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Description  |
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BACKGROUND OF THE INVENTION
1. Field of the Invention
This invention relates generally to panoramic display methods and more
particularly to the sensor fusion of data from the panoramic arrangement
of three-dimensional imaging sensors and surface contour sensors to form
virtual objects and scenes, the processing of the virtual objects and
scenes based on a viewer operating interactive computer input devices to
affect the manipulation of the virtual objects and scenes defined in the
computer, and the display of the affected virtual objects and scenes on a
panoramic display unit to the extent that the viewer perceives that the
virtual objects and scenes completely surround the viewer.
2. Description of the Related Art
My previous U.S. Pat. No. 5,130,794 describes a panoramic image based
virtual reality system that incorporates a multi-lens camera system with
spherical field-of-view (FOV) coverage. As shown in FIG. 2, objective
lenses of the '794 camera system face outward with adjacent or overlapping
FOV coverage. The imagery from the camera is surface mapped onto the
interior of a three-dimensional(3-D) shape defined in a special effects
processor of a computer. Alternatively, the input source is at least one
computer graphics system that generates three-dimensional graphics of
spherical FOV coverage. The viewer operates interactive input devices
associated with the computer to manipulate the texture mapped virtual
images. The virtual environment is instantaneously affected before the
viewer and displayed on either a head-mounted display assembly or on
contiguous display units positioned beneath, to the sides, and above the
viewer.
Limitations of the panoramic video camera system in '794 are that the
panoramic camera does not record a non-spherical field of view(FOV) and
does not incorporate a non-contact shape sensor.
An improvement over the existing system is proposed in my Disclosure
Document No. 197612, specifically FIG. 15, filed with the U.S. Patent and
Tradmark Office in February 1986, and in my recent paper entitled "Image
Based Panoramic Virtual Reality System", presented at the SPIE/IS&T
Symposium on Electronic Imaging: Science & Technology 92; Visualization,
Holography, and Stereographics; Visual Data Interpretation, Paper No.
1168-02, on Feb. 9, 1992.
In these documents a multi-lens camera system with positionable taking
lenses is described. Taking lenses of the camera are faced inward or
outward to record imagery of a subject in an continuous simultaneous
manner. By combining panoramic visual field of view sensor data with
associated shape sensor data a realistic panoramic image based
three-dimensional computer generated model is rendered. Imagery from the
camera is surface mapped onto the surface of a three-dimensional shape
defined in a computer. The shape is input by a panoramic 3-D digitizer
device. Audio data is input by a panoramic 3-D audio system. Audio
attributes are assigned to subjects in the model. Shape, imagery, and
audio sensors may be combined to form one sensor array. Sensors are
positioned adjacent to one another to facilitate adjacent or overlapping
coverage of a subject. Preferably corresponding panoramic shape, imagery,
and audio signatures of a subject(s) are collected simultaneously. In this
manner action of a 3-D subject is recorded from substantially all aspects
at a single moment in time. The participant operates interactive input
devices associated with the computer to manipulate the virtual object. In
one example, the participant observes the model on a head mounted display
system. In another example, the participant is surrounded by contiguous
audio-visual display units. In the latter example, each display unit
displays a segment of the model.
It is therefore the objective of this invention to provide a more versatile
image based panoramic virtual reality and telepresence system and method.
Still another objective is to produce systems and methods for recording,
formatting, processing, displaying, and interacting with data representing
3-D beings, objects, and scenes. More specifically, an objective of this
invention is to provide a positionable multi-lens camera system for
recording contiguous image segments of an object, being, adjacent
surrounding scene, or any combination of these types of subjects; a signal
processing means comprising first computerized fusion processing system
for integrating the positional camera system with corresponding digitized
shape and contour data; a second computerized fusion processing system for
integrating first fused data with other fused data representing adjacent
portions of a being, object, or scene comprising a panoramic computer
generated model; where various 3-D digitizer systems may be incorporated
for entering 3-D shape and contour data into a image processing computer;
a third processing means to manipulate the geometry of subjects comprising
the virtual model; a forth processing means for sampling out given fields
of regard of the virtual model for presentation and distribution to
display units and audio speakers; where signal processing means includes
an expert system for determining the actions of subjects of the computer
generated model; where the signal processing means includes image segment
circuit means for distributing, processing, and display of the model;
where the system includes a 3-D graphics computer system for the
generation, alteration, and display images; and a system and method for
image based recording of 3-D data which may be processed for display on
various 3-D display systems to include head mounted display systems, and
room display systems with stereographic, autostereoscopic, or holographic
display systems.
