118 results about "Omnidirectional camera" patented technology

An endoscope that is free from a dead area and capable of preventing the physician from overlooking any nidus is an endoscope for taking the inside of digestive organs, and the endoscope is provided with an omnidirectional camera (32), a light (34), a forceps (36) and a rinse water injection port (38) at the tip (24). The omnidirectional camera (32) is a device for taking the inside of digestive organs, and is able to take 360-degree images of its surroundings. A probe-type endoscope (20) is provided with a receiver (26) composed of orthogonal coils, and the receiver (26) is used for estimating the position and attitude of the probe-type endoscope (20). An image taken by the omnidirectional camera (32) is presented on a display unit (28) of an image processing device (22) connected to the probe-type endoscope (20). In the image processing device, a video mosaicking process is performed on a plurality of images obtained by the omnidirectional camera (32) to generate a panoramic image of the inside of a digestive organ.

In a sound source display system, an omnidirectional camera captures an image of a monitoring area. A microphone array collects a voice in the monitoring area. A monitoring monitor displays the image of an imaging area captured by the omnidirectional camera. A sound pressure calculator in a directivity control device calculates a sound pressure indicating a source of a sound in the image of the imaging area using voice data of the voice collected by the microphone array. An output controller in the directivity control device compares the sound pressure and threshold values (first threshold value, second threshold value), and causes sound image information in which the sound pressure is converted into visual information according to the result of comparison, to be displayed on the monitoring monitor so as to be superimposed on the image of the imaging area.

In a condition detection and display system (100), an omnidirectional camera (1), internal condition sensors (3), external condition sensors (4), and others detect a condition of a vehicle and surroundings around the vehicle, image data which is a detection result obtained by the aforesaid members and contains an image of the vehicle is selected from an image database (6), and the selected image data is displayed on a liquid crystal panel (7) at a position close to a display of a speedometer.

An intelligent three-dimensional stereo camera device based on 3D panoramic vision, including a group of 3D panoramic camera devices composed of 4 omnidirectional camera devices, a group of 3D camera devices composed of 2 high-definition cameras, and 4 omnidirectional camera devices. A computer for panoramic stereo imaging processing of images; it can simultaneously acquire real-time 3D panorama and 3D video images, and the shooting process is extremely simple and convenient. Just click on the object you want to shoot on the panoramic image and the device will automatically complete the focus, horizontal rotation, vertical Actions such as rotation and 3D depth adjustment can be widely used in many application fields such as live stereoscopic shooting of major sports events, theatrical performances, and animation movies.

A simultaneous localization and map building method of a mobile robot including an omni-directional camera. The method includes acquiring an omni-directional image from the omni-directional camera, dividing the obtained omni-directional image into upper and lower images according to a preset reference to generate a first image, which is the lower image, and a second image, which is the upper image, extracting feature points from the first image and calculating visual odometry information calculating visual odometry information to track locations of the extracted feature points based on a location of the omni-directional camera, and performing localization and map building of the mobile robot using the calculated visual odometry information and the second image as an input of an extended Kalman filter.

An omnidirectional camera performs image sensing of a panoramic object 6 surrounding it, and sends the video signal to an image capturing device 1, then the image capturing device 1 extracts a video signal of a partial object 61 and sends the extracted video signal to a camera-equipped portable terminal 3 carried in user's hand at a place distant from the omnidirectional camera 2 to display the image of the video signal on a display surface 32a of the portable terminal, and the user shoots a surrounding object 8 with the portable terminal 3 and sends the surrounding video signal to the device 1. When the shooting direction of the portable terminal 3 is turned as indicated by the broken line, the device 1 detects a change in the shooting direction of he portable terminal 3 from a difference between the surrounding video signals generated before and after the turning of the portable terminal, and extracts, from a panorama video signal, a video signal of a partial object 62 turned from the partial object 61 in correspondence to the difference and sends the extracted video signal to the portable terminal 3 to display the image of the video signal.

