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WO2025210523A1 - Caméra stéréoscopique, dispositif à porter sur soi comprenant ladite caméra, et procédure de vision stéréoscopique - Google Patents

Caméra stéréoscopique, dispositif à porter sur soi comprenant ladite caméra, et procédure de vision stéréoscopique

Info

Publication number
WO2025210523A1
WO2025210523A1 PCT/IB2025/053441 IB2025053441W WO2025210523A1 WO 2025210523 A1 WO2025210523 A1 WO 2025210523A1 IB 2025053441 W IB2025053441 W IB 2025053441W WO 2025210523 A1 WO2025210523 A1 WO 2025210523A1
Authority
WO
WIPO (PCT)
Prior art keywords
target
roi
camera
active area
lens
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/IB2025/053441
Other languages
English (en)
Inventor
Matteo Tamigi
Morelli Marco
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Techsigno Srl
Original Assignee
Techsigno Srl
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Techsigno Srl filed Critical Techsigno Srl
Publication of WO2025210523A1 publication Critical patent/WO2025210523A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/296—Synchronisation thereof; Control thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance

Definitions

  • the present invention relates to a stereoscopic camera, a wearable device comprising said camera, and a stereoscopic vision procedure .
  • the invention was made with particular reference to medical diagnostic use ; however, applications in any sector requiring high-precision vision, such as the j ewelry sector, are not excluded .
  • Traditional cameras generally comprise an optical lens that serves as an entry point for optical images and conveys them through an optical path to an image sensor, which is a digital electronic device that converts optical images into digital images .
  • Digital images can be sent to a camera viewer to be viewed .
  • the image sensor includes a region of interest , called ROI , which is a portion of the sensor where the quality of the acquired images is superior, as it discards the portions of the optical image where distortion or aberration due to the lenses can occur. Outside this region, therefore, there is generally a loss of quality.
  • ROI region of interest
  • Stereoscopic cameras used for diagnostic purposes such as those used by dentists, comprise two lenses and two sensors.
  • Such cameras have a point of convergence of the optical paths at which the object to be observed, also called the target, must be placed. When it is in this position, to be correctly viewed stereoscopically, the object must also be projected into the ROI of both sensors .
  • the cameras In an initial phase, and periodically, the cameras require calibration to ensure that the ROIs point to the same target in the sensor's field of view. Such calibration requires the shifting of the optical lenses.
  • the problem arises from the fact that the target modifies its distance from the camera and therefore shifts with respect to the focus point, which is the point of convergence of the optical paths. To compensate for this shift, it is necessary to change the inclination between the optical paths, which also requires adjusting the inclination of the lenses.
  • the calibration of the ROI s to be used as a starting reference requires the disassembly and setting of the mechanical parts .
  • the general purpose of the present invention i s to overcome all or part of the problems of the known technique .
  • a preferred purpose of the present invention i s to provide a stereoscopic camera with simpli fied mechanical construction compared to the known technique .
  • a preferred purpose of the present invention is to provide a stereoscopic camera that does not require complex and expensive mechanical calibration and compensation components .
  • a preferred purpose of the present invention is to provide a stereoscopic camera that is easy and practical to use.
  • said stereoscopic camera comprises :
  • image sensor means (10) hereinafter simply referred to as “sensor means”, where the sensor means include at least one active area (11) ;
  • each active area (11) includes at least one region of interest (25) , hereinafter simply referred to as ROI, and the sensor means (10) include at least one ROI (25) for each lens (5) , characterized in that
  • each lens (5) is movable within the respective active area, preferably via software.
  • the stereoscopic camera comprises:
  • image sensor means (10) hereinafter simply referred to as “sensor means”, where the sensor means include at least one active area (11) ;
  • each active area (11) includes at least one region of interest (25) , hereinafter simply referred to as ROI, and the sensor means (10) include at least one ROI (25) for each lens (5) ;
  • each lens (5) is movable within the respective active area, via software, characterized in that the lenses (5) have optical paths converging at a target point (8) ; each lens has a field of view (7) , and each field of view (7) of each lens is projected onto a focal plane PF, following the optical path 20, on which also lies a respective active area (11) of the sensor means (10) ; said projection of the field of view has a predetermined extension on the focal plane PF greater than the extension of the active area (11) , and the active area (11) is substantially centered (that is, at the center) in said projection.
  • the relevant extension is therefore on the focal plane .
  • FOCAL PLANE an ideal plane on which the active area is located
  • each active area is a portion of the sensor means configured to receive at least one optical image and to convert it into a corresponding digital image. It develops on a plane hereinafter called the focal plane PF.
  • ROI (Region Of Interest of the image sensor means) (10) : an area on the focal plane corresponding to a digital image captured by the sensor means (10) .
  • the ROI is therefore a region of the active area configured to acquire digital images that correspond to respective "portions" of optical images, where the optical images correspond to the projections of the field of view, that is , they are proj ected onto the active area of the sensor means by the optical lenses .
  • the image sensor means are configured to acquire digital images only in the ROI s because their quality is advantageously superior, as portions of the optical image , where distortion or aberration due to the lenses may occur , are discarded .
  • the ROT therefore generates digital images that correspond to " cutouts" of optical images .
  • FIELD OF VIEW the portion of space that can be visible , given the position of the lens . Basically, it can be represented by its aperture angle , also called the angle of vision, and depends on constructive optical parameters such as the focal length .