It is also an objective of this invention to provide interactive input
devices operable by a viewer to cause the generation, alteration, display
of 3-D images on said display assembly means; to provide associated 3-D
audio systems; to provide alternative viewer interactive and feedback
devices to operate the interactive input devices and associated processing
means such that the resultant virtual environment is simultaneously
effected before the viewers eyes; to provide an associated
telecommunications system; and to provide a system for incorporation with
a host vehicle, teleoperated vehicle, or robot.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a flowchart to which reference will be made in generally
explaining the overall operation of the recording, processing, and
audio-visual system 1 according to the present invention.
FIG. 2 is a perspective view of a cameraman carrying a panoramic camcorder
system of spherical coverage described in prior art.
FIG. 3 is a greatly enlarged fragmentary sectional view of one of the
camera arrangements for optically recording image segments representing
sides of a three-dimensional subject into a single frame according to the
present invention.
FIG. 4 is a perspective view of a sensor array for recording accoustical,
visual, and shape data for input according to the present invention.
FIG. 5 is a side sectional view of the sensor array shown in FIG. 4.
FIG. 6 is a diagrammatic representation of an inward looking
three-dimensional input source incorporating the sensor array shown in
FIGS. 4 and 5.
FIG. 7 is a diagrammatic representation of a inward and outward looking
panoramic three-dimensional input source assembly incorporating the sensor
array shown in FIGS. 6 and 7.
FIGS. 8A-8D are diagramatic representations of video frames of
three-dimensional coverage of beings and objects to be modeled in 3-D in
the present invention.
FIGS. 9A-9B are diagramatic representations of video frames of three
dimensional coverage of beings, objects, and background scenes,
respectively, to be modeled in 3-D in the present invention.
FIG. 10 is a diagramatic representation of a HDTV frame on which includes
both foreground and background imagery necessary to model a virtual
environment.
FIG. 11 is a fragmentary diagrammatic view onto the top of the virtual
world model in which recorded three-dimensional beings, objects, and/or
scenes are Incorporated according to the present invention.
FIG. 12 is a fragmentary diagrammatic view onto the side of the virtual
model shown in FIG. 11.
FIG. 13 is a diagramatic illustration showing how imagery is texture mapped
onto a three-dimensional wireframe model to form a three-dimensional
virtual model generated and processed for presentation by audio and video
computer signal processing means of system 1.
FIG. 14 is a perspective, partially diagramatic view showing an image based
virtual model generated for audio-visual presentation by the visual signal
processing means of system 1.
FIG. 15 is a block diagram of an image formatting system for recording,
processing, and display of an image of three-dimensional coverage which
embodies the present invention.
FIG. 16 is a block diagram of a second embodiment of system.
FIG. 17 is a block diagram of a third embodiment of the system.
FIG. 18 is a block diagram illustrating the incorportation of a
three-dimensional display system according to the present invention.
FIG. 19 is a perspective, partially diagramatic view illustrating the
three-dimensional viewing system described in FIG. 18.
FIG. 20 is a block diagram of an embodiment of the present invention
including a telecommunications system.
FIG. 21 is a perspective, partially diagramatic view illustrating the
telecommunications embodiment according to FIG. 20.
FIG. 22 is block diagram illustrating an embodiment of the present
invention wherein a host vehicle control system with a panoramic sensor,
processing, and display system provides telepresence to a viewer/operator
for control of the host vehicle.
FIG. 23 is a sectional view of a host vehicle incorporating the present
invention shown in FIG. 22.