Disclosed are a mobile terminal and a method of controlling the same. A mobile terminal includes a display, a first camera configured to perform omnidirectional photographing and a controller configured to convert at least some region of a ring-shaped image, captured by the first camera, into a rectangular image and display the rectangular image on the display. In accordance with the present invention, an omnidirectional still or moving image can be captured by an omnidirectional camera embedded in the mobile terminal, and an interface that can be conveniently used by a user can be implemented.

An omnidirectional camera comprises a camera mounting frame 6 of cylindrical hollow body, a plurality of horizontal camera units 7 each of which is provided on a horizontal plane orthogonal to a center line of the camera mounting frame 6 and adapted to acquire an image in a horizontal direction, a vertical camera unit 8 provided so as to coincide with the center line of the camera mounting frame 6 and adapted to acquire an image in a zenith direction, and a ring-like GPS antenna 19 provided so as to surround the vertical camera unit 8.

Disclosed are an unmanned monitoring system and a monitoring method for performing 360° unmanned monitoring work in equipment having a low storage capacity, such as a robot, by using one omni-directional camera. When an image is input through the omni-directional camera, a movement of an object is detected from the image. Then, the movement region is sampled by tracing the object and the image for the movement region is rotated into a frontal image while compensating for inclination of the image in order to allow a user to easily view the image. Thus, the frontal image is transmitted to a mobile communication terminal of a user, such as a mobile phone or a PDA.

An omnidirectional camera comprises a camera mounting frame 5 of a cylindrical hollow body, two or more first mount blocks 8 which hold a first lens unit 9 in a horizontal posture and are installed to the camera mounting frame from a horizontal direction, and first circuit boards provided on inner end surfaces of the first mount blocks, and in the omnidirectional camera, the camera mounting frame and the first mount blocks are made of materials with good heat transfer properties, the first circuit board has a ground layer formed on an abutting surface with respect to the first mount block and a first image pickup element arranged on an optical axis of the first lens unit, and the heat generated from the first image pickup element is radiated from the first mount block and the camera mounting frame through the ground layer.

In various implementations, provided are systems and methods for correcting the distortion present in a fisheye image, and rendering the image for display as 360-degree video. In various implementations, a computing device can receive 2-dimensional video data captured by an omnidirectional camera. The computing device can map an image from each video frame to a 3-dimensional hemispherical representation. In various implementations, this mapping can be executed using a polynomial model. The 3-dimensional hemispherical representation can then be used in a 360-degree video presentation, to provide a virtual reality experience.

An omnidirectional camera comprises two or more camera units 6, 7, a camera assembly 2 in which the two or more camera units are mounted, a heat shield cover 4 to accommodate the camera assembly, a heat insulating member interposed between the camera assembly and the heat shield cover, a space formed between the camera assembly and the heat shield cover, a required number of slit 36 formed in the heat shield cover and extending in up-and-down direction, and in the omnidirectional camera, the space communicates with an outside through the slit.

The invention relates to an omnidirectional video device, which comprise an omnidirectional camera, a microprocessor, a memory, and a display. Wherein, the omnidirectional camera is formed by reflective element, lens, and camera element; the reflective element comprises hyperbola mirror; the CCD camera element is at the virtual focus of hyperbola mirror; the lens is between the CCD camera element and the hyperbola mirror; the camera element, via video input interface, is connected to the microprocessor; the display is connected to the video output interface of microprocessor; the microprocessor comprises an image collecting module, an image storage module, an image pretreatment module for removing noise and smoothening the collected image, an image initialization module, an image expanding processing module for using geometry conversation to unfold the round omnidirectional image obtained by CCD camera element into rectangle cylinder omnidirectional image, and an image output module. The invention can obtain real-time omnidirectional image in high accuracy, without torsion.

