WO2009013022A1

WO2009013022A1 - Camera device for generating panoramic image data

Info

Publication number: WO2009013022A1
Application number: PCT/EP2008/006215
Authority: WO
Inventors: Ernst KÖHLER; Wolfgang Richter
Original assignee: Ident Technology Ag
Priority date: 2007-07-26
Filing date: 2008-07-28
Publication date: 2009-01-29
Also published as: EP2181359A1; DE102007035039A1

Abstract

The invention is directed at a camera device and at a method for generating panoramic image data using digital technology. The invention is based on the object of providing solutions which make it possible to efficiently generate panoramic image data of high quality with regard to their optical properties. This object is achieved according to the invention by means of a camera device for generating panoramic image data having a head element, a projection space formed in the head element and having a projection centre, a plurality of lens systems incorporated into the head element, and a plurality of recording sensors incorporated into the head element, wherein each lens system is assigned a recording sensor which is situated, with respect to the projection centre, on an inner side of the projection space opposite the lens structure. This advantageously makes it possible to provide a camera device by means of which the recording sensors required for reproducing or providing panoramic image data each have applied to them images which enable a particularly high-quality, distortion-free and in particular substantially parallax-free composition of panoramic image data.

Description

Camera device for generating panoramic image data

The invention is directed to a camera device and to a method for generating panoramic image data by digital technology.

The invention has for its object to provide solutions by which it is possible to efficiently generate high-quality panoramic image data in terms of their optical properties.

This object is achieved by a camera device for generating panoramic image data with:

a head element;

a projection space formed in the header with a projection space center;

a plurality of lens systems incorporated in the head element; and

a plurality of recording sensors incorporated in the header;

- Each lens system is associated with a recording sensor which is located with respect to the projection space center at a position opposite the lens structure. This advantageously makes it possible to provide a camera device by means of which the recording sensors required for the reproduction or provision of panoramic image data are respectively exposed to images which enable a particularly high-quality, distortion-free and in particular largely parallax-free composition of panoramic image data.

According to a particularly preferred embodiment of the invention, the head element is designed as a spherical body. This ball body can in this case be designed in particular as a multi-part structure, in which the respective lens systems and the associated recording sensors are integrated. The integration of the lens systems and the recording sensors can be accomplished so that at least to a small extent Nachjustiermöglichkeiten exist, so that the imaging properties of each lens system and the associated recording sensor can be precisely adjusted. This Einjustierung can be done by the lens system from the outside via a reference environment, or by reference projections with corresponding image effects is applied, which allow a particularly effective adjustment of the camera device.

According to a particular aspect of the present invention, the individual lens systems are each designed such that their imaging regions, in particular viewing angles, overlap at least slightly. The image data "redundantly" determined on the basis of this overlap can first be stored and, depending on which particular image reproduction is required, be evaluated on the basis of image-optimizing evaluation approaches.

The head element of the camera device according to the invention preferably comprises a circumferential lens group, this circumferential lens group comprising lens systems which extend along an equatorial region of the head element. Preferably, this circumferential lens group comprises an odd number of lens systems. Particularly good recordings can be achieved when the camera device is equipped with nine circumferential lens systems. The head element according to the invention is furthermore preferably equipped with a pole lens, this pole lens being arranged such that its optical axis runs essentially perpendicular to an equatorial plane defined by the circumferential lens group. Preferably, further lenses "diagonal lenses" are also arranged in an intermediate region between the peripheral lens group and the pole lens., In particular in the formation of nine circumferential lenses on the camera head and the use of a normal with respect to their optical axis, that is perpendicular to the equatorial plane oriented polline lens, the peripheral lens group preferably comprises six diagonal lenses.

Also below the peripheral lens group is preferably provided a bottom lens group having a plurality of circumferentially arranged on the corresponding lower latitude successively arranged individual lenses. This bottom lens group preferably also includes six lens systems similar to the diagonal lens group formed above the equatorial plane.

The respective lens systems can be designed such that they represent fixed focal length systems.

As already mentioned, the image data can be stored in overlapping image areas, this image data being processed to generate one for the respective image reproduction requirements in terms of achieving a high-quality optical image. In particular, this summarized processing can take place on the basis of an evaluation approach developed for the specific camera head, which ensures optimum image data either for overall image data storage or for specified reproduction requirements.