FIG. 24 is a block diagram illustrating an embodiment of the present
invention wherein a remote control system for a remotely piloted vehicle
with a panoramic sensor system transmits a three-dimensional panoramic
scene to a control station for processing and spherical coverage viewing
in order to assist the controller in piloting the teleoperated vehicle.
FIG. 25 is a perspective, partially diagrammatic view illustrating the
remote control three-dimensional viewing system described in FIG. 24.
LISTED PARTS IN DRAWINGS
1: Improved panoramic image based virtual reality/telepresenc audio-visual
system and method
2: Panoramic 3-D input source means
3: Panoramic 3-D signal processing means
4: Panoramic audio-visual presentation means
5: Suitable electrical interface means and assoiciated signal(general)
(5a: video signal means)
(5b: digital shape signal means)
(5c: audio signal means)
6: Panoramic 3-D camera system
7: Panoammic 3-D digitizing system
8: Panoramic 3-D audio recording system
9: Host computer system
10: Interactive input system
11: Head-mounted display(HMD) system
12: Large display assembly
13: Subject
(13a: being)
(13b: object)
(13c: scene)
(-a: side a)
(-b: side b)
(-c: side c), etc.
14: Computer generated virtual world model
(14a: visual and shape model)
(14b: audio model)
(-a: modeled being)
(-b: modeled object)
(-c: modeled scene)
15: First processing means; fusion processor to wed shape and image
segments.
16: Second processing means; fusion of model segments.
17: Third processing means; host simulation computer for manipulating world
model; geometry processor.
18: Forth processing means; image processing for display and distribution.
19: Computer graphics system
20: VRT telecommunications system
21: VRT vehicle control system
22: Artificial intelligence system
23: Audio processing system
24: Participant; viewer/operator)
(24a: first participant)
(24b: second participant)
25: Mass storage device
(25a: visual and shape mass storage)
(25b: audio data mass storage)
26: Panoramic model segments
(26a: visual and shape model segment)
(26b: audio model segment)
27: Sensor(s)
28: Image sensor(s)
29: Shape sensor(s)
30: Audio(Accoustical) sensor(s)
31: Conventional display unit(s)
32: Stereographic display unit(s)
33: Autostereoscopic display unit(s)
34: Holographic display unit(s)
35: Audio speaker(s)
36: Sensor array
37: Camera
38: Radar
39: Microphone
40: Array housing
41: Overlapping field of regard coverage of sensors.
42: Edge of adjacent field of regard coverage of sensors.
43: Rigid transparent support
44: Array assembly
45: Screw
46: Support armature
47: Panoramic optical assembly arrangement
48: Objective lens
49: Light sensitive surface of the camera
50: Fiber-optic image conduit(bundle)
51: Focusing lens
52: Camera housing
53: Charge Coupled Device(CCD)
54: Sheathing of image conduit
55: Shape data(wireframe) representing subject model
56: Image data representing a subject
(56a: being)
(56b: object)
(56c: scene)
57: Audio data representing a subject
(57a: being)
(57b: object)
(57c: scene)
58: Viewing space
59: Head position of participant
60: Hand location of participant
61: Sample frame of panoramic camera
62: Transimitter; for transmitting an over-the-air stereo audio signal.
63: Receiver; for recieiving an over-the-air stereo audio signal.
64: Stereo audio headphones
65: Structural supports of the large display assembly
66: Graphics input system
67: Videotape player
68: Videodisc player
69: Video analog-to-digital converter
70: Display unit; generally; may include audio system.
71: Displayed scene
72: Image segment circuit means
73: Image control unit (including chasis, processors, etc.); may include
audio means.
74: Polygonal surfaces of model 14a
75: Head position of viewer
76: Position sensing system sensor
77: Position sensing system source
78: Position sensing system electronics unit
79: Audio signal to means 4
80: Video signal to means 4
81: Display unit viewing surface
82: Position and orientation data and associated conductor from interactive
input system 10
83: Source conductor line
84: Sensor conductor line
85: Radar antenna
86: Radar waveguide
87: Radar transmitter/reciever
88: Master clock
89: Conventional signal router/switcher
90: 3-D display unit; generally.
