单光学系统全景环带立体成像技术

Design of panoramic stereo imaging with single optical system

提出一种基于全景环带透镜（PAL）的新型全景环带立体成像系统。该系统含有两组同轴放置并成像于同一个传感器上的PAL单元，其成像圆为两内外相接的圆环。物体经过两个PAL单元分别成像于两个环中，通过三角测量法比较相同物体的像在两个圆环中的位置差异，可提取出物体的距离信息。这种新型的光学系统的中央盲区被其中一个PAL单元所利用，成为这个PAL单元的成像圆，增加了传感器像素的利用率。系统可提取立体信息的视场角为（60°-105°）×360°；提取深度信息的分辨率约为在500min范围内区域高于1 line／cm；为了使系统适用于较暗的光照环境下，其脒约为3。具体介绍了其设计过程，提取深度信息的方法和精度的分析过程以及实物和照片。

A novel panoramic stereo imaging system with double panoramic annular lenses （PAL） is introduced in this paper. The proposed system consists of two coaxial PAL units and images on one sensor. The object is imaged by two PAL units and image rings are concentric. The object＇s position can be calculated by triangulation by comparison of the radius of two images. The novelty of this system is that the central blind zone of one PAL unit is partly used by the other as an image zone and become its image zone which increases the use ratio of the sensor. The stereo field of view that can be calculated is （60°-105°）×360°. The depth extracting resolution is about 500 mm at 1 line/cm. The F# of the system is about 3, facilitating the system to be applied precision is analyzed and design of prototype and in low illumination environment. The depth extracting a picture taken from this system is presented.