CN108205236B - Panoramic camera and lens thereof - Google Patents
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- CN108205236B CN108205236B CN201611182940.2A CN201611182940A CN108205236B CN 108205236 B CN108205236 B CN 108205236B CN 201611182940 A CN201611182940 A CN 201611182940A CN 108205236 B CN108205236 B CN 108205236B
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- 238000003384 imaging method Methods 0.000 claims abstract description 136
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- 238000012545 processing Methods 0.000 claims abstract description 8
- 239000011521 glass Substances 0.000 claims description 8
- 230000008859 change Effects 0.000 claims description 5
- 230000008878 coupling Effects 0.000 claims 10
- 238000010168 coupling process Methods 0.000 claims 10
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- 238000000034 method Methods 0.000 abstract description 4
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B37/00—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe
- G03B37/04—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe with cameras or projectors providing touching or overlapping fields of view
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
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- H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
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Abstract
A panoramic camera comprises at least four camera modules, a data processing module and a support. Each camera module is provided with an imaging lens. Each camera module is electrically connected with the data processing module to receive and process the imaging signals from the camera modules. Every camera module all is set up at this support, and this imaging lens of this camera module is set up the optical axis and does not pass through same point.
Description
Technical Field
The present invention relates to a camera module, and more particularly, to a panoramic camera in which optical axes of imaging lenses of the panoramic camera are disposed non-concentrically.
Background
In recent years, with the continuous progress of technology, virtual reality technology (VR) has been rapidly developed. Virtual reality technology includes a number of aspects including simulated environment, perception, natural skills, and sensing devices. The simulation environment is related to the visual perception of the user and occupies an important position in the virtual reality technology. In virtual reality technology, simulating and generating a realistic three-dimensional simulation image requires a panoramic camera to provide a panoramic image of an object or scene. The panoramic camera subverts the limitation of the traditional camera, is provided with a full-view lens covering 360-degree space, can capture all angles of the object at the front, the back, the left, the right, the upper and the lower sides simultaneously, and performs camera shooting and shooting on the object, and records beautiful scenes in images at zero dead angle. Therefore, the panoramic camera is suitable for shooting a wide landscape, a building landscape, a scene of a gathering of multiple people, such as a ball game, a concert and the like, and can be stored as a freely movable ball-shaped photo or a segment of ball-shaped film, so that the user can browse or present the photo or the segment of ball-shaped film in a more diversified manner, particularly match Virtual Reality (VR) glasses, and obtain the experience of being personally on the scene.
However, the existing panoramic cameras still have a plurality of problems in imaging. First, the conventional image capturing and photographing apparatus is still only capable of capturing and photographing images with a single viewing angle due to its structural and functional limitations. This results in that it is still difficult for the existing panoramic camera to achieve a panoramic image or video with a single imaging lens. Panoramic images shot by the existing panoramic camera are obtained by respectively shooting images at different angles through a plurality of imaging lenses and then splicing. Secondly, generally, an existing panoramic camera has a plurality of imaging lenses, and the panoramic camera clips and splices images of different imaging lenses to obtain a 360-degree range image. In order to facilitate the image editing and splicing program of the panoramic camera to clip and splice images of all the imaging lenses according to preset parameters and obtain ideal images, the imaging lenses of the panoramic camera are fixed at preset positions, and the optical axes of the imaging lenses are converged at the same point. However, the design of existing panoramic cameras in which the optical axes of these imaging lenses meet at the same point results in a fixed shape. The fixed and unchangeable nature of the shape of current panorama camera has increased its manufacturing degree of difficulty and cost, has reduced its application scope. Thirdly, the structural characteristics of a plurality of imaging lenses of the existing panoramic camera determine that the structure of the existing panoramic camera is complex. However, as the use time is extended, the relative positions between the plurality of imaging lenses of the panoramic camera may be changed. These changes necessarily affect the quality of the final panoramic image. Finally, the multiple imaging lens designs of existing panoramic cameras are not able to reduce or eliminate the distortion of conventional cameras. The conventional image pickup and photographing apparatus generates distortion, so-called barrel distortion, when forming an image. The strong distortion causes the picture to be curved into an arc shape, and the closer to the edge, the more obvious the distortion is, and the distortion degree of the central part of the lens is obviously weakened. Such distortion may also affect the stitched panoramic image or video. The multiple imaging lens designs of existing panoramic cameras are not able to reduce or eliminate this "barrel distortion".
