DOI QR코드

DOI QR Code

Compact Catadioptric Wide Imaging with Secondary Planar Mirror

  • Ko, Young-Jun (Department of Electrical and Information Engineering, Seoul National University of Science and Technology) ;
  • Yi, Soo-Yeong (Department of Electrical and Information Engineering, Seoul National University of Science and Technology)
  • Received : 2019.03.02
  • Accepted : 2019.05.31
  • Published : 2019.08.25

Abstract

Wide FOV imaging systems are important for acquiring rich visual information. A conventional catadioptric imaging system deploys a camera in front of a curved mirror to acquire a wide FOV image. This is a cumbersome setup and causes unnecessary occlusions in the acquired image. In order to reduce both the burden of the camera deployment and the occlusions in the images, this study uses a secondary planar mirror in the catadioptric imaging system. A compact design of the catadioptric imaging system and a condition for the position of the secondary planar mirror to satisfy the central imaging are presented. The image acquisition model of the catadioptric imaging system with a secondary planar mirror is discussed based on the principles of geometric optics in this study. As a backward mapping, the acquired image is restored to a distortion-free image in the experiments.

Keywords

KGHHD@_2019_v3n4_329_f0001.png 이미지

FIG. 1. Design of the combined hyperbolic mirror.

KGHHD@_2019_v3n4_329_f0002.png 이미지

FIG. 2. Imaging system using the combined hyperbolic mirror and secondary planar mirror.

KGHHD@_2019_v3n4_329_f0003.png 이미지

FIG. 3. Image acquisition model on horizontal plane.

KGHHD@_2019_v3n4_329_f0004.png 이미지

FIG. 4. Image acquisition model for lower part of the mirror: (a) Cross-section in x − y(r − y) plane, (b) Front view.

KGHHD@_2019_v3n4_329_f0005.png 이미지

FIG. 5. Size and position of secondary planar mirror (top view).

KGHHD@_2019_v3n4_329_f0006.png 이미지

FIG. 6. Occlusion due to secondary planar mirror.

KGHHD@_2019_v3n4_329_f0007.png 이미지

FIG. 7. Hole size of primary curved mirror.

KGHHD@_2019_v3n4_329_f0008.png 이미지

FIG. 8. Imaging system using a combined hyperbolic mirror and secondary planar mirror: (a) Front and rear view of combined hyperbolic mirror with a camera, (b) Experimental setup with the secondary planar mirror.

KGHHD@_2019_v3n4_329_f0009.png 이미지

FIG. 9. Placement of the secondary planar mirror for central imaging: (a) Central image, (b) Non-central image.

KGHHD@_2019_v3n4_329_f0010.png 이미지

FIG. 10. Experimental result: (a) Original image, (b) Restored image: mercator image, (c) Restored image: bird’s eye view.

TABLE 1. Parameters of the combined hyperbolic mirror (mm)

