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US 6,226,035 B1Granted

Adjustable imaging system with wide angle capability

AssigneeCyclo Vision Technologies, Inc.

InventorsJames Korein, Shree K. Nayar, L. Clayton Yaseen, II, Venkata N. Peri

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Abstract Drawings Claims Description

Abstract

Optical systems are disclosed that enable an image sensor to generate an image of either a wide-angle view of an area of interest, or a direct view of an area of interest. In an embodiment, a wide-angle optical system is mounted to reflect radiation reflected from the area of interest along an optical axis. Radiation on the optical axis is directed to a zoom lens of the image sensor. Optionally, a planar mirror redirects the radiation, so that the optical axis is angled with respect to a central axis of the image sensor. In the preferred embodiment, the image sensor is a pan-tilt-zoom camera that can move from the wide-angle view to a direct view of a target or region of interest, using pan, tilt, and zoom controls, under either remote or automatic control. The disclosure also provides a method for maintaining registration of the image sensor when it is moved from a wide-angle view of a target to a direct view of a target.

Claims52

Dependent claims

Claim 1An optical system that provides a wide field of view and a direct field of view of an area of interest · 131 words21 dependent Claim 23An optical system that provides a wide field of view and a direct field of view of an area of interest · 132 words3 dependent Claim 27An optical system that provides a wide field of view and a direct field of view of an area of interest · 142 wordsNo dependents Claim 28An optical system that provides a wide field of view and a direct field of view of an area of interest · 158 wordsNo dependents Claim 29A method of providing a wide field of view and a direct field of view of an area of interest using an optical system · 132 words3 dependent Claim 33An optical system that provides a wide field of view and a direct field of view of an area of interest · 336 words1 dependent Claim 35An optical system that provides a wide field of view and a direct field of view of an area of interest · 382 wordsNo dependents Claim 36An optical system that provides a wide field of view and a direct field of view of an area of interest · 367 words3 dependent Claim 40An optical system that provides a wide field of view and a direct field of view of an area of interest · 321 words1 dependent Claim 42An optical system that provides a wide field of view and a direct field of view of an area of interest · 320 words3 dependent Claim 46An optical system that provides a wide field of view and a direct field of view of an area of interest · 318 words1 dependent Claim 48An optical system that provides a wide field of view and a direct field of view of an area of interest · 352 words3 dependent Claim 52An optical system that provides a wide field of view and a direct field of view of an area of interest · 143 wordsNo dependents

An optical system that provides a wide field of view and a direct field of view of an area of interest, said optical system comprising:

a wide-angle optical system that reflects electromagnetic radiation from the wide field of view in the area of interest;
an image sensor that can sense the radiation and generate a signal representing a visible image from the radiation;
means for redirecting radiation;
and
means for moving the image sensor to a first position in which the image sensor receives the redirected radiation and forms a wide field of view image of the area of interest, and for moving the image sensor to a second position facing away from the wide-angle optical system and the means for redirecting radiation and forms a direct field of view image.

2 more elements

An optical system that provides a wide field of view and a direct field of view of an area of interest, comprising:

a wide-angle optical system that reflects electromagnetic radiation from the wide field of view in the area of interest;
a camera that can sense the radiation and generate a signal representing a visible image from the radiation, in which the camera is movable to pan, tilt, and zoom from a first position in which the camera receives the radiation reflected from the wide-angle optical system and forms a wide field of view image of the area of interest, and a second position directed away from the wide-angle optical system in which the image sensor receives radiation directly from the area of interest and forms a direct field of view image.

An optical system that provides a wide field of view and a direct field of view of an area of interest, comprising:

a wide-angle optical system that reflects at least one image from the wide field of view in the area of interest;
a camera that receives the at least one image from said wide-angle optical system and generates a signal responsive thereto, wherein said camera is movable to pan, tilt, and zoom from a first position in which the camera receives the at least one image reflected from the wide-angle optical system and forms a wide field of view image of the area of interest, and a second position directed away from the wide-angle optical system in which said camera receives at least one other image directly from the area of interest and forms a direct field of view image therefrom.