Disclosure of Invention
A primary object of the present invention is to provide a panoramic camera having at least four imaging lenses, in which the arrangement positions of the imaging lenses of the panoramic camera are not limited to fixed positions. In other words, the setting position of the imaging lens of the panoramic camera can be adjusted according to the application object to adapt to different application scenes.
An object of the present invention is to provide a panoramic camera, in which the relative position between the imaging lenses of the panoramic camera is not fixed, and the assembly difficulty and the manufacturing cost of the panoramic camera are reduced.
An object of the present invention is to provide a panoramic camera in which the optical axes of the imaging lenses of the panoramic camera are set to be non-concentric. In other words, the optical axis of the imaging lens of the panoramic camera is set not to pass through the same point. The design characteristic that the relative position of the imaging lens of the panoramic camera is not limited by the optical axis concentricity allows the panoramic camera to enhance the enhanced shooting of a certain angle scene. For example, the panoramic camera of the present invention allows two or more lenses to be simultaneously taken of the same orientation object or scene.
An object of the present invention is to provide a panoramic camera which allows optical axis positions of respective imaging lenses to be detected in advance before generating an image, and determines a panoramic image stitching manner based on the optical axis position detection result. Compared with the panoramic image splicing mode of the existing panoramic camera with the concentric optical axis, the panoramic image splicing mode of the panoramic camera is more flexible, and the inherent defects of the image splicing mode of the existing panoramic camera can be eliminated, for example, when the relative position of the imaging lens of the existing panoramic camera changes, the panoramic image splicing method of the existing panoramic camera still cannot be adjusted in an adaptive mode.
Another object of the present invention is to provide a panoramic camera, which includes at least four imaging lenses, and each imaging lens selects a larger image range to expand the selection of the effective range during stitching, so that even a slight displacement of the camera during use will not affect the stitching effect.
It is another object of the present invention to provide a panoramic camera, wherein the panoramic camera of the present invention employs fisheye lens module based correction so that the panoramic camera of the present invention can effectively reduce radial barrel distortion and reduce final imaging distortion.
Another objective of the present invention is to provide a camera module unit for a panoramic camera, wherein the camera module unit includes at least four camera modules, and each camera module has an imaging lens, wherein each camera module is disposed on a bracket of the panoramic camera, and the imaging lenses of the camera modules of the camera module unit are disposed with optical axes not concentric.
Other advantages and features of the invention will become apparent from the following description and may be realized by means of the instrumentalities and combinations particularly pointed out in the appended claims.
In accordance with the present invention, the foregoing and other objects and advantages can be achieved by a panoramic camera, comprising:
the camera shooting device comprises at least four camera shooting modules, a camera shooting module and a camera shooting module, wherein each camera shooting module is provided with an imaging lens;
the data processing module is connected with each camera module in an electrifying way so as to receive and process the imaging signals from the camera modules; and
and the imaging lens of the camera module is provided with an optical axis which does not pass through the same point.
In other words, the optical axes of a part of the camera modules of the panoramic camera of the present invention may pass through the same point (concentric), and the imaging lenses of two camera modules of the panoramic camera of the present invention may be set such that the optical axes intersect at one point. However, the optical axes of all the camera modules of the panoramic camera do not pass through the same point.
According to a preferred embodiment of the present invention, there is further provided a camera module unit for a panoramic camera, wherein the camera module unit includes at least four camera modules, and each camera module has an imaging lens, wherein each camera module is disposed on a bracket of the panoramic camera, and the imaging lenses of the camera modules of the camera module unit are disposed such that optical axes thereof are not concentric.
Further, the imaging lens of each camera module comprises a supporting unit, wherein the supporting unit is provided with a supporting surface and at least two joint holes.
Further, the bracket comprises a connecting unit, wherein the connecting unit is provided with at least four connecting surfaces, and each connecting surface is provided with at least two connecting holes.
Optionally, the bracket includes a plurality of connecting elements, when the supporting surface of the supporting unit of each imaging lens is connected to the connecting surface of the connecting unit of the bracket, two of the engaging holes of the supporting unit of each imaging lens respectively correspond to two of the connecting holes of each of the connecting surfaces of the connecting unit of the bracket, and the plurality of connecting elements simultaneously penetrate through each of the engaging holes and each of the connecting holes respectively, so as to couple and fix each of the imaging lenses to the bracket.
Further, each imaging lens is mounted to the bracket of the panoramic camera without corner sharing.
According to the preferred embodiment of the present invention, after the panoramic camera is installed, the angles between the four imaging lenses are maintained at a fixed angle during operation.
