Research On The Panoramic Imaging System With High Resolution And Its Vision Application

This dissertation focuses on the panoramic annular lens imaging with high resolution and its vision application. The panoramic annular lens can implement imaging with 360°field of view without scanning. It can capture the 360°scene of horizontal plane around the optical axis instantly. It can reach the (-10°-40°)field of view in vertical direction. It can capture the backside of the optical system. So it has the wide application in video surveillance, robot vision and virtual reality. The super view of panoramic annular lens is due to the lower resolution. The resolution of the PAL should be improved before it is applied. This dissertation analyses and researches this problem deeply. Firstly the system hardware doesn't been changed, we propose a panoramic super-high resolution image restore algorithm. It can improve the resolution from the software. The super-high resolution image restore algorithm has the limit ability to improve the resolution. If the PAL is applied in detecting from far distance, it is necessary to enhance the space resolution from the optical and hardware system. This dissertation proposes the plan that uses a big CCD and CMOS sensor scanning to image. At last we research the theory and evaluate the application of panoramic imaging in the intelligent network surveillance and intelligent drive safety system. The real results show that panoramic will play an important role in the application of the surveillance and robot. The detail work is as follow:Chapter 1 introduces the research background of the high resolution panoramic imaging, analyses the merit and fault of the fish lens and the conventional camera based on CCP. A geometry model of panoramic imaging with a single reflecting surface is established and the characteristics of different surfaces are analyzed. The structure of panoramic annular is analyzed. At last the context and main work of the thesis is introduced.Chapter 2 analyzes the characteristics of PAL. The geometry model of the PAL cameras with non-spherical surfaces and spherical surfaces are established. The relation of object and image is inducted from optical theory. The inherent relation of the depth of field, focus length and resolution is analyzed. At last the binary optics is analyzed in the application of PAL.Chapter 3 proposes the super-high resolution panoramic algorithm. The observe model is built firstly. The resolution characteristics and non-uniform resolution in linearization of PAL are researched. The optimization cubic kernel is proposed. The high-frequency information restoring theory is researched. Bezier surface three-dimension interpolation and edge-directed preserve algorithms are researched in single panoramic super-high resolution and swift algorithm is proposed. Panoramic POCS algorithm is researched in multiple frames space.Chapter 4 designs and implements a big PAL with a high resolution. It analyzes the optical characteristics of the big PAL. The performance and fault of the panoramic imaging system with a big CCD is analyzed. In the thesis three CMOS image sensor are adopted. The resolution of 3-CMOS sensor can reach 8 million pixels theoretically. The scanning control system and high speed transmission system are designed with a DSP core. The stable image algorithm with an accelerometer is proposed to solve the instability of image due to the motor and manufacture precision. The stitching algorithm for images is researched.Chapter 5 researches the application of the panoramic vision technique. An intelligent surveillance system based on PAL can adjust it resolution by itself. The adaptive theory and face detection algorithm is analyzed. We test the panoramic intelligent surveillance system. The intelligent drive system based on panoramic vision is introduced. The calibration algorithm of panoramic image is researched based on the spherical and cylinder. We evaluate the performance of the system on the model car. At last we realize the system on the processor with double core.Chapter 6 summarizes the full thesis and proposes the future plan.