91: 3-D display system embodiment of system 1.
92: Encoder/compressor
93: Encryptor
94: Modem
95: Decryptor
96: Decoder/expander
97: Non-contact position and orientation sensor system (i.e. Radar or
LADAR); may include camera system.
98: Digital data network
99: Telephone line
100: Edge of projected image
101: Floor of large assembly
102: Host vehicle
103: Host vehicle controls
104: Host vehicle control surfaces and motors.
105: Rear projection screen
106: Entry/exit assemblies for assembly 12
107: Structural support, framework, and fasteners for large assembly 12.
108: Remotely piloted vehicle
109: Tranceiver; for sending and recieving radio frequency(RF) over-the-air
digital data.
110: Over-the-air RF digital data link
111: Participant support means
112: Remote vehicle control system
113: Remote vehicle control surfaces and motors
114: Remote vehicle manipulators
115: Timing signal conductor
116: Model signal conductor
117: Processing means for conventional TV
118: Processing means for stereo display TV
119: Processing means for autostereoscopic TV
220: Processing means for holographic TV
221: Processing and distribution system for image segment circuit means
222: Audio-visual units of image segment circuit means
223: Hemispherical scan of LADAR system; may include integral registered
camera system.
224: Near field of view of LADAR system; may include integral registered
camera system.
225: VRT control station for remotely piloted vehicle
226: Video compression and data system (including communications buffer)
227: Video decompression and data system (including communications buffer)
228: Peripherial devices
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
As required, detailed embodiments of the present invention are disclosed
herein; however, it is to be understood that the disclosed embodiments are
merely exemplary of the invention which may be embodied in various forms.
Therefore, specific structural and functional details disclosed herein are
not to be interpreted as limiting, but merely as a basis for teaching one
skilled in the art to variously employ the present invention in virtually
any appropriately detailed structure.
For clarity of description, a preliminary summary of the major features of
the recording, processing, and display portions of a preferred embodiment
of the system is now provided, after which individual portions of the
system will be described in detail.
Referring to the drawings in more detail.
As shown in FIG. 1 the reference 1 generally designates a system and method
of rendering and interacting with a three-dimensional (3-D) computer
generated model that comprises the virtual reality/telepresence system 1
presented to a participant 24. The system 1 generally includes a panoramic
input source means 2, panoramic signal processing means 2, and panoramic
audio-visual presentation assembly means 2 connected generally by suitable
electrical interface means 2. Electrical interface means 2, including the
appropriate conductor, input/output port or jack interconnections, and
associated signal, is indicated by lines and arrows in the drawings.
Optional or alternative interface means and devices are indicated by
dashed lines in the drawings. Input means 2, generally consists of a
panoramic 3-D camera system 6, a panoramic 3-D digitizing system 7, and a
panoramic 3-D audio recording system 8. Input means 6, 7, and 8 include a
plurality of respective sensors that are positioned to record geographic
and geometric subjects. A subject 13 may comprise three-dimensional beings
or things in the real world. The world model 14 comprises a model 14a that
includes shape and imagery, and an audio model 14b that includes
accoustical recordings. The audio model corresponds to the shape and
imagery model. Preferably, all sides of the subject are recorded
simultaneously by the input means 6, 7, and 8.
Signal processing means 3 preferably includes a first computer processing
means 15 for sensor fusion of the resulting imagery signal 5a and shape
data signal 5b. The first processing means operates on the signals 5a and
5b to combine shape and surface data of corresponding segments of the 3-D
subject. The resulting 3-D model segments 26a are portions of the computer
generated world model 14a. Signal processing means 3 preferably also
includes a second computer processing means 16 for fusion of imaging and
shape data segments 26a derived by first apparatus 15 to form a continuous
panoramic world model 14. Signal processing means 3 also includes a third
computer processing means 17 for manipulating the computer generated model
14a. The third processing means is typically operated to perform
interactive 3-D visual simulation and teleoperated applications. Signal
processing means 3 also includes a fourth computer processing means 18 to
sample out and transmit image scene 71 (FIG. 24) segments of the world
model 14a to each respective display unit of the audio-visual assembly
means 2. Means 2 includes processing means for interfacing with input
sources 2, peripheral computer data entry and manipulation apparatus
refered to as an interactive input system 10, and assembly 4. Signal
processing means 15, 16, 17, 18, and 23 (FIG. 17) include a central
processing unit, terminal bus, communication ports, memory, and the like
typical to a conventional computer(s). Operating system software, board
level software, processing data, generated images and the like are stored
in mass storage devices 25 which may include disk drives, optical disk
drives, and so forth. All signal processing means 15, 16, 17, 18, and 23
may be incorportated into a single computer 9 or a plurality of networked
computers (9 to the nth) housed in a single or separate chassis.