According to the preferred embodiment of the present invention, the field of view (FOV) of the imaging lens of each camera module of the panoramic camera of the present invention is 190 to 220 degrees.
According to the preferred embodiment of the present invention, the lens of the imaging lens of each camera module of the panoramic camera of the present invention is a glass lens.
According to the preferred embodiment of the present invention, the lens of the imaging lens of each camera module of the panoramic camera of the present invention is a plastic lens.
According to the preferred embodiment of the present invention, the imaging lens of each camera module of the panoramic camera of the present invention comprises a plurality of roughened lenses.
Further objects and advantages of the invention will be fully apparent from the ensuing description and drawings.
These and other objects, features and advantages of the present invention will become more fully apparent from the following detailed description, the accompanying drawings and the claims.
Drawings
Fig. 1 is a perspective view of a panoramic camera according to a preferred embodiment of the present invention.
Fig. 2 is a top view of the panoramic camera according to the above preferred embodiment of the present invention, wherein the view shows the relative position of the imaging lens of the camera module of the panoramic camera.
Fig. 3 shows an alternative implementation of the panoramic camera according to the above preferred embodiment of the invention.
Fig. 4 is an alternative top view of an implementation of a panoramic camera according to the above preferred embodiment of the present invention, wherein the figure illustrates the relative positions of the imaging lenses of the camera modules of the panoramic camera and their optical axes are not concentric.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.
It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced devices or components must be constructed and operated in a particular orientation and thus are not to be considered limiting.
As shown in fig. 1 to 4, a panoramic camera according to a preferred embodiment of the present invention is provided, which has a wider range of panoramic images or panoramic photographs after being taken and is easier to assemble in a manner that the optical axis is not too eccentric. In particular, the present invention is developed based on the Accuracy of correction of fisheye lens modules (Accuracy of fish-eye lens modules), so that the panoramic camera can effectively reduce the radial barrel distortion and the final imaging distortion.
According to this embodiment of the present invention, the panoramic camera includes at least four camera modules, each having an imaging lens 10. The panoramic camera further comprises a stand 20 and a data processing module. Each camera module is electrically connected with the data processing module to receive and process an imaging signal from the camera module, wherein each camera module is arranged on the bracket 20, and the imaging lens 10 of the camera module is arranged such that the optical axes do not pass through the same point. In addition, it is understood that the bracket 20 can be directly connected to four imaging lenses 10, so that the production process is unified and simplified. That is to say, four this imaging lens 10 can be dismantled alone to but independent operation to be suitable for the convenience of standard establishment and the management and control of product quality in the industrial production, also can make this panoramic camera be applicable to more different applications.
It should be noted that the camera module, if it is a fixed focus module, includes a lens holder, a flexible circuit board, a light sensing chip, and a light filter. The imaging lens 10 is disposed on the lens holder and located in a photosensitive path of the photosensitive chip, so that when the camera module is used for capturing an image of an object, light reflected by the object can be further received by the photosensitive chip after being processed by the imaging lens 10 to be suitable for photoelectric conversion. The optical filter is disposed between the light path of the imaging lens 10 and the photosensitive chip, and the photosensitive chip is electrically connected to the flexible printed circuit.
In addition, if the camera module has an automatic focusing function, the camera module further comprises a voice coil motor. In other words, the voice coil motor is disposed in the imaging lens 10 of the camera module with auto-focus function. The voice coil motor is arranged on the mirror base so as to utilize the voice coil motor to carry out automatic focusing.
According to this embodiment of the present invention, as shown in fig. 4, four of the imaging lenses 10 are attached to the mount in such a manner that the optical axes are not over-centered. That is, when four imaging lens devices 10 are mounted on the bracket 20, the optical axes of the four imaging lens devices 10 do not intersect at the central point. It should be noted that, in order to keep the four imaging lenses 10 stable, the four imaging lenses 10 are connected to the lower portion of the panoramic camera through the bracket 20, and the imaging lens above the panoramic camera is connected to the bracket 20 below the panoramic camera, that is, each imaging lens 10 is connected to the bracket 20, that is, the bracket 20 is located below the four imaging lenses 10, and the bracket 20 is connected to each imaging lens 10 to support and fix the four imaging lenses 10. In addition, the four imaging lenses 10 are connected to the bracket 20 by maintaining a fixed angle through the bracket 20, respectively, to ensure the final imaging effect.