According to a particularly preferred embodiment of the invention, the camera device comprises a display device which, as such, enables the reproduction of the image currently recorded by the camera device or also the reproduction of already recorded images. Preferably, this display device is separable from the head element according to the invention, so that, for example, the head element according to the invention can be grasped with one hand and held in one arm over the head region of the user. With the remaining free hand, the display device can be taken and a corresponding control of the camera system can be made. This control of the camera system can be carried out in particular by forming an input device in the area of the display device, which can be realized in particular as a touchscreen, by operating buttons or according to a particular aspect of the invention by incorporating a gesture sensor. By means of this gesture sensor it is possible, for example, to detect spatial thumb movements, in part without contact, so that a comfortable system control can be processed within a user interface represented by the display device.

It is possible to design the system equipped with the camera device according to the invention such that a control signal and / or an image data transfer between a main circuit preferably arranged in the area of the display device and the pickup head by modulated alternating currents or by a correspondingly modulated coupling of an electric field in the user is accomplished.

The invention is also directed to a method for generating panoramic image data, in which the image data are detected by a plurality of lens systems aligned in different directions and recording sensors associated therewith, the lens systems being arranged such that their optical axes are in one between the respective ones Lens system and the recording sensor cut a common Achszentrumsbereich. This axis center region preferably has a spatial extent which is smaller than the spatial extent of a sphere with a diameter which corresponds approximately to the objective diameter of the lens systems. The lens and the respective recording sensor face each other with respect to this axis center. The special features of this camera are on the one hand in the optics and the other in the operation. The optical system according to the invention preferably consists of 22 sensor-lens pairs. These all have the same optical center. Therefore, there are no or only minor aberrations (parallax errors) in the aggregation of spherical recording.

Operation is primarily via "key screens". These are pressure-yielding screens that act as buttons. The navigation of the menus preferably takes place via a gesture control. It can be moved with the thumb of the handset holding the hand, by upward or downward movement, the menu list.

There are two options for viewing the recording:

- First, by turning the viewer to its own optical center. The display is held by him at a distance in front of his eyes. As a result, the view on the recording changes in relation to its position.

- On the other hand, the viewer can navigate with the thumb of the holding hand or with his other hand the view of gesture control in all directions. An enlargement and reduction is possible.

The gesture control does not require touching the screen. A shot is made in two steps. First, about 90% of the spherical recording is made, then if necessary, the remaining 10% (optional). Both shots are supported by a detachable display. The user sees exactly what he wants to record or insert.

This "Multi-Symmetry Display" can be rotated in all directions and always aligns the display according to the position of the user. The concept according to the invention is suitable, in addition to obtaining image data for snapshots, also for moving image recordings, in particular "360 °. Nodular video recordings ".

The image data obtained in accordance with the invention can be reproduced in particular in the form of image sections, as spherical unwinds, via virtual reality systems (for example VR glasses), and in particular in corresponding projection room environments.

Further details and features of the invention will become apparent from the following description taken in conjunction with the drawings. It shows:

FIG. 1 shows a side view of a camera device according to the invention,

FIG. 2 shows three schematics for illustrating the recording principle implemented in this camera device,

FIG. 3 shows a perspective view of the head element of the camera device according to the invention,

FIG. 4 a shows a line drawing of the camera device according to the invention with the head element extended,

4b is a line drawing of the camera device according to the invention with retracted head element,

FIG. 5 shows a schematic representation for explaining the processing of the recording process with a camera device according to the invention,

Figure 6 representations for the purpose of illustration in the respective

Recording situation generated image data,

FIG. 7 shows a further schematic representation for illustrating a use of the user's body as a signal transmission system accomplished data transfer between the recording system and the control unit.

FIG. 1 shows a camera device according to the invention, which as such serves to generate panoramic image data. In the context of the present application, panoramic image data is to be understood as image data which, as such, carries image information, at least to a large extent, of the space surrounding the camera device as part of the image recording.

The camera device according to the invention comprises a head element 1 as well as a projection space, which is not visible in this illustration and is formed in the head element 1. In the head element 1 several lens systems 2 are involved. As will be explained in more detail below in connection with FIG. 2, these lens systems are assigned 2 recording sensors. The lens systems 2 and the respective associated recording sensor are arranged in the camera device according to the invention such that the recording sensor with respect to the projection center is located on an opposite side of the lens structure of the projection space.

