FOLDED PARALLEL-LIGHT-CHANNEL BASED STEREO IMAGING SYSTEM WITH DISPARITY AND CONVERGENCE ANGLE CONTROL
A stereo imaging system having convergence angle and disparity control includes a pair of pivoting folded-parallel-light-channel (FPLC) units arranged to provide a virtual left side view and a virtual right side view of a scene. Each FPLC unit includes a fixed lens unit adapted to focus reflected light comprising an image of a scene to an image sensor and a laterally translatable light-redirecting unit comprising a reflector adapted to define a parallel image reflection path to the fixed lens unit via a collimated light beam comprising substantially parallel light beams. The stereo imaging system further includes a disparity-adjusting mechanism adapted to alter a distance between the pair of pivoting FPLC units and a convergence-angle-adjusting mechanism adapted to pivot the pivoting FPLC units.
1 . A stereo imaging system having convergence angle and disparity control, comprising:
a pair of pivoting folded-parallel-light-channel (FPLC) units arranged to provide a virtual left side view and a virtual right side view of a scene, each FPLC unit comprising:
a) a fixed lens unit adapted to focus reflected light comprising an image of a scene to an image sensor, and
b) a laterally translatable light-redirecting unit comprising a reflector adapted to define a parallel image reflection path to the fixed lens unit via a collimated light beam comprising substantially parallel light beams;
a disparity-adjusting mechanism adapted to alter a distance between the laterally translatable light-redirecting units of the pair of pivoting FPLC units; and
a convergence-angle-adjusting mechanism adapted to pivot the pivoting FPLC units.
2 . The stereo imaging system according to claim 1 , wherein the disparity-adjusting mechanism comprises a first actuator operatively connected to a cam assembly.
3 . The stereo imaging system according to claim 2 , wherein the convergence-angle-adjusting mechanism comprises a second actuator adapted to pivot a pair of pivoting housings each respectively carrying a one of the pair of FPLC units.
4 . The stereo imaging system according to claim 1 , wherein the reflector defines a planar reflective surface.
5 . The stereo imaging system according to claim 4 , further including a concave lens disposed between the reflector and an image inlet of each of the pair of FPLC units.
6 . The stereo imaging system according to claim 5 , wherein the concave lens defines a lens field of view that is the same as a field of view of the fixed lens unit.
7 . The stereo imaging system according to claim 1 , wherein the reflector defines an arcuate reflective surface.
8 . The stereo imaging system according to claim 7 , wherein the arcuate reflective surface is configured to define a reflector field of view that is the same as a field of view of the fixed lens unit.
9 . The stereo imaging system according to claim 1 , wherein the fixed lens unit defines a wide-angle lens unit.
10 . The stereo imaging system according to claim 1 , wherein the fixed lens unit defines a telephoto lens unit.
11 . A stereo imaging system having convergence angle and disparity control, comprising:
a pair of pivoting folded-parallel-light-channel (FPLC) units arranged to provide a virtual left side view and a virtual right side view of a scene, each FPLC unit comprising:
a) a fixed lens unit adapted to focus reflected light comprising an image of a scene to an image sensor, and
b) a laterally translatable light-redirecting unit comprising a planar reflector adapted to define a parallel image reflection path to the fixed lens unit via a collimated light beam comprising substantially parallel light beams;
a disparity-adjusting mechanism adapted to alter a distance between the laterally translatable light-redirecting units of the pair of pivoting FPLC units; and
a convergence-angle-adjusting mechanism adapted to pivot the pivoting FPLC units.
12 . The stereo imaging system according to claim 11 , wherein the disparity-adjusting mechanism comprises a first actuator operatively connected to a cam assembly.
13 . The stereo imaging system according to claim 12 , wherein the convergence-angle-adjusting mechanism comprises a second actuator adapted to pivot a pair of pivoting housings each respectively carrying a one of the pair of FPLC units.
14 . The stereo imaging system according to claim 11 , further including a concave lens disposed between the planar reflector and an image inlet of each of the pair of FPLC units.
15 . The stereo imaging system according to claim 14 , wherein the concave lens defines a lens field of view that is the same as a field of view of the fixed lens unit.
16 . The stereo imaging system according to claim 11 , wherein the fixed lens unit defines a wide-angle lens unit.
17 . The stereo imaging system according to claim 11 , wherein the fixed lens unit defines a telephoto lens unit.
18 . A stereo imaging system having convergence angle and disparity control, comprising:
a pair of pivoting folded-parallel-light-channel (FPLC) units arranged to provide a virtual left side view and a virtual right side view of a scene, each FPLC unit comprising:
a) a fixed lens unit adapted to focus reflected light comprising an image of a scene to an image sensor, and
b) a laterally translatable light-redirecting unit comprising an arcuate reflector adapted to define a parallel image reflection path to the fixed lens unit via a collimated light beam comprising substantially parallel light beams;
a disparity-adjusting mechanism adapted to alter a distance between the laterally translatable light-redirecting units of the pair of pivoting FPLC units; and
a convergence-angle-adjusting mechanism adapted to pivot the pivoting FPLC units.
19 . The stereo imaging system according to claim 18 , wherein the disparity-adjusting mechanism comprises a first actuator operatively connected to a cam assembly.
20 . The stereo imaging system according to claim 19 , wherein the convergence-angle-adjusting mechanism comprises a second actuator adapted to pivot a pair of pivoting housings each respectively carrying a one of the pair of FPLC units.
21 . The stereo imaging system according to claim 18 , wherein the arcuate reflective surface is configured to define a reflector field of view that is the same as a field of view of the fixed lens unit.
22 . The stereo imaging system according to claim 18 , wherein the fixed lens unit defines a wide-angle lens unit.
23 . The stereo imaging system according to claim 18 , wherein the fixed lens unit defines a telephoto lens unit.