According to this embodiment of the present invention, each of the imaging lenses 10 includes a support unit 11 having a support surface 111 and at least two engagement holes 112. The bracket 20 includes a connection unit having at least four connection surfaces, and each of the connection surfaces has at least two connection holes. Thus, the supporting surface 111 of the supporting unit 11 of each imaging lens 10 can be connected to the connecting surface of the connecting unit of the bracket 10, and the two engaging holes 112 of the supporting unit of each imaging lens 10 respectively correspond to the two connecting holes of each connecting surface of the connecting unit of the bracket 20, and a plurality of connecting elements can simultaneously penetrate through each engaging hole and each connecting hole respectively to connect and fix each imaging lens to the bracket 20.
According to this embodiment Of the present invention, four Of the imaging lenses 10 are attached to the mount in a light axis non-over-center manner, and each Of the imaging lenses has a Field Of View (FOV) Of between 190 and 220 degrees. Particularly, when the panoramic camera is used, a certain proportion is maintained between the connection points of each imaging lens, so that the function change of the Z axis on the projection spherical surface and the function change of the projection spherical surface can be maintained to be constant. That is, when the panoramic camera is used, the angles or positions of the imaging lenses are changed or adjusted according to the use condition, but the angles or positions between each of the imaging lenses are maintained in a certain proportion.
It is worth mentioning that the Field Of View (FOV) is one Of the performance parameters in the imaging lens, which is the angle seen by the lens Of the imaging lens to the object, which is obtained by measuring the horizontal and vertical angles. Further, the size of the frame captured by the imaging lens can be known through the size of the field of view of the imaging lens. For example, the FOV is 190, which means that the angle of view of the imaging lens is 190 degrees.
According to this embodiment of the invention, each of the imaging lenses is implemented as a 5M-16M camera or lens with an FOV of between 180 degrees and 220 degrees. In particular, the lens of each imaging lens 10 is implemented mainly by a glass lens, and several roughened lenses are added. However, the implementation of the lens as a glass lens is not a limitation of the present invention, that is, the lens can be implemented as a plastic lens without affecting the optical effect and function.
In addition, another preferred embodiment of the present invention is a camera module unit for a panoramic camera, which comprises at least four camera modules, each camera module having an imaging lens 10, wherein each camera module is disposed on a bracket 20 of the panoramic camera, and the imaging lenses 10 of the camera modules are disposed such that the optical axes are not concentric. Further, the bracket 20 can also be directly connected to the four imaging lenses 10, so that the production process is unified and simplified. That is to say, four this imaging lens 10 can be dismantled alone to but independent operation to be suitable for the convenience of standard establishment and the management and control of product quality in the industrial production, also can make this panoramic camera be applicable to more different applications. In addition, since the imaging lens 10 is disposed in such a manner that the optical axes are not concentric, the range in which a photographed panoramic image or panoramic photograph is presented is wider and the assembly is easier. In particular, the present invention is developed based on the Accuracy of correction of fisheye lens modules (Accuracy of fish-eye lens modules), so that the panoramic camera can effectively reduce the radial barrel distortion and the final imaging distortion.
It should be noted that the camera module, if it is a fixed focus module, includes a lens holder, a flexible circuit board, a light sensing chip, and a light filter. The imaging lens 10 is disposed on the lens holder and located in a photosensitive path of the photosensitive chip, so that when the camera module is used for capturing an image of an object, light reflected by the object can be further received by the photosensitive chip after being processed by the imaging lens 10 to be suitable for photoelectric conversion. The optical filter is disposed between the light path of the imaging lens 10 and the photosensitive chip, and the photosensitive chip is electrically connected to the flexible printed circuit.
In addition, if the camera module has an automatic focusing function, the camera module further comprises a voice coil motor. In other words, the voice coil motor is disposed in the imaging lens 10 of the camera module with auto-focus function. The voice coil motor is arranged on the mirror base so as to utilize the voice coil motor to carry out automatic focusing. In addition, it is worth one that the panoramic camera of the present invention mainly breaks through the existing panoramic camera with regular tetrahedron structure, and its main operation mode is still implemented in cooperation with the actual algorithm.
According to this embodiment of the present invention, each of the imaging lenses 10 includes a support unit 11 having a support surface 111 and at least two engagement holes 112. The bracket 20 includes a connection unit having at least four connection surfaces, and each of the connection surfaces has at least two connection holes. Thus, the supporting surface 111 of the supporting unit 11 of each imaging lens 10 can be connected to the connecting surface of the connecting unit of the bracket 10, and the two engaging holes 112 of the supporting unit of each imaging lens 10 respectively correspond to the two connecting holes of each connecting surface of the connecting unit of the bracket 20, and a plurality of connecting elements can simultaneously penetrate through each engaging hole and each connecting hole respectively to connect and fix each imaging lens to the bracket 20.