An omnidirectional camera comprises a camera assembly 2 having two or more horizontal camera units 6 provided radiantly and a cover 4 for accommodating the camera assembly, and in the omnidirectional camera, a lens hole 37, through which an objective lens of the horizontal camera units come out, is formed on the cover, a lens hood 38 is provided on the cover concentrically with the lens hole, the lens hood has a shape of surface which does not intercept a field angle of the horizontal camera units, and a maximum height of the lens hood is larger than a protruding amount of the objective lens from the cover.

The invention discloses an intelligent nursing robot. The intelligent nursing robot mainly comprises a robot body, robot arms located on the two sides of the robot body, a robot head located on the upper portion of the robot body and drive wheels located on the lower portion of the robot body; and the intelligent nursing robot furthermore comprises a drinking device, a lighting device, a rest device, a traction device, a conventional health inspection device, a motor drive device, a power source device, a display screen, omnidirectional cameras, voice frequency input / output equipment, an indoor environment quality monitoring sensor, an alarm device and a telephone communication device, and the robot body is internally provided with a CPU main-control module, a drive control module, a man-machine interaction module, an indoor environment control module, a positioning and navigation module, a data storage module and an emergency processing module. The intelligent nursing robot is comprehensive in function and high in intelligent degree, and great convenience is provided for modern households.

The invention discloses a unified model of a catadioptric omnidirectional camera and a calibration method thereof. The unified model of the catadioptric omnidirectional camera is formed by a virtual unit ball, a virtual viewpoint, a normalization plane and an imaging plane. On the basis of the unified model, a plurality of calibration plate images acquired through the catadioptric omnidirectional camera are utilized to calibrate the parameters of the model and the pose relationship between a calibration board and the catadioptric omnidirectional camera. On the condition that misalignment of the catadioptric omnidirectional camera exists, precision of the model is far higher than that of a unified imaging model of a traditional single view point catadioptric camera. Compared with other non-single-view-point imaging model, the model is simple in imaging model, strong in operability, quick in optimizing speed, and good in precision and noise-resistant performance. The calibration method is high in accuracy and convenient to operate, and is quick in non-linear optimized speed due to original value calculation.

The invention discloses an omni-directional stereo vision three-dimensional reconstruction method based on Taylor series models. The method comprises the following: a step of calibrating a camera, which is to utilize a Taylor series model to calibrate an omni-directional vision sensor so as to obtain internal parameters of the camera; a step of obtaining epipolar geometric relation, which comprises the steps of calculating an essential matrix between binocular omni-directional cameras and extracting the rotation and translation component of the cameras; a step of correcting an outer polar line, which is to correct the outer polar line of a shot omni-directional stereo image so as to allow a corrected polar quadratic curve to coincide with an image scan line; and a step of three-dimensional reconstruction, which is to carry out feature point matching to the corrected stereo image and calculate the three-dimensional coordinates of points according to matching results. The method can be applicable to various omni-directional vision sensors, has the characteristics of wide application range and high precision, and can carry out effective three-dimensional reconstruction under the condition that the parameters of the omni-directional vision sensors are unknown.

Disclosed herein are an endoscope system and a control method thereof. The control method includes acquiring plural omnidirectional images of the surroundings of an endoscope using a stereo omnidirectional camera mounted on the endoscope, calculating distances between the endoscope and an object around the endoscope using the acquired plural omnidirectional images, and executing an operation to avoid collision between the endoscope and the object around the endoscope based on the calculated distances, thus facilitating safe operation of the endoscope.

An omnidirectional monitoring control system includes an omnidirectional camera for taking an omnidirectional image over a viewing angle of a maximum of 360 degrees; at least one zoom camera for performing positional control and magnification ratio control; a control section for rotating the omnidirectional image about a central axis of the omnidirectional image at a prescribed angle such that an apparent reference position of the omnidirectional camera is matched with an apparent reference position for driving the at least one zoom camera, and driving the at least one zoom camera to allow a prescribed monitoring position of omnidirectional image data obtained by the rotation to be photographed by the at least one zoom camera; and a display section for displaying the omnidirectional image taken by the omnidirectional camera and a zoom image taken by the at least one zoom camera.