  • PROJECTION OF THE FIELD OF VIEW the optical image , perceived by the lens through its field of view, proj ected on the focal plane , that is , the area on the focal plane corresponding to the entire optical image seen by the optical lens proj ected onto said focal plane .
  • Figure 1 schematically shows a stereoscopic camera according to the present invention .
  • Figure 6 schematically shows an example of how the target is seen in the two active areas 11 of the camera of figure 5 , when the camera is not calibrated .
  • Figure 7 shows the shi fting of the ROI s for the calibration of the situation in figure 6 .
  • Figure 8 schematically shows the lenses of the camera of figure 1 in a condition where the target is at a point far from the point of intersection of the optical paths of the two lenses .
  • Figure 9 schematically shows an example of how the target is seen in the two active areas 11 of the camera of figure 7 , when the camera is not compensated .
  • Figure 10 shows the shi fting of the ROI s for the compensation of the situation in figure 9 .
  • a stereoscopic camera according to the present invention is schematically shown, indicated as a whole with reference number 1 .
  • the camera also includes display means 15 , operatively connected to the sensor means 10 to receive and display the digital images generated by the latter .
  • the display means for example , comprise a single display for both eyes of a user, or a pair of displays , one for each eye .
  • Camera 1 includes an optical path 20 for each lens 5 , configured to convey the optical images that enter the sensor means 10 through the respective lens 5 .
  • the lenses 5 have optical paths converging at a target point 8 .
  • Each lens has a field of view 7 , of predetermined extension (that is , of predetermined angle ) .
  • Each field of view 7 of each lens is proj ected onto a focal plane PF on which also lies a respective active area 11 of the sensor means 10 , following the optical path 20 .
  • the extension of said proj ection is greater than the extension of the active area 11 , and the active area 11 is substantially centered (that is, at the center) in said projection.
  • the extension of the projection of the field of view 7 is at least double the extension of the active area.
  • the centering between the projection of the field of view 7 and the active area 11, and their difference in extension, make it possible to discard the areas of the optical image which are of low quality due to distortions or aberrations.
  • the centering for example, is between the projection of an optical axis AF of the field of view 7 and a predetermined vicinity 9 of the center of the active area 11. Such tolerance is possible thanks to the significant difference in extension between the field of view 7 and the active area 11. This advantageously simplifies construction and reduces costs.
  • Cartesian coordinate system XYZ is conventionally defined, where the X and Y directions are on the focal plane PF and the Z direction is parallel to the optical axis AF, preferably coincident.
  • the directions are understood to be orthogonal to each other.
  • the Cartesian coordinates have their origin at a central point of the active area 11.
  • Each active area 11 includes at least one region of interest 25, hereinafter simply referred to as ROI, and the sensor means include at least one ROI for each lens 5.
  • Each ROI captures a portion of the optical image, which is transmitted to the display means 15.
  • the at least one ROT for each lens is generally movable , via software - preferably digitally, within the respective active area 11 .
  • the camera is configured for calibration when it is able to shi ft the ROI according to the X and Y coordinates at least to center it on the proj ection of target 50 when the latter is at target point 8 but its proj ection is displaced from an " initial reference position" of the ROI of at least one lens .
  • the initial reference position is preferably a central position with respect to the active area 11 .
  • the position reached by the ROI following calibration is called the " calibrated reference position" .
  • the camera is configured for compensation i f it is also able to shi ft the respective ROI s according to the X and Y coordinates at least to center them on the proj ection of target 50 when the latter is displaced in the Z direction with respect to target point 8 , and consequently its proj ection in at least one active area 11 is displaced from the respective ROI when it is in the " calibrated reference position" .
  • camera 1 includes identi fication means 30 configured to identi fy, for each lens 5 , the position of the proj ection of a predetermined target 50 within the respective active areas 11, for example by determining the X and Y coordinates, for example of the centroid.
  • said position includes the distance in X and Y coordinates from the ROI in the calibrated reference position.
  • Camera 1 also includes shifting means 35, configured to shift via software, preferably digitally, each ROI 25 in the respective active area 11.
  • the shifting means 35 are preferably configured to shift each ROI 25 independently of the others.
  • the need for calibration exists at least when target 50 is in the Z direction at target point 8, but at least one lens 5 projects it in the respective active area 11 not centered with respect to the ROI 25 when it is in the "reference position" at the center of active area 11.
  • Figure 6 schematically represents on the right and left the active areas 11 related respectively to the right and left optical lenses and the respective projections of target 50.
  • the latter has been represented in the form of an extended target with three dots, the center one colored for easier identification in the X and
  • the ROIs 25 related to both lenses 5 are in the initial reference position at the center of the respective active area 11.
  • the example shows the case where the left lens correctly projects the center of target 50 (middle dot) into the ROI 25, which is in the initial reference position. Conversely, the left lens projects the target outside the ROI when the latter is in the initial reference position, in particular it projects it higher and more to the right.
  • the ROI 25 related to the right lens is shifted, preferably digitally, in the X and Y coordinates to center itself on the projection of target 50.
