Low parallax imaging system with an internal space frame
A frame for a low parallax imaging device includes a plurality of interconnected faces configured to mount cameras. The faces are mounted along peripheral edges using kinematic connections. The frame provides a structure on which the mounted cameras provide a combined field of view of up to about 360-degrees with minimal parallax between adjacent cameras.
1. An imaging device comprising:
a frame comprising:
a first polygonal face having a plurality of first edges defining a first periphery,
a second polygonal face having a plurality of second edges defining a second periphery, and
one or more kinematic elements coupling a first edge of the plurality of first edges to a first edge of the plurality of second edges;
a first camera coupled to the first polygonal face and having a first lens, the first lens having a plurality of first lens sides defining a first lens periphery; and
a second camera coupled to the second polygonal face and having a second lens, the second lens having a plurality of second lens sides defining a second lens periphery, a first lens side of the first lens sides contacting a second lens side of the second lens sides.
2. The imaging device of claim 1 , the frame further comprising:
a third polygonal face having a plurality of third edges defining a third periphery; and
additional kinematic elements coupling a first edge of the plurality of third edges to a second edge of the plurality of first edges and coupling a second edge of the plurality of third edges to a second edge of the plurality of second edges, the imaging device further comprising:
a third camera coupled to the third polygonal face.
3. The imaging device of claim 2 , the frame further comprising:
additional polygonal faces coupled to at least one of the first polygonal face, the second polygonal face, or the third polygonal face, to form a kinematic space frame, the imaging device further comprising:
additional cameras coupled to the additional polygonal faces, the first camera, the second camera, the third camera, and the additional cameras configured to provide substantially adjacent fields of view.
4. The imaging device of claim 1 , wherein the one or more kinematic elements comprise a first kinematic element and a second kinematic element, wherein the first kinematic element couples the second polygonal face to the first polygonal face about three degrees of freedom and the second kinematic element fixes the second polygonal face to the first polygonal face about two degrees of freedom.
5. The imaging device of claim 1 , wherein the one or more kinematic elements comprise a cylindrical pin having a longitudinal axis extending generally parallel to the first edge of the plurality of first edges and the first edge of the plurality of second edges, an outer surface of the cylindrical pin contacting a first datum surface on the first edge and a second datum surface on the second edge;
a first spring coupled to the first polygonal face and to the cylindrical pin; and
a second spring coupled to the second polygonal face and to the cylindrical pin.
6. The imaging device of claim 1 , wherein the first periphery nominally matches the first lens periphery and the second periphery nominally matches the second lens periphery.
7. The imaging device of claim 1 , wherein a kinematic element of the one or more kinematic elements comprises a first portion secured to one of the first polygonal face or the second polygonal face and a second portion secured to the other of the first polygonal face or the second polygonal face, the first portion comprising a ball and the second portion comprising at least one of a flat, a vee-groove, or a trihedral socket contacted by the ball.
8. The imaging device of claim 1 , wherein the one or more kinematic elements comprise a cylindrical pin and offset vees.
9. The imaging device of claim 1 , further comprising magnets or springs associated with the one or more kinematic elements to provide holding forces.
10. The imaging device of claim 1 , further comprising a ball disposed along a first edge of the first lens periphery and at least one of a flat or a vee disposed along a second edge of the second lens periphery, the ball contacting the at least one of the flat or the vee to maintain a seam between the first lens and the second lens.
11. The imaging device of claim 1 , wherein at least one of the first camera is coupled to the first face or the second camera is coupled to the second face using at least one of magnets, vee groves, flats, and alignment balls.
12. The imaging device of claim 1 , wherein the first camera is positioned relative to the second camera such that a first low-parallax volume associated with the first camera at least partially overlaps a second low-parallax volume associated with the second camera.
13. The imaging device of claim 1 , wherein the frame defines a hollow center.
14. The imaging device of claim 13 , further comprising:
a relay optical system extending at least partially into the hollow center and through an opening in a face of the frame opposite the first face.
15. A frame for an imaging device comprising:
a first polygonal face having a plurality of first edges defining a first periphery,
a second polygonal face having a plurality of second edges defining a second periphery, and
one or more kinematic elements coupling a first edge of the plurality of first edges to a first edge of the plurality of second edges.
16. The fame of claim 15 , wherein a kinematic element of the one or more kinematic elements comprises
a cylindrical pin having a longitudinal axis extending generally parallel to the first edge and the second edge, an outer surface of the cylindrical pin contacting a first datum surface on the first edge of the plurality of first edges and contacting a second datum surface on the first edge of the plurality of second edges;
a first spring coupled to the first polygonal face and to the cylindrical pin; and
a second spring coupled to the second polygonal face and to the cylindrical pin.
17. The frame of claim 15 , further comprising:
a third polygonal face having a plurality of third edges defining a third periphery; and
additional kinematic elements coupling a first edge of the plurality of third edges to a second edge of the plurality of first edges and coupling a second edge of the plurality of third edges to a second edge of the plurality of second edges.
18. The frame of claim 17 , further comprising:
additional polygonal faces coupled to at least one of the first polygonal face, the second polygonal face, or the third polygonal face, to form a rigid kinematic space frame.
19. The frame of claim 15 , wherein the one or more kinematic elements comprise a first kinematic element and a second kinematic element, wherein the first kinematic element couples the second polygonal face to the first polygonal face about three degrees of freedom and the second kinematic element fixes the second polygonal face to the first polygonal face about two degrees of freedom.
20. The frame of claim 15 , further comprising one or more magnets or springs associated with the one or more kinematic elements to provide holding forces.