An optical system that provides a wide field of view and a direct field of view of an area of interest, comprising:

a wide-angle optical or mirror system that reflects at least one image from the wide field of view in the area of interest;
an image acquisition device that receives the at least one image from said wide-angle optical or mirror system and generates a signal responsive thereto, wherein said image acquisition device is movable to pan, tilt, and zoom from a first position in which the image acquisition device receives the at least one image reflected from the wide-angle optical or acquisition system and forms a wide field of view image of the area of interest, and a second position directed away from the wide-angle optical or mirror system in which said image acquisition device receives at least one other image directly from the area of interest and forms a direct field of view image therefrom.

A method of providing a wide field of view and a direct field of view of an area of interest using an optical system, comprising the steps of:

(a) reflecting at least one image from the wide field of view in the area of interest using a wide-angle optical or mirror system;
and
(b) controlling the alternate performance of:
(1) receiving the at least one image and generating a signal responsive thereto using an image acquisition device movable to pan, tilt, and zoom, forming a wide field of view image of the area of interest, and
(2) receiving at least one other image directly from the area of interest using the image acquisition device without the use of the wide-angle optical or mirror system, forming a direct field of view image therefrom.

2 more elements

An optical system that provides a wide field of view and a direct field of view of an area of interest, said optical system comprising:

a wide-angle optical system that reflects electromagnetic radiation from the wide field of view in the area of interest;
an image sensor that can sense the radiation and generate a signal representing a visible image from the radiation;
means for moving the image sensor to a first position in which the image sensor receives the radiation reflected from the wide-angle optical system and forms a wide field of view image of the area of interest, and for moving the image sensor to a second position facing away from the wide-angle optical system and forms a direct field of view images
one or more processors;
and
a memory coupled to the one or more processors, the memory having stored therein sequences of instructions which, when executed by the one or more processors, cause the one or more processors to move the image sensor from the first position to the second position by causing the processor to perform the steps of:
(A) determining first coordinates of a first viewpoint associated with the wide field of view image, second coordinates of a second viewpoint associated with the direct field of view image, and direction of a target in a first coordinate system associated with the first viewpoint;
(B) converting the direction into a ray extending from the first viewpoint to the target;
(C) computing an intersection of the ray with values describing a reference plane on which the target lies to obtain third coordinates of the target with respect to a first coordinate system that is associated with the first viewpoint;
(D) translating the third coordinates into a second coordinate system that is associated with the second viewpoint, using the intersection computed in said step (C) to obtain fourth coordinates;
and
(E) converting the fourth coordinates into a pan angle value, a tilt angle value, and a focal distance value representing the second position.

9 more elements

An optical system that provides a wide field of view and a direct field of view of an area of interest, comprising:

a wide-angle optical system that reflects electromagnetic radiation from the wide field of view in the area of interest;
an image sensor that can sense the radiation and generate a signal representing a visible image from the radiation;
and
means for moving the image sensor to a first position in which the image sensor receives the radiation reflected from the wide-angle optical system and forms a wide field of view image of the area of interest, and for moving the image sensor to a second position facing away from the wide-angle optical system in which the image sensor receives radiation from the area of interest and forms a direct field of view image,
one or more processors;
and
a memory coupled to the one or more processors, the memory having stored therein sequences of instructions which, when executed by the one or more processors, cause the one or more processors to move the image sensor from the first position to the second position by causing the processor to perform the steps of:
(A) receiving a target height value z2 and a vector S directed from a viewpoint associated with the direct field of view image to a second viewpoint associated with the wide field of view image, wherein the first viewpoint and the second viewpoint is respectively associated with a first coordinate system and a second coordinate system;
(B) computing a pan angle θ2 and a tilt angle φ2;
(C) computing a vectors T2 of target coordinates (x2, y2, z2) in the second coordinate system associated with the second viewpoint by computing the equations
r2=z2/cos φ2
x2=z2/[sin φ2 cos φ2 cos φ2]
y2=z2/[sin φ2 cos φ2 sin φ2];
(D) converting the vector T2 of target coordinates to a vector T1 of target coordinates in the first coordinate system by computing the equations
T1=S+T2
T1=(x1, y1, z1);
(E) computing a focus value, a pan value, and a tilt value for the image sensor, by computing the equations
r1={square root over (x12+L +y12+L +z12+L )}
φ1=tan−1 (y1/x1)
φ1=cos−1 (z1/r1)
and
(F) moving the image sensor from the first position to the second position using the focus value, pan value, and tilt value.