  • the identification means 30 include, for example, visual reference means, such as a grid, visible on the display means 15 in superposition with the projection of the target, and the shifting means 35 include commands, via software - for example digital, operable by a user, to shift via software - for example digitally, the ROI on the projection of the target based on the visual reference means.
  • visual reference means such as a grid
  • the shifting means 35 include commands, via software - for example digital, operable by a user, to shift via software - for example digitally, the ROI on the projection of the target based on the visual reference means.
  • FIG 8 depicts the situation where target 50 is between the lenses 5 and the target point 8.
  • target 50 is initially seen by the camera as shown in figure 9, which schematically represents on the right and left the active areas 11 related respectively to the right and left optical lenses.
  • the ROIs 25 are both in the calibrated reference position at the center of the respective active area 11. In this reference position, at least one of the lenses has the projection of the target not centered with respect to the ROI .
  • a case is presented as an example where the left lens proj ects the left portion of the target into its ROI , and the right lens proj ects the right portion of the target into its ROI .
  • the ROI s are shi fted, via software - preferably digitally, in such a way as to center them on the central portion of the proj ections of target 50 , as shown by way of example in figure 10 .
  • the identi fication means 30 can be configured to identi fy the position o f target 50 in the respective Z directions with respect to target point 8 .
  • the processing means 38 in this case are preferably configured to associate relative compensation shi fts of the ROI in the XY coordinates to relative positions of the target in said Z direction .
  • the identi fication means 30 are generally configured to identi fy the same target 50 for each lens 5 . In case of compensation function, they can also be configured to follow said target .
  • the stereoscopic camera identi fies a common target 50 for the two lenses through the identification means 30.
  • Camera 1 positions one ROI for each lens in correspondence with the projection of said target in the active area 11 of the respective lens. This is done both in case of calibration and in case of compensation.
  • camera 1 when camera 1 detects that said projection is not centered with respect to a ROI 25 when the latter is in a reference position (for example, an initial reference position for calibration, and a calibrated reference position for compensation) , it shifts, via software - preferably digitally, said ROI to center it with respect to the projection of the target.
  • a reference position for example, an initial reference position for calibration, and a calibrated reference position for compensation
  • the identification means 30 identify such lack of centering and transmit it to the processing means 38, which process the related shifting instructions for the shifting means 35.
  • the identification means 30 can also be equipped with a locking function to remain “locked” on target 50 and follow it.
  • the shift of the ROIs is in fact a software shift of the captured scene, where the portion of captured scene is the one where the projection of the target is located.
  • the sensor means 10 include an active area 11 for each lens 5 , where each includes a ROI 25 .
  • the same active area 11 has more than one ROI , each associated with di f ferent lenses 5 .
  • camera 1 can advantageously include only one active area 11 , further simpli fying the construction .
  • a wearable device 60 comprising :
  • support means 65 wearable on the head of a user, for example in the form of a helmet or an element encircling the circumference of the skull ;
  • Said camera 1 is preferably constructed according to the scheme of figures 1 and 2 , and figures 3 and 4 show a preferred form of implementation . Other forms of implementation are also possible .
  • camera 1 includes the lenses 5 positioned in a frontal part , and the sensor means 10 positioned in a rear part .
  • This example represents the possible , but not mandatory, case in which the optical paths 20 have respective portions internal to the camera that are non rectilinear .
  • Said internal portions of optical paths include at least one deviation point 70 of the optical images , and preferably a plurality of them, for example made by respective prism means .
  • the camera includes two lenses 5 and two related active areas 11 .
  • Forms of implementation with a di f ferent arrangement of the camera 1 parts with respect to the support means 60 are also not excluded, for example forms of implementation where both the lenses and the sensor means are in the frontal part .
  • the optical path 20 between each lens 5 and the relative active area 11 may include optical magni fication means 70 , for example mechanically adj ustable .
  • optical magni fication means 70 are preferably placed in correspondence with a central area of the support means , as in the example of figures 3 and 4 . In thi s way, it is possible to obtain a good balance of the weights of the wearable device .
  • the parts of the camera must be functionally connected to each other and form a system, but it is not excluded that they are physically repositioned, for example supported in different areas of a support, as in the example of the helmet.
  • the detection means, the processing means, and the shifting means being software means, can also be arranged remotely from any main body of the camera, for example comprising the lenses.
  • the term “comprising” and its derivatives, as used herein, are intended as open-ended terms that specify the presence of the stated features, elements, components, groups, integers and/or steps, but do not exclude the presence of other unstated features, elements, components, groups, integers and/or steps.
  • the above applies also to words having similar meanings such as the terms “comprising”, “having” and their derivatives.
  • the terms “part”, “section”, “portion”, “member” or “element” when used in the singular can have the dual meaning of a single part or a plurality of parts.
  • si ze , shape , location or orientation of the various components may be changed as needed and/or desired .
  • Components that are shown directly connected or contacting each other may have intermediate structures disposed between them .
  • the functions of one element may be performed by two , and vice versa .
  • the structures and functions of one embodiment may be adopted in another embodiment . It is not necessary for all advantages to be present in a particular embodiment at the same time .