According to this embodiment of the present invention, four of the imaging lenses 10 are attached to the mount in such a manner that the optical axes are not over-centered. Each of the imaging lenses implements a 5M-16M camera or lens with a FOV between 180 degrees and 220 degrees. In particular, the lens of each imaging lens 10 is implemented mainly by a glass lens, and several roughened lenses are added. However, the implementation of the lens as a glass lens is not a limitation of the present invention, that is, the lens can be implemented as a plastic lens without affecting the optical effect and function.
In addition, it is worth one that the panoramic camera of the present invention mainly breaks through the existing panoramic camera with regular tetrahedron structure, and its main operation mode is still implemented in cooperation with the actual algorithm.
Therefore, the present invention particularly provides a panorama stitching algorithm for a panoramic camera, comprising the following steps:
(a) setting one of the four imaging lenses as a first imaging lens;
(b) taking out a first image according to the position of the first imaging lens, wherein the effective part of the first image a1 is subjected to coordinate transformation and expanded to form a first image expansion diagram;
wherein the coordinate transformation formula in the step (b) is as follows:
wherein ix and iy are coordinates of the coordinate point on the first image development image, x and y are coordinates of the first image, and R is the radius of the calibrated fisheye image.
(c) Setting one module of the four imaging lenses as a second imaging lens;
(d) taking out a second image according to the position of the second imaging lens B1, wherein the effective part of the second image is subjected to coordinate transformation and expanded to form a second image expansion diagram;
the coordinate conversion formula is as follows:
y＝R+y1
where ix and iy are coordinates of the coordinate point on the first image development, and x and y are coordinates of the second image.
Wherein the specific content of each pixel in the second image development map can be determined according to the following formula:
the content of the position iy W3 + ix 3 in the expanded view of the second image is the content of x 1R 3+ y1 3 in the second image.
The content of the position iy W3 + ix 3+1 in the expanded view of the second image is the content of x 1R 3+ y1 3+1 in the second image.
The content of the position iy W3 + ix 3+2 in the expanded view of the second image is the content of x 1R 3+ y1 3+2 in the second image.
(e) Setting one module of the four imaging lenses as a third imaging lens;
(f) taking out a third image according to the position of the third imaging lens B2, wherein the effective part of the third image, namely the dotted line, is subjected to coordinate transformation and unfolded to form a third image unfolded image;
the coordinate conversion formula is as follows:
y＝R+y1
where ix and iy are coordinates of the coordinate point on the first image development, and x and y are coordinates of the third image.
(g) Setting one module of the four imaging lenses as a fourth imaging lens;
(h) taking out a fourth image according to the position of the fourth imaging lens B3, wherein the effective part of the fourth image, i.e. the dotted line, is subjected to coordinate transformation and unfolded to form a fourth image unfolded image;
the coordinate conversion formula is as follows:
y＝R+y1
where ix and iy are coordinates of the coordinate point on the first image development, and x and y are coordinates of the fourth image.
(i) And converting the overlapped areas of the first image development image, the second image development image, the third image development image and the fourth image development image at the edge positions, and fusing the edges of the overlapped parts based on SIFT characteristics to form a rectangular panoramic picture with the width of W and the height of H (W: H is 2: 1).
As shown in fig. 1 and 3, the combination position or angle of the four imaging lenses 10 is not limited to one, and it is not a limitation of the present invention as long as the optical axis is not over-centered and the imaging lenses maintain a fixed angle between the operation angles.
It will be appreciated by persons skilled in the art that the embodiments of the invention described above and shown in the drawings are given by way of example only and are not limiting of the invention. The objects of the invention have been fully and effectively accomplished. The functional and structural principles of the present invention have been shown and described in the examples, and any variations or modifications of the embodiments of the present invention may be made without departing from the principles.
Claims (11)
1. A panoramic camera, comprising:
the camera shooting device comprises at least four camera shooting modules, a camera shooting module and a camera shooting module, wherein each camera shooting module is provided with an imaging lens;
the data processing module is used for receiving and processing the imaging signals from the camera modules, wherein each camera module is electrically connected with the data processing module; and
the camera module is arranged on the bracket, and the imaging lens of the camera module is provided with an optical axis which does not pass through the same point;
and the imaging lenses of every two of the at least four camera modules have a preset position relationship so that the function change of the Z axis on the projection spherical surface and the function change on the projection spherical surface are kept constant.