Additionally, means 3 may include a computer graphics system 19, a
telecommunications system 20, a vehicle control system 21, or artificial
intelligence system 22 to perform special processing functions. Special
processing systems 19, 20, 21, and 22 may be integral or networked to
computer 9.
Audio sensors 30 are faced inward about a subject or outward to record
signals representing audio segments 26b of a surrounding subject.
Preferably, the image, shape, and audio sensors 28, 29, and 30 (FIG. 5)
respectively, are positioned adjacent to one another and record a
continuous corresponding subject 13. The audio processing system 23
receives recorded audio signals 5c from the panoramic 3-D audio input
system 1. The audio signals 5c as assigned to modeled subject 14a comprise
an accoustical world model 14b. The audio model 14b is continuously
updated by the computer 23 based on data recieved from the interactive
input system 10. Computer 9 communicates changes to the world model 14 via
digital data link interconnected to computer 23. Audio means 23 includes
processing means and software means for the generation of 3-D audio output
in response to changes and actions of subjects modeled in the computer
generated model 14a. The output audio signals are transmitted to speakers
positioned about the participant by way of the panoramic audio-visual
assembly means 4.
The preferred embodiment of the system 1 may generally comprise two
alternative panoramic audio-visual assembly means 4: A headmounted display
(HMD) assembly 11, or a large display assembly 12. The large display
assembly 12 may incorporate conventional 31, stereographic 32,
auto-stereographic 33, or holographic 34 display units. Specific
processing means 18 compatible with a given display unit's 31, 32, 33, or
34 format operate on the virtual model 14a. The processing means 18 then
outputs a signal representing a model segment 26a to a predetermined
display unit 31, 32, 33 or 34. Display units 31, 32, 33, or 34 are placed
contiguous to one another in a communicating relationship to the
participant such that a continuous scene is presented to the participant.
In this manner the same basic imagery, shape, and audio data is rendered
into a model 14a that may be operated upon for presentation on
conventional, stereographic, autostereoscopic, or holographic display
systems.
The model 14 presented to the participant may be derived from prerecorded
data stored in a mass storage device 25. Alternatively, live feeds from
input sources 2 at a remote location are processed in near real time and
the participant can interact with the remote location by using
teleoperated devices. In these manners the viewer is immersed in a highly
interactive and realistic computer simulation.
Still referring to FIG. 1, in operation a panoramic sensor array comprising
a plurality of shape, visual, and aural sensors are positioned to record a
three-dimensional subject in a substantially continuous panoramic fashion.