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Studio Devices (AREA)

Abstract

La présente invention concerne une caméra stéréoscopique comprenant : ▪au moins deux lentilles optiques (5), ci-après simplement appelées « lentilles », ▪des moyens capteurs d'image (10), ci-après simplement appelés « moyens capteurs », les moyens capteurs comprenant ▪au moins une zone active (11), au moins deux chemins optiques (20), chacun étant configuré pour transporter les images optiques d'une lentille respective à une zone active respective (11), lesdites images transportées étant appelées « projections » ; ▪chaque zone active (11) comprend au moins une région d'intérêt (25), ci-après simplement appelée ROI, et les moyens capteurs (10) comprennent au moins une ROI (25) pour chaque lentille (5) ; elle est caractérisée en ce que la ROI (25) de chaque lentille (5) est mobile à l'intérieur de la zone active respective.
PCT/IB2025/053441 2024-04-04 2025-04-02 Caméra stéréoscopique, dispositif à porter sur soi comprenant ladite caméra, et procédure de vision stéréoscopique Pending WO2025210523A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT102024000007420 2024-04-04
IT202400007420 2024-04-04

Publications (1)

Publication Number Publication Date
WO2025210523A1 true WO2025210523A1 (fr) 2025-10-09

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Family Applications (1)

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PCT/IB2025/053441 Pending WO2025210523A1 (fr) 2024-04-04 2025-04-02 Caméra stéréoscopique, dispositif à porter sur soi comprenant ladite caméra, et procédure de vision stéréoscopique

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WO (1) WO2025210523A1 (fr)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150156461A1 (en) * 2012-06-01 2015-06-04 Ultradent Products, Inc. Stereoscopic video imaging
WO2021150921A1 (fr) * 2020-01-22 2021-07-29 Photonic Medical Inc Loupe numérique étalonnée, multimodale, à vision ouverte avec détection de profondeur
WO2023021450A1 (fr) * 2021-08-18 2023-02-23 Augmedics Ltd. Dispositif d'affichage stéréoscopique et loupe numérique pour dispositif d'affichage proche de l'œil à réalité augmentée

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150156461A1 (en) * 2012-06-01 2015-06-04 Ultradent Products, Inc. Stereoscopic video imaging
WO2021150921A1 (fr) * 2020-01-22 2021-07-29 Photonic Medical Inc Loupe numérique étalonnée, multimodale, à vision ouverte avec détection de profondeur
WO2023021450A1 (fr) * 2021-08-18 2023-02-23 Augmedics Ltd. Dispositif d'affichage stéréoscopique et loupe numérique pour dispositif d'affichage proche de l'œil à réalité augmentée

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