2. The panoramic camera of claim 1, wherein each of the imaging lenses includes a support unit having a support surface and at least two engagement holes.
3. The panoramic camera of claim 2, wherein said mount includes a connection unit having at least four connection faces, and each of said connection faces has at least two connection holes.
4. The panoramic camera as claimed in claim 3, wherein said bracket includes a plurality of coupling members such that when said supporting surface of said supporting unit of each of said imaging lenses is coupled to said coupling surface of said coupling unit of said bracket, two of said coupling holes of said supporting unit of each of said imaging lenses correspond to two of said coupling holes of each of said coupling surfaces of said coupling unit of said bracket, respectively, and each of said imaging lenses is coupled and fixed to said bracket by simultaneously penetrating each of said coupling holes and each of said coupling holes through a plurality of said coupling members, respectively.
5. The panoramic camera of any of claims 1-4, wherein the angles between the four imaging lenses are maintained at a fixed angle during operation.
6. The panoramic camera of any of claims 1-4, wherein the range of the field of view of each of the imaging lenses is implemented to be 190 degrees to 220 degrees.
7. The panoramic camera of any of claims 1-4, wherein the lens of each of the imaging lenses is implemented with a glass lens.
8. The panoramic camera of claim 6, wherein the lens of each of the imaging lenses is implemented with a glass lens.
9. The panoramic camera of claim 6, wherein the lens of each imaging lens is implemented with a plastic lens.
10. The panoramic camera of any of claims 8-9, wherein each of the imaging lenses comprises a plurality of roughened lenses.
11. The utility model provides a make a video recording module unit for panoramic camera, its characterized in that includes four at least modules of making a video recording, and every module of making a video recording all has an imaging lens, and wherein every module of making a video recording all is set up at this panoramic camera's support, and the imaging lens of this module of making a video recording is set up the optical axis and is not concentric, wherein, every two in the imaging lens of four at least modules of making a video recording module have between the imaging lens of the module of making a video recording and predetermine the position relation so that the function change on Z axle and the projection spheroid on the projection sphere maintains invariable.
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| CN108282606B (en) * | 2017-01-05 | 2020-09-15 | 浙江舜宇智能光学技术有限公司 | Panoramic stitching method and equipment |
| CN109900705B (en) * | 2019-03-18 | 2022-06-10 | 合肥京东方光电科技有限公司 | A substrate detection device and detection method |
| CN110361925A (en) * | 2019-08-02 | 2019-10-22 | 深圳市圆周率软件科技有限责任公司 | A kind of lens module composite structure applied in panorama camera |
| CN110361924A (en) * | 2019-08-02 | 2019-10-22 | 深圳市圆周率软件科技有限责任公司 | A kind of mounting structure of the lens module applied to panorama camera |
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| JP2005283616A (en) * | 2004-03-26 | 2005-10-13 | Softopia Japan Foundation | Imaging device |
| CN101825840A (en) * | 2010-05-06 | 2010-09-08 | 浙江大学 | Multi-camera real-time omnidirectional imaging system |
| CN201845172U (en) * | 2010-08-20 | 2011-05-25 | 上海立体数码科技发展有限公司 | Image pick-up module group with three identical image pick-up units |
| US20110134262A1 (en) * | 2009-12-07 | 2011-06-09 | Kabushiki Kaisha Toshiba | Camera module, image recording method, and electronic device |
| CN102692810A (en) * | 2011-03-24 | 2012-09-26 | 株式会社拓普康 | Omni-directional camera |
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| JP2005283616A (en) * | 2004-03-26 | 2005-10-13 | Softopia Japan Foundation | Imaging device |
| US20110134262A1 (en) * | 2009-12-07 | 2011-06-09 | Kabushiki Kaisha Toshiba | Camera module, image recording method, and electronic device |
| CN101825840A (en) * | 2010-05-06 | 2010-09-08 | 浙江大学 | Multi-camera real-time omnidirectional imaging system |
| CN201845172U (en) * | 2010-08-20 | 2011-05-25 | 上海立体数码科技发展有限公司 | Image pick-up module group with three identical image pick-up units |
| CN102692810A (en) * | 2011-03-24 | 2012-09-26 | 株式会社拓普康 | Omni-directional camera |
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