The head element 1 is, as can be seen, designed as a spherical body. The lens systems 2 are designed and arranged such that their optical axes intersect in the region of a projection center. Furthermore, the lens systems 2 are also designed such that their viewing angles overlap. The head element shown here is equipped with a peripheral lens group UL1, wherein the individual lens systems 2 of this peripheral lens group UL1 extend along an equatorial region of the head element 1. In the embodiment shown here, the circumferential lens group UL1 comprises an odd number (in particular nine) of lens systems arranged at substantially the same pitch along the outer circumference of the head element.

The head element 1 is further provided with a pole lens 3, this polling lens being in the upper "pole region" of the head element, ie at a position at which the optical axis of the polling lens 3 is a through the peripheral lens group defined equatorial plane intersects substantially perpendicularly. In an intermediate region between the polling lens 3 and the peripheral lens group UL1, a group of diagonal lenses 4 is arranged. In the embodiment shown here, the diagonal lenses are approximately at a "latitude 45th" corresponding width.

Below the peripheral lens group UL1 is still a bottom lens group BL1, which also comprises six lens systems in this embodiment. These lens systems of the bottom lens group BL1 are in this embodiment approximately at the lower 45th parallel of the head element. The bottom lens group BL1 includes six lens systems in this embodiment.

In the head element shown here, all the lens systems are designed as fixed focal length systems, these lens systems being aligned so that their optical axes intersect substantially in the center region of the spherical interior formed in the head element. This makes it possible to generate largely parallax-free single images.

The recording sensor signals generated by the camera head device according to the invention are preferably processed and stored by a control circuit arranged in the region of a camera grip housing and not shown here. In the exemplary embodiment shown here, the camera device comprises, in addition to the head element already described with regard to its specific construction, a basic body 7 which, on the one hand, is designed from an ergonomic point of view in such a way that it can be gripped securely with one hand. This main body is provided with a display device 8, wherein on the one hand a user interface for operating the camera device is provided via this display device 8 and on the other hand also sections of the recorded via the camera device panoramic image can be displayed under corresponding image rendering tools. As can be clearly seen from the illustration according to FIG. 2, the generation of the panoramic image data takes place using lens systems 2 and associated recording sensors 9. Each of the lens systems shown here is arranged such that its optical main axis h is defined in a projection space formed by the head element Projection center Z cuts. In the embodiment shown here, the respective recording sensor 9 is located on a, the associated lens system 2 with respect to the projection center Z diametrically opposite position.

This special arrangement of the lens systems and the associated recording sensors is further illustrated in the further illustrations in FIG.

FIG. 3 again shows the construction of a head element according to the invention in the form of a perspective detailed representation. In this view, in particular the pole lens 3 can be seen. As will be explained in more detail below in connection with FIGS. 4a and 4b, the camera device can be designed so that the head element 1 shown here can be lowered into a camera grip area.

In FIG. 4 a, the camera device in this respect is shown by way of example in a state with the head element maximally extended.

FIG. 4b shows the camera device with a retracted head element. In this state, the camera device according to the invention can be stored relatively securely, since the head element is largely protected against mechanical damage and contamination.

FIG. 5 shows a schematic representation for illustrating the recording process for generating a full-sphere panoramic image. As part of a first recording step, for example, the camera device according to the invention is spent in the here recognizable overhead position. About the taken from the other hand of the user control device of the recording process can be triggered. The correspondingly recorded image signals can be stored in the area of a structure connected to the head element or preferably in the area of a recording device remaining in the other user hand. About the recorded in this representation in the left hand of the user display device, the user can get an impression of the currently recorded images. After completion of the image recording operation in the position shown here, the user can take a step sideways and record in particular on the polling still the area of the stand area. This image data can then be used to complete the panoramic image considered in the first step. It is possible to provide means in the area of the camera device by means of which it automatically recognizes the instantaneous orientation, so that, for example, switching to a bottom-image recording mode takes place automatically when the camera is pivoted downwards into the position characterized here as the recording situation 2.