KGHHD@_2019_v3n4_329_t0001.png 이미지

References

  1. S. K. Nayar, "Catadioptric omnidirectional camera," in Proc. IEEE Computer Society Conference on Computer Vision and Pattern Recognition (USA, Jun. 1997), pp. 482-488.
  2. B. Micusik and T. Pajdla, "Structure from motion with wide circular field of view cameras," IEEE Trans. Pattern Anal. Mach. Intell. 28, 1135-1149 (2006). https://doi.org/10.1109/TPAMI.2006.151
  3. C.-C. Lin and M.-S. Wang, "A vision based top-view transformation model for a vehicle parking assistant," Sensors (Basel) 12, 4431-4446 (2012). https://doi.org/10.3390/s120404431
  4. B. Zhang, V. Appia, I. Pekkucuksen, Y. Liu, A. U. Batur, P. Shastry, S. Liu, S. Sivasankaran, and K. Chitnis, "A surround view camera solution for embedded systems," in Proc. IEEE Conference on Computer Vision and Pattern Recognition Workshops (USA, Jun. 2014), pp. 676-681.
  5. Y.-Y. Chen, Y.-Y. Tu, C.-H. Chiu, and Y.-S. Chen, "An embedded system for vehicle surrounding monitoring," in Proc. 2nd International Conference on Power Electronics and Intelligent Transportation System (PEITS) (China, Dec. 2009), pp. 92-95.
  6. J. Kannala and S. S. Brandt, "A generic camera model and calibration method for conventional, wide-angle, and fish-eye lenses," IEEE Trans. Pattern Anal. Mach. Intell. 28, 1335-1340 (2006). https://doi.org/10.1109/TPAMI.2006.153
  7. S. Shestha, A. Overvig, and N. Yu, "Broadband achromatic metasurface lenses," in Proc. Conference on Lasers and Electro-Optics, OSA Technical Digest (online) (Optical Society of America, 2017), paper FM1H.3.
  8. T. E. Boult and G. Wolberg, "Correcting chromatic aberrations using image warping," in Proc. IEEE Computer Society Conference on Computer Vision and Pattern Recognition (USA, Jun. 1992), pp. 684-687.
  9. Y. Yagi and S. Kawato, "Panorama scene analysis with conic projection," in Proc. IEEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications (Japan, Jul. 1990), pp. 181-187.
  10. R. Orghidan, J. Salvi, and E. M. Mouaddib, "Calibration of a structured light-based stereo catadioptric sensor," in Proc. Conference on Computer Vision and Pattern Recognition Workshop (USA, Jun. 2003), p. 70.
  11. R. Orghidan, E. M. Mouaddib, and J. Salvi, "A computer vision sensor for panoramic depth perception," in Proc. 2nd Iberian Conference on Pattern Recognition and Image Analysis (Portugal, Jun. 2005), pp. 153-160.
  12. S. Yi, B. Choi, and N. Ahuja, "Real-time omni-directional distance measurement with active panoramic vision," Int. J. Control Autom. Syst. 5, 184-191 (2007).
  13. J. Gluckman and S. K. Nayar, "Catadioptric stereo using planar mirrors," Int. J. Computer Vision 44, 65-79 (2001). https://doi.org/10.1023/A:1011172403203
  14. J. Gluckman, S. K. Nayar, and K. J. Thoresz, "Real-time omnidirectional and panoramic stereo," in Proc. DARPA Image Understanding Workshop (USA, Nov. 1998), pp. 299-303.
  15. G. Jang, S. Kim, and I. Kweon, "Single camera catadioptric stereo system," in Proc. of Workshop on Omnidirectional Vision, Camera Networks and Nonclassical cameras (OMNIVIS2005) (China, Oct. 2005), pp. 1-8.
  16. T. Svoboda and T. Pajdlar, "Epipolar geometry for central catadioptric cameras," Int. J. Computer Vision 49, 23-37 (2002). https://doi.org/10.1023/A:1019869530073
  17. S. Yi and N. Ahuja, "An omnidirectional stereo vision system using a single camera," in Proc. 18th International Conference on Pattern Recognition (ICPR'06) (China, Aug. 2006), pp. 861-865.
  18. S. Baker and S. K. Nayar, "A theory of single-viewpoint catadioptric image formation", Int. J. Computer Vision 35, 175-196 (1999). https://doi.org/10.1023/A:1008128724364
  19. A. M. Bruckstein and T. J. Richardson, "Omniview cameras with curved surface mirrors", in Proc. IEEE Workshop on Omnidirectional Vision (Cat. No.PR00704) (USA, Jun. 2000), pp. 79-84.
  20. S. Yi and Y. Ko, "Wide field-of-view imaging using a combined hyperbolic mirror," Curr. Opt. Photon. 1, 336-343 (2017). https://doi.org/10.3807/COPP.2017.1.4.336
  21. C. Geyer and K. Daniilidis, "A unifying theory for central panoramic systems and practical implications," in Proc. European Conference on Computer Vision (ECCV2000) (Ireland, Jun. 2000), pp. 445-461.