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OMNIVIEWS: Low-cost Panoramic Visual Sensor for Key Applications

This project aims to integrate optical, hardware, and software technology to create a low-cost, digital camera that can acquire panoramic (360°) images and perform low-level processing. The project will demonstrate the utility of this visual sensor in key application areas such as surveillance, navigation, and image transmission. The assessment phase will focus on optimizing the mirror design for direct read-out of panoramic images and evaluating the performance and cost-effectiveness of the sensor. The project consortium includes DIST-University of Genova, Genova CMP, Czech Technical University in Prague, and VISLAB-Instituto Superior Técnico in Lisbon.

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OMNIVIEWS: Low-cost Panoramic Visual Sensor for Key Applications

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  1. IST-1999-29017 – OMNIVIEWSOmnidirectional Visual System Final Review September 27-28, 2001 Lisbon

  2. Agenda of the meetingFirst Day 14:30Reviewers’ private meeting 15:00 WelcomeJose' Santos-Victor 15:10Goal of ReviewPekka Karp 15:20Omniviews Main AchievementsGiulio Sandini 16:00Coffee Break 16:30Mirror design principlesBranislav Micusik 16:50Mirror design toolsJose' Santos-Victor, Claudia Decco 17:10 Demos Introduction 17:20Surveillance DemoTomas Pajdla, Alex Bernardino 18:00Transmission DemoPedro Soares, Giulio Sandini 18:30End of first Day 20:30Dinner

  3. Agenda of the meetingSecond Day 9:00Navigation Demo José Santos-Victor 9:40 Future Outlook and General DiscussionGiulio Sandini 10:10Reviewer’s Private Meeting (with coffee) 11:10Preliminary Evaluation Report 11:40End of meeting

  4. Main Facts Open-scheme, Assessment Phase Project Consortium: DIST - University of Genova - Genova CMP - Czech Technical University in Prague VISLAB - Instituto Superior Técnico - Lisbon Project Start and Duration: September 1st 2000 – One year Funding: 100 K€

  5. Project’s Main Objective The main objective of the project is to integrate optical, hardware, and software technology for the realization of a smart visual sensor, and to demonstrate its utility in key application areas. In particular our intention is to design and realize a low-cost, digital camera acquiring panoramic (360°) images and performing a useful low-level processing on the incoming stream of images.

  6. Key Technologies Retina-like visual sensor Omnidirectional Mirrors

  7. Specific Objectives of Assessment Phase • Define the optimal profile of a mirror matching a retina-like visual sensor. Optimal in the sense that direct read-out of panoramic images is obtained. • Demonstrate its utility in key application areas • If successful present a follow-up proposal

  8. Methodologies • Use the currently available SVAVISCA camera for initial experiments • Design and simulate mirror using SVAVISCA camera • Realize the OMNIVIEWS mirror for the current sensor • Demonstrate the mirror in key applications SVAVISCA Pixel layout Simulated image: SVAVISCA camera Hyperbolic mirror

  9. Mirror’s design principle • Uniform Cylindrical Projection • Direct read-out through log-polar mapping

  10. OMNIVIEWS Mirror Mirror’s Profile Experimental Set-up and test images

  11. Assessment Criteria • Direct read-out of panoramic images • Frame rate • Resolution and layout of the sensor • Mirror profile and size • Lens characteristics • Camera cost • Image quality

  12. AC1: Direct read-out of panoramic images Direct read-out from OMNIVIEWS: About 30,000 read-out operations Image Obtained from a conventional camera: About 1.8 M operations required: 882,000 read-outs (30 times more) 882,000 additions 30,000 divisions

  13. AC2: Frame rate Currently the maximum read-out frequency is fixed by the camera’s interface (PC Parallel port) limiting the frame rate to about 12 frames/s. More than 25 frames/s is achievable with a faster interface (e.g. USB or PCMCIA)

  14. AC3: Resolution and Layout of the sensor

  15. AC4: Mirror Profile and Size Mirror profile and size meets the original plan (6 cm.). • Furthermore: • New technology for mirror realization • Mirror’s design tool of general utility • Design and realization of “mixed-mirror” • Overall size can be reduced

  16. AC5: Lens characteristics Standard C-Mount lenses have been used for all experiments and demos No difficulties in principle are envisaged for the design of smaller size lenses (possibly including the mirror).

  17. AC6: Camera Costs Cost of obtaining panoramic images is zero in our case Compared to conventional solutions no extra-cost for the mirror is required. Lower cost is possible with the new “glass-based” technology. The cost of the sensor is equivalent to the cost of conventional sensors realized with the same technology and with the same size.

  18. AC7: Image quality The project will be successful if we demonstrate that it is possible to create virtual images by simple reading out the pixels from the proposed sensor and to use such images in the aimed applications …. • Topology of images meets the quality criteria • Evaluation of numerical approximations • Three demonstrations: • Surveillance (two parts) • Navigation • Image Transmission • Further processing experiments: • Localization using Agam fiducials • 3D reconstruction

  19. Additional remarks • Software mirror-design tools have been developed • New kind of mirror have been proposed extending the original plan (i.e. the “mixed mirror”) • 10 scientific papers have been published • Plans for the future are clearer.

  20. Future Outlook Draft

  21. Objectives • Miniature Omnidirectional Camera with increased performance • Pre-industrial prototype • Focused applications Draft

  22. Miniature Camera Draft • Increase the resolution (and/or reduce the size) of the sensor using currently available (but forefront) CMOS technology • Improve and integrate optical components • Faster Camera Interface

  23. Sensor’s Layout Current CMOS 0.35 µm technology: min pixel size 6.8 µm – 33,000 pixels (equivalent: 1060x1060) Forefront CMOS 0.18 µm technology: min pixel size 3.6 µm – 100,000 pixels (equivalent: 2000x2000) Draft In this case: about 100 K read-out operations are equivalent to 6.3 Million operations required by a “conventional” camera with 2000x2000 pixels.

  24. Simulations are worst than actual images

  25. Mirror’s Technology Draft Investigate the integration of current mirror-lens assembly from an optical design point of view (application driven) Possibly adopt cheaper technology such as “glass coating”

  26. Applications • (Remote) Surveillance (e.g. traffic monitoring and emergency call-box for highways) • Endoscopes for inspection of body cavities (pipe-like). • Sewer inspection systems Draft

  27. Consortium • Add “optic-design” expert • Add “silicon designer” • Add Industrial partners for realistic requirements (surveillance + medical) Draft

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