A composite camera system includes a control section for performing positional control and magnification ratio control of at least one zoom camera ratio for omnidirectional image data centered on a prescribed portion thereof, the omnidirectional image data being obtained by an omnidirectional camera capable of taking an omnidirectional image over a viewing angle of a maximum of 360 degrees; and a display section for displaying an omnidirectional image taken by the omnidirectional camera and a zoom image taken by the zoom camera.

The present invention relates to an image processing apparatus and method thereof, a recording medium, and a program that is able to adjust precisely overlap portion of an omnidirectional picture. By detecting overlap portions of adjacent pictures forming an omnidirectional picture in a direction of a visual line, respective is processed by a Laplacian filter, and they are converted into pictures formed by edges. The mutually most nearest distance between a picture of the edge of the first picture denoted by black circle and a picture of the edge of the second picture denoted by white circle, and these sum is obtained as edge differences. By repeating the similar processing while shifting the pictures so that the edge differences becomes smaller than a predetermined threshold value, the first picture and the second picture are precisely set. This invention is able to adapt to an omnidirectional camera.

The invention discloses a special intelligent unmanned aerial vehicle for agriculture and forestry. The special intelligent unmanned aerial vehicle is characterized by comprising an unmanned aerial vehicle airframe, wings, an unmanned aerial vehicle nose, a pesticide sprayer and fixed supports; a multi-rotor wing propeller is connected with the middle of the airframe through a lifting device; the multi-rotor wing propeller comprises a support tray, telescopic shafts and small-sized rotor wings; the six small-sized rotor wings are distributed on the periphery of the support tray; four propellers are distributed around; a motor is located at the lower side of each propeller; the lower side of each motor is provided with a sensor; an omnidirectional camera is located at the lower side of the unmanned aerial vehicle nose. The special intelligent unmanned aerial vehicle for the agriculture and forestry is not influenced by regions, and can arrive areas that working personnel cannot reach; through intelligent control, the special intelligent unmanned aerial vehicle is driven by means of the multiple rotor wings; the special intelligent unmanned aerial vehicle is used for detecting insect pests and spraying pesticides in the aspect of the agriculture and forestry; by processing photos transmitted back, people obtain favorable data; the special intelligent unmanned aerial vehicle has a very good effect.

In an unmanned aerial vehicle detection system, an omnidirectional camera images a monitoring area. A microphone array picks up a sound in the monitoring area. A monitoring device detects an unmanned aerial vehicle appearing in the monitoring area using the sound data picked up by the microphone array. When displaying image data of the monitoring area captured by the omnidirectional camera on a monitor, a signal processor in the monitoring device superimposes an identification mark obtained by converting the unmanned aerial vehicle into visual information on the image data of the monitoring area.

The invention discloses a single-chart self-calibration method of a catadioptric omnibearing camera mirror plane pose, comprising the following steps: firstly, calculating to obtain two candidate poses by using an ellipse fit by image points on the outer edge of the mirror plane in a collected image; respectively generating two groups of predicted formed images of the edge of a perspective camera by the two candidate poses; and comparing the two groups of predicted formed images with a practical lens formed image, wherein a candidate pose corresponding to the predicated formed image with small difference is a practical mirror plane pose, and necessary distance between a camera projection center and a practical lens edge in the calibration process is obtained by using an optimized search method. By using the method, the deficiency of the existing calibration method is overcome; under the condition that the mirror plane parameter and the perspective camera parameter are known, a rotary matrix and a translation vector between a reflection mirror surface and the perspective camera can be estimated only by one self-shooting image of the catadioptric omnibearing camera without other calibration objects. The calibration method has the characteristics of strong anti-interference performance and higher precision and is simple to operate.