19 more elements

An optical system that provides a wide field of view and a direct field of view of an area of interest, said optical system comprising:

a wide-angle optical system that reflects electromagnetic radiation from the wide field of view in the area of interest;
an image sensor that can sense the radiation and generate a signal representing a visible image from the radiation;
means for moving the image sensor to a first position in which the image sensor receives the radiation reflected from the wide-angle optical system and forms a wide field of view image of the area of interest, and for moving the image sensor to a second position facing away from the wide-angle optical system and forms a direct field of view images one or more processors;
a memory coupled to the one or more processors, the memory having stored therein:
a plurality of presets, each of the presets comprising information describing a pre-defined position of the image sensor that provides a direct view of the area of interest;
and sequences of instructions which, when executed by the one or more processors, cause the one or more processors to move the image sensor from the first position to the second position by causing the processor to perform the steps of:
(A) determining first coordinates of a first viewpoint associated with the wide field of view image, second coordinates of a second viewpoint associated with the direct field of view image, and direction of a target in a first coordinate system associated with the first viewpoint;
(B) converting the direction into a ray extending from the first viewpoint to the target;
(C) computing an intersection of the ray with values describing a reference plane on which the target lies to obtain third coordinates of the target with respect to a first coordinate system that is associated with the first viewpoint;
(D) translating the third coordinates into a second coordinate system that is associated with the second viewpoint, using the intersection computed in said step (C) to obtain fourth coordinates;
and
(E) selecting one of the plurality of presets that provides a direct view of a region of the area of interest that includes the fourth coordinates.

9 more elements

An optical system that provides a wide field of view and a direct field of view of an area of interest, said optical system comprising:

a wide-angle optical system that reflects electromagnetic radiation from the wide field of view in the area of interest;
an image sensor that can sense the radiation and generate a signal representing a visible image from the radiation;
means for moving the image sensor to a first position in which the image sensor receives the radiation reflected from the wide-angle optical system and forms a wide field of view image of the area of interest, and for moving the image sensor to a second position facing away from the wide-angle optical system and forms a direct field of view image;
and
a computer-readable medium carrying sequences of instructions which, when executed by one or more processors, cause the one or more processors to move the image sensor from the first position to the second position by causing the processor to perform the steps off:
(A) determining first coordinates of a first viewpoint associated with the wide field of view image, second coordinates of a second viewpoint associated with the direct field of view image, and direction of a target in a first coordinate system associated with the first viewpoint;
(B) converting the direction into a ray extending from the first viewpoint to the target;
(C) computing an intersection of the ray with values describing a reference plane on which the target lies to obtain third coordinates of the target with respect to a first coordinate system that is associated with the first viewpoint;
(D) translating the third coordinates into a second coordinate system that is associated with the second viewpoint, using the intersection computed in said step (C) to obtain fourth coordinates;
and
(E) converting the fourth coordinates into a pan angle value, a tilt angle value, and a focal distance value representing the second position.

8 more elements

An optical system that provides a wide field of view and a direct field of view of an area of interest, said optical system comprising:

a wide-angle optical system that reflects electromagnetic radiation from the wide field of view in the area of interest;
an image sensor that can sense the radiation and generate a signal representing a visible image from the radiation;
means for moving the image sensor to a first position in which the image sensor receives the radiation reflected from the wide-angle optical system and forms a wide field of view image of the area of interest, and for moving the image sensor to a second position facing away from the wide-angle optical system and forms a direct field of view image;
a computer-readable medium carrying sequences of instructions which, when executed by one or more processors, cause the one or more processors to move the image sensor from the first position to the second position by causing the processor to perform the steps of:
(A) determining first coordinates of a first viewpoint associated with the wide field of view image, second coordinates of a second viewpoint associated with the direct field of view image, and direction of a target in a first coordinate system associated with the first viewpoint;
(B) converting the direction into a ray extending from the first viewpoint to the target;
(C) computing an intersection of the ray with values describing a reference plane on which the target lies to obtain third coordinates of the target with respect to a first coordinate system that is associated with the first viewpoint;
(D) translating the third coordinates into a second coordinate system that is associated with the second viewpoint, using the intersection computed in said step (C) to obtain fourth coordinates;
and
(E) converting the fourth coordinates into a pan angle value, a tilt angle value, and a focal distance value representing the second position.