According to a particular aspect of the present invention, the image data generated by the camera device according to the invention or the individual recording sensors thereof are processed and smoothed by high-quality image processing procedures, so that any initial deviations caused by the lens systems and the recording sensors are balanced as intelligently as possible. 6 shows, by way of example, the image area which still comprises the "blind spot", which as such is caused by the fact that the camera head does not have a down-facing polline lens.With the recording situation 2, this "blind spot" can be eliminated.

As can be seen from the illustration according to FIG. 7, it is possible to realize the operating signals required for the use of the camera device according to the invention between the input device 10 and the actual camera device 11 via a so-called intrabody network, this intrabody network preferably by suitably modulated coupling of displacement current events into the user is reached.

In addition to the emphasis here described special design of the head element, in particular the approach of the Einfahren of the Head element in a basic housing, the operation of the camera device by means of thumb gesture sensors as well as the achievement of the communication between the camera head and the user side leading to operating structure by coupling of corresponding signals in the user for each independently constitute complexes according to the invention.

The camera device according to the invention is also advantageously suitable as a stationary camera device via which image information from a plurality of spatial directions can be acquired simultaneously, with a corresponding viewing direction being achieved "data-technically", ie by using a user program by accessing corresponding image data The panoramic images can be recorded continuously and for later evaluation and viewing The camera device according to the invention can also be connected to moving systems, in particular recording vehicles.

Claims

claims

1. Kamerein direction for generating panoramic image data with:

a header,

a projection space formed in the head element with a

center of projection

- Several included in the header and in different

Spaces looking lens systems, and

a plurality of recording sensors incorporated in the head element,

- Each lens system is associated with a recording sensor which is located with respect to the projection center at a position opposite to the lens structure.

2. Camera device according to claim 1, characterized in that the head element is designed as a spherical body.

3. Camera device according to claim 1 or 2, characterized in that the lens systems are designed and arranged such that intersect their optical axes in the region of the projection center.

4. Camera device according to at least one of claims 1 to 3, characterized in that the lens systems are each designed such that overlap their viewing angles.

5. Camera device according to at least one of claims 1 to 4, characterized in that the head element is equipped with a peripheral lens group, and that the lens systems of this peripheral lens group are arranged along an equatorial region of the head element.

6. Camera device according to claim 5, characterized in that the circumferential lens group comprises an odd number of lens systems.

7. Camera device according to claim 6, characterized in that the peripheral lens group comprises nine lens systems.

8. Camera device according to at least one of claims 1 to 7, characterized in that the head element is equipped with a pole lens, said poll lens is arranged such that its optical axis is substantially perpendicular to an equatorial plane defined by the peripheral lens group.

9. Camera device according to claim 8, characterized in that in an intermediate region between the peripheral lens group and the polling lens, a group of diagonal lenses is arranged.

10. Camera device according to claim 9, characterized in that the group of diagonal lenses comprises six diagonal lenses.

11. Camera device according to claim 10, characterized in that below the peripheral lens group, a bottom lens group is arranged.

12. Camera device according to claim 11, characterized in that the bottom lens group comprises six lens systems.

13. Camera device according to at least one of claims 1 to 12, characterized in that each lens system is a fixed focal length system.

14. Camera device according to at least one of claims 1 to 13, characterized in that image data are stored to overlapping viewing areas, and that this image data is processed to generate one for the respective image reproduction requirements in terms of achieving a high-quality optical image.

15. Camera device according to at least one of claims 1 to 14, characterized in that this combined processing takes place on the basis of an evaluation approach created for the recording system.

16. Camera device according to at least one of claims 1 to 15, characterized in that a display device is provided for reproducing the image recorded by the camera device.

17. Camera device according to at least one of claims 1 to 16, characterized in that the display device is separable from the head element.

18. Camera device according to at least one of claims 1 to 17, characterized in that an input device is provided in the region of the display device.

19. Kameraein direction according to at least one of claims 1 to 18, characterized in that the input device is designed as a touch screen.

20. Camera device according to at least one of claims 1 to 19, characterized in that the input device is equipped as a gesture sensor, in particular for detecting the spatial thumb movement.

21. Camera device according to at least one of claims 1 to 20, characterized in that a control signal, and or image data transfer between a main circuit and the recording head over the body of the user is accomplished by modulation of an electric field.

22. A method for generating panoramic image data in which image data are detected via a plurality of lens systems oriented in different directions and recording sensors associated therewith, the lens systems being arranged such that their optical axes intersect a common axis center region.