so that one and the same observed object can be imaged twice on the CCD 2, once in the ring illuminated by the main system and once in the central spot illuminated by the auxiliary system. Since the overlap of the observation areas increases with increasing distance from the camera, the arrangement shown in FIG. 5 is less suitable when it comes to monitoring objects at a great distance; for monitoring close to the camera, e.g. If a camera according to the invention mounted on a bumper of a motor vehicle is used to monitor any obstacles when parking, the reduction in the remaining dead area achieved in this way is advantageous.
  • a lens with a variable focal length for the auxiliary optical system which lens is used to monitor the far range for an observation that corresponds to the blind spot of the main system.
  • angle and for monitoring the close range can be set to a larger observation angle.
  • the front lens 13 of the auxiliary optical system is inserted directly into the opening of the window. This limits the light intensity of the auxiliary optical system and can lead to the image generated by the auxiliary optical system being undesirably darker than that of the main system. In the embodiment of FIG. 2, this is avoided by using a front lens 13, the diameter of which is considerably larger than that of the window 11 and which accordingly gives the lens a higher light intensity.
  • the two carrier bodies 3, 6 and the dome 8 are replaced by a single glass body 20, which has a substantially conical, possibly anti-reflective coated outer surface, which forms the entry window of the main optical system, and two mirrored ones Has outer surfaces that form the mirrors 4 and 7, respectively.
  • a window 11 is provided in the area of the blind spot of the mirror 4, through which the optical auxiliary system runs.
  • the tube of the optical auxiliary system is not formed by a tube anchored to the mirror 7, but by a recess 21 of the glass body 20 running along the optical axis A.
  • the side walls of the recess 21 can be blackened, like the tube tube 1 to intercept stray light in the space between the mirrors, and the tapering of the tube in the direction of the CCD 2 is preferably formed by one or more shoulders, which at the same time act as a support for lenses inserted from the open end of the recess 21 of the optical auxiliary system can serve.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Lenses (AREA)

Abstract

La présente invention concerne une caméra catadioptrique qui présente un plan d'image, un axe optique (1), un système optique principal auquel appartient au moins un miroir (7) qui est placé sur l'axe optique et qui bloque la vue du plan d'image sur une zone morte se trouvant derrière le miroir (7), ainsi qu'un système auxiliaire (13, 14) qui s'étend à travers une fenêtre (11) du premier miroir (7) et qui représente au moins une partie (17) de la zone morte (16) sur le plan d'image.
PCT/EP2004/000177 2003-01-17 2004-01-14 Camera catadioptrique WO2004066013A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE2003101633 DE10301633A1 (de) 2003-01-17 2003-01-17 Katadioptrische Kamera
DE10301633.3 2003-01-17

Publications (1)

Publication Number Publication Date
WO2004066013A1 true WO2004066013A1 (fr) 2004-08-05

Family

ID=32602659

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2004/000177 WO2004066013A1 (fr) 2003-01-17 2004-01-14 Camera catadioptrique

Country Status (2)

Country Link
DE (1) DE10301633A1 (fr)
WO (1) WO2004066013A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2184632A2 (fr) * 2008-11-07 2010-05-12 Otus Technologies Limited Caméra panoramique

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102006002461B8 (de) 2006-01-18 2008-07-24 Max Planck-Gesellschaft zur Förderung der Wissenschaften e.V. Spiegeloptik für nahfeldoptische Messungen
KR102446196B1 (ko) * 2020-09-23 2022-09-26 주식회사 에픽옵틱스 돔 형태의 커버유닛을 포함하는 전방위 카메라모듈

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4395093A (en) * 1981-05-21 1983-07-26 The United States Of America As Represented By The Secretary Of The Navy Lens system for panoramic imagery
WO2000041024A1 (fr) * 1999-01-04 2000-07-13 Cyclovision Technologies, Inc. Dispositif d'imagerie panoramique
WO2001068540A2 (fr) * 2000-03-16 2001-09-20 Lee Scott Friend Appareil d'imagerie
US6333826B1 (en) * 1997-04-16 2001-12-25 Jeffrey R. Charles Omniramic optical system having central coverage means which is associated with a camera, projector, or similar article

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1388546A (en) * 1971-06-09 1975-03-26 Rank Organisation Ltd Lenses
IL85908A (en) * 1988-03-29 1992-06-21 Israel State Dual field of view optical system
US5161051A (en) * 1990-12-13 1992-11-03 Hughes Aircraft Company Simultaneous dual field of view sensor
US6356296B1 (en) * 1997-05-08 2002-03-12 Behere Corporation Method and apparatus for implementing a panoptic camera system

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4395093A (en) * 1981-05-21 1983-07-26 The United States Of America As Represented By The Secretary Of The Navy Lens system for panoramic imagery
US6333826B1 (en) * 1997-04-16 2001-12-25 Jeffrey R. Charles Omniramic optical system having central coverage means which is associated with a camera, projector, or similar article
WO2000041024A1 (fr) * 1999-01-04 2000-07-13 Cyclovision Technologies, Inc. Dispositif d'imagerie panoramique
WO2001068540A2 (fr) * 2000-03-16 2001-09-20 Lee Scott Friend Appareil d'imagerie

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
SOGO T ET AL: "Real-time target localization and tracking by N-ocular stereo", PROCEEDINGS IEEE WORKSHOP ON OMNIDIRECTIONAL VISION (CAT. NO.PR00704), PROCEEDINGS IEEE WORKSHOP ON OMNIDIRECTIONAL VISION, HILTON HEAD ISLAND, SC, USA, 12 JUNE 2000, 2000, Los Alamitos, CA, USA, IEEE Comput. Soc, USA, pages 153 - 160, XP002281293, ISBN: 0-7695-0704-2 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2184632A2 (fr) * 2008-11-07 2010-05-12 Otus Technologies Limited Caméra panoramique
EP2184632A3 (fr) * 2008-11-07 2010-07-07 Otus Technologies Limited Caméra panoramique

Also Published As

Publication number Publication date
DE10301633A1 (de) 2004-07-29

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