7 more elements

An optical system that provides a wide field of view and a direct field of view of an area of interest, said optical system comprising:

a wide-angle optical system that reflects electromagnetic radiation from the wide field of view in the area of interest;
a camera that can sense the radiation and generate a signal representing a visible image from the radiation, in which the camera is movable to pan, tilt, and zoom from a first position in which the camera receives the radiation reflected from the wide-angle optical system and forms a wide field of view image of the area of interest, and a second position directed away from the wide-angle optical system and forms a direct field of view image;
and
a computer-readable medium carrying sequences of instructions which, when executed by one or more processors, cause the one or more processors to move the image sensor from the first position to the second position by causing the processor to perform the steps of:
(A) determining first coordinates of a first viewpoint associated with the wide field of view image, second coordinates of a second viewpoint associated with the direct field of view image, and direction of a target in a first coordinate system associated with the first viewpoint;
(B) converting the direction into a ray extending from the first viewpoint to the target;
(C) computing an intersection of the ray with values describing a reference plane on which the target lies to obtain third coordinates of the target with respect to a first coordinate system that is associated with the first viewpoint;
(D) translating the third coordinates into a second coordinate system that is associated with the second viewpoint, using the intersection computed in said step (C) to obtain fourth coordinates;
and
(E) converting the fourth coordinates into a pan angle value, a tilt angle value, and a focal distance value representing the second position.

7 more elements

An optical system that provides a wide field of view and a direct field of view of an area of interest, said optical system comprising:

a wide-angle optical system that reflects electromagnetic radiation from the wide field of view in the area of interest;
a camera that can sense the radiation and generate a signal representing a visible image from the radiation, in which the camera is movable to pan, tilt, and zoom from a first position in which the camera receives the radiation reflected from the wide-angle optical system and forms a wide field of view image of the area of interest, and a second position directed away from the wide-angle optical system and forms a direct field of view image;
a computer-readable medium having stored therein:
a plurality of presets, each of the presets comprising information describing a pre-defined position of the camera that provides a direct view of the area of interest;
and
sequences of instructions which, when executed by one or more processors, cause the one or more processors to move the camera from the first position to the second position by causing the processor to perform the steps of:
(A) determining first coordinates of a first viewpoint associated with the wide field of view image, second coordinates of a second viewpoint associated with the direct field of view image, and direction of a target in a first coordinate system associated with the first viewpoint;
(B) converting the direction into a ray extending from the first viewpoint to the target;
(C) computing an intersection of the ray with values describing a reference plane on which the target lies to obtain third coordinates of the target with respect to a respect to a first coordinate system that is associated with the first viewpoint;
(D) translating the third coordinates into a second coordinate system that is associated with the second viewpoint, using the intersection computed in said step (C) to obtain fourth coordinates;
and
(E) selecting one of the plurality of presets that provides a direct view of a region of the area of interest that includes the fourth coordinates.

9 more elements

An optical system that provides a wide field of view and a direct field of view of an area of interest, comprising:

a wide-angle optical system that reflects electromagnetic radiation from the wide field of view in the area of interest;
an image sensor that can sense the radiation and generate a signal representing a visible image from the radiation;
and
a mount having a first and a second position for moving the image sensor to a first position in which the image sensor receives the radiation reflected from the wide-angle optical system and forms a wide field of view image of the area of interest, and for moving the image sensor to a second position facing away from the wide-angle optical system in which the image sensor receives radiation from the area of interest and forms a direct field of view image.

1 more element

Dependencies are inferred from the claim text.

Facts

Application: 09/034,208Filed 4 Mar 1998
Granted: 1 May 2001
Term ends: Not estimatedThe source records don’t support an estimate.

Classification11 codes

H04N 23/698
Control of cameras or camera modules: for achieving an enlarged field of view, e.g. panoramic image capture
G02B 13/06
Optical objectives specially designed for the purposes specified below: panoramic objectives; So-called "sky lenses" including panoramic…
G02B 17/06
Catoptric systems, e.g. image erecting and reversing system: using mirrors only , i.e. having only one curved mirror
G03B 15/12
Trick photography: using mirrors

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