Systems, methods, and apparatuses for stereoscopic imaging

Number: 9992482
Published: 2018-06-05
Filed: 2015-08-28
Assignee: Disney Enterprises, Inc.; ETH ZÜRICH
Inventors: Beardsley; Paul; Mora; Javier Alonso
CPC: G02B17/061; G02B27/0012; G06T7/85; H04N13/243; H04N13/286; H04N13/296; H04N23/51
Verdict: Medium Hardware
Source: Google Patents · FreePatentsOnline

The keeper's note

Stereoscopic imaging apparatus.

Abstract

An omnidirectional camera apparatus configured to facilitate omnidirectional stereo imaging is described. The apparatus may include a first convex mirror, a first camera disposed at the first convex mirror, a second convex mirror, and a second camera disposed at the second convex mirror. The first convex mirror and the second convex mirror may be arranged such that a first mirrored surface of the first convex mirror and a second mirrored surface of the second convex mirror may face each other. The first camera may capture imagery reflected off the second convex mirror. The second camera may capture imagery reflected off the first convex mirror. A method of calibrating an omnidirectional camera apparatus is also described.

Background

FIELD OF THE DISCLOSURE(1) This disclosure relates to systems, methods, and apparatuses for stereoscopic imaging.BACKGROUND(2) Robots may be used for entertainment, utilitarian, and/or other purposes. A plurality of robots may be deployed in an environment and programmed to carry out one or more tasks. A plurality of robots in such a scenario may be referred to as a “robot swarm.” It is often desired for the robots within the swarm to be “aware” of each other. Individual ones of the robots and/or a central processing unit may carry out localization processes including determining relative location, speed, direction of movement, and/or other information about individual ones of the robots. A tracking system may be used for localization. Tracking systems include, for example, onboard tracking systems, external tracking systems, optical tracking (e.g., camera tracking/imaging), wireless communication systems established between two or more robots and/or between a robot and a central processor, global positioning systems (GPS), and/or other system.(3) By way of non-limiting example, tracking may be accomplished by optical tracking systems including one or more cameras and/or processors configured to determine information about the location, speed, direction of movement, and/or other localization parameters about objects from captured images/video. Optical tracking systems may provide millimeter-accuracy localization of robots or other objects within an environment. However, optic

Claims

1. An omnidirectional stereo camera system, comprising: a first convex mirror having a first principle axis, a first mirrored surface, and a first central portion disposed along the first principle axis, the first central portion being configured to allow light to pass through the first central portion; a second convex mirror having a second principle axis, a second mirrored surface, and a second central portion disposed along the second principle axis, the second central portion being configured to allow light to pass through the second central portion, the first convex mirror and the second convex mirror being arranged such that the first principle axis and the second principle axis are aligned and the first mirrored surface and the second mirrored surface face each other without obstruction of a space between the first mirrored surface and the second mirrored structure; a first camera disposed behind the first convex mirror and aligned with the first principle axis such that light passing through the first central portion of the first convex mirror impinges on the first camera; and a second camera disposed behind the second convex mirror and aligned with the second principle axis such that light passing through the second central portion of the second convex mirror impinges on the second camera; and wherein the first camera disposed behind the first convex mirror is configured to capture imagery reflected by the second mirrored surface, and wherein the second camera disposed behind the second convex mirror is configured to capture imagery reflected by the first mirrored surface.