Hyper camera with shared mirror
The present disclosure is related to improving image quality in a scanning camera system via scan angle selection to obtain images having overlap for performing image stitching, dynamically tuning an aperture of a camera in the scanning camera system, updating pixel values of an image using vignetting data, or a combination thereof.
1. An imaging system housed in a vehicle comprising:
a camera configured to capture a set of images along a scan path on an object area;
a scanning mirror structure including at least one mirror surface; and
a drive coupled to the scanning mirror structure and configured to rotate the scanning mirror structure about a scan axis based on a scan angle; wherein
the camera includes a lens to focus an imaging beam reflected from the scanning mirror structure to an image sensor of the camera,
at least one of an elevation and azimuth of the imaging beam captured by the camera varies according to the scan angle,
the image sensor of the camera captures the set of images along the scan path by sampling the imaging beam at values of the scan angle,
illumination of the image sensor by the imaging beam is reduced by at least one of partial occlusion by a constrained space in which the imaging system is installed and the scan angle of the scanning mirror structure being outside a predetermined range of scan angles,
the values of the scan angle along the scan path are selected based on a model representing the illumination of the image sensor by the imaging beam, and
the set of images are oblique images and a step size of the values of the scan angle for the scanning mirror structure varies trigonometrically with the scan angle.
2. The imaging system according to claim 1 , wherein a step size of the values of the scan angle of the scanning mirror structure depends on at least one of:
a yaw angle of the vehicle;
a roll of the vehicle;
a pitch of the vehicle;
a geometry of the scanning mirror structure;
the scan angle; and
a geometry of the constrained space.
3. The imaging system according to claim 1 , wherein
the set of images are oblique images,
a step size of the values of the scan angle for the scanning mirror structure has a first set of values for a first set of scan angles, and
the step size of the values of the scan angle for the scanning mirror structure has a second set of values for a second set of scan angles.
4. The imaging system according to claim 1 , wherein at least some images in the set of images partially overlap.
5. The imaging system according to claim 1 , wherein the predetermined range is determined by mirror geometry.
6. The imaging system according to claim 1 , wherein a geometry of the mirror is determined by the values of the scan angle.
7. The imaging system according to claim 1 , further comprising circuitry configured to
crop at least some portions of images in the set of images affected by vignetting; and
stitch together one or more images in the set of images after the at least some portions affected by vignetting have been cropped.
8. An imaging system installed in a constrained space in a vehicle comprising:
a camera configured to capture a set of images along a scan path on an object area, the camera comprising an aperture, lens and image sensor;
a scanning mirror structure including at least one mirror surface; and
a drive coupled to the scanning mirror structure and configured to rotate the scanning mirror structure about a scan axis based on a scan angle, wherein
the lens focuses an imaging beam reflected from the at least one mirror surface of the scanning mirror structure to the image sensor
at least one of an azimuth and an elevation of the imaging beam reflected to the camera varies according to the scan angle,
the image sensor of the camera captures the set of images along the scan path by sampling the imaging beam at values of the scan angle,
the aperture of the camera is configured to be dynamically tuned such that at least one of
the aperture remains within a projected geometry of the at least one mirror surface onto the aperture during capture of the set of images, and
the aperture remains within a region of light not occluded by the constrained space over the scan path, and
the aperture is configured to be reduced at scan angles where the scanning mirror structure is over-rotated.
9. The system according to claim 8 , wherein one of
a size of the aperture is reduced to remain with the projected geometry of the at least one mirror surface onto the aperture; and
a shape of the aperture is changed to remain within the projected geometry of the at least one mirror surface onto the aperture.
10. The imaging system according to claim 8 , wherein the aperture is tuned symmetrically to remain within the projected geometry of the at least one mirror surface onto the aperture.
11. The imaging system according to claim 8 , wherein the aperture is tuned asymmetrically to remain within the projected geometry of the at least one mirror surface onto the aperture.
12. The imaging system according to claim 8 , wherein the scanning mirror structure is configured to block light from the object area outside a projection geometry of the at least one mirror surface.
13. The imaging system according to claim 8 , wherein the aperture of the camera is configured to be dynamically tuned based on at least one of roll, pitch, and yaw correction of a stabilizing platform on which the imaging system is disposed in the vehicle.
14. A method of controlling an imaging system installed in a vehicle comprising:
reflecting an imaging beam from an object area using at least one mirror surface of a scanning mirror structure to an image sensor of a camera to capture a set of images along a scan path of the object area, the camera comprising a lens and an aperture;
rotating the scanning mirror structure about a scan axis based on a scan angle, wherein at least one of an azimuth and elevation of the imaging beam reflected to the camera varies according to the scan angle;
sampling the imaging beam at values of the scan angle;
dynamically tuning the aperture of the camera such that at least one of the aperture remains within a projected geometry of the at least one mirror surface onto the aperture during capture of the set of images and the aperture remains within a region of light not occluded by a constrained space over the scan path; and
reducing the aperture at scan angles where the scanning mirror structure is over-rotated.
15. The imaging method according to claim 14 , comprising one of
reducing a size of the aperture to remain within the projected geometry of the at least one mirror surface onto the aperture; and
changing a shape of the aperture to remain within the projected geometry of the at least one mirror surface onto the aperture.
16. The imaging method according to claim 14 , comprising tuning the aperture symmetrically to remain within the projected geometry of the at least one mirror surface onto the aperture.
17. The imaging method according to claim 14 , comprising tuning the aperture asymmetrically to remain within the projected geometry of the at least one mirror surface onto the aperture.
18. The imaging method according to claim 14 , wherein the dynamically tuning of the aperture of the camera is based on at least one of roll, pitch, and yaw correction of a stabilizing platform on which the imaging system is disposed in the vehicle.