Each sensor 27 outputs a corresponding signal specific to that sensors
field of coverage. Signals representing visual and shape data are
transmitted from input sources 6 and 7 to the signal processing means 3. A
first computer processing means 15 fuses the shape and visual signals to
form model segments 26a. The pool of model segments are then transmitted
to a second processing means 16 that fuses or matches adjacent and
corresponding model segments to one another. The matching of intersections
of the pool of model segments yields a panoramic three-dimensional model
14a. Typically the model 14a is rendered such that three-dimensional
subjects in the foreground are of high-resolution and three-dimensional
subjects in the background of less resolution. Preferably, the background
scene lies approximately ten feet beyond the boundary of the furthest
distance the participant would venture into the virtual model. This is
because beyond ten feet perspective is not significantly perceptable to
the average human. And beyond this viewing distance the background scene
of the model 14a would not need to be rendered in a 3-D manner because the
viewer can not perceive parrallax and hence the the realism is not
increased. A third processing means 17 receives the fused model of
panoramic coverage. The third means manipulates the geometry of the model
14a based on viewer interaction. A forth processing means 18 samples out
portions of the model and transmits signals representing scenes 71 of a
given field of view to predetermined display units of the display assembly
11 or 12. The dimensions and detail of the virtual model 14 may be
increased by moving the sensors to different locations throughout the real
world environment in order to increase the resolution of the recorded
subjects and to increase the pool of perspective views of subjects
throughout the recorded environment. These sensor recordings are then
processed and added to the existing data base and existing model in the
same manner as prior subjects modeled for inclusion in the computer
generated environment. Simultaneous with visual input, processing, and
display, audio sensors 30 (FIG. 5) transmit audio signals to an audio
processing system 23. The audio processing system is operated to assign
audio signals to visual subjects positioned and comprising the panoramic
computer generated model.
An interactive input system 10, such as a position sensing system, monitors
the viewers head position. Position data is transmitted to the visual and
audio simulation processing system 17 and 23 respectively. The position
and orientation data from system 10 is processed by the visual and audio
simulation processing means to update the model 14 after each of the
participants actions. Updating the model typically involves the
participant moving a virtual object in the model with his hand, or
changing the viewpoint of the displayed scene based upon a change in the
participants head position. Positional changes of objects, subjects, and
scenes are continuously updated and stored in the memory of the computer
9.
Imagery and audio signals are transmitted from the visual 15-18 and audio
23 processing means to the audio-visual assembly means 11 or 12. The
processing means has appropriate output processors, conductors, and
interface connections to transmit the visual and audio signals to the
visual display units 31, 32, 33, or 34 and audio speakers 35 of the
display assemblies 11 or 12. The visual model 14a and aural model 14b are
updated and displayed instantaneously before the viewers eyes.
INPUT MEANS
Referring to FIG. 1 in more detail, input means comprises a 3-D camera
system 6, 3-D digitizing system 7, and 3-D audio system 8. Preferrably, at
least one image sensor 28 of each image system, at least one shape sensor
29 of each 3-D digitizing system, and at least one accoustical sensor 30
of at least one audio system are positioned adjacent to one another and
record a continuous corresponding segment of the subject 13. FIG. 2
illustrates a panoramic camera system 1 of prior art in which a plurality
of image sensors 28a-28f and audio sensors (not shown) are faced outward
about a point or area to record a contiguous surrounding visual subject
scene 13c. FIG. 3 illustrates a panoramic camera system in which image
sensors 28a-28f are positionable and may be faced inward to record
representations of each side of a subject 13.
FIG. 4 and 5 illustrates a sensor array 36 including a visual system
comprising a small conventional camera 37, a 3-D digitizing system
comprising a small conventional radar 38, and an accoustical system
including a microphone 39. The microphone, radar, and camera of each array
have overlapping field-of-regard coverage 41. The overlapping coverage
enables each the arrays sensors to record an accoustical, shape, and image
signature of a given side of a subject 13. FIG. 6 illustrates a plurality
of arrays 36a-36f faced inward about a 3-D subject. Each array has
adjacent field-of-regard coverage 42 of the subject such that each side of
the 3-D subject is recorded. Accoustical, shape, and image signatures from
each of the arrays are transmitted to signal processing means 2.
FIG. 7 illustrates sensor arrays which may be faced both inward and outward
to record a subject. Arrays are positioned adjacent to one another to form
a panoramic array assembly 44. Sensors of the adjacent arrays 36a-36f of
the assembly are positioned to have adjacent field-of-regard coverage 42.
The array assembly has a substantially panoramic 3-D spherical
field-of-regard coverage about a point. A plurality of array assemblies
44a-44f may be arranged in the real world to simultaneously record a
subject 13 environment from various points-of-regard. In this manner,
virtually all sides of a subject surrounded by the array assemblies are
recorded and background scenes surrounding the subject are also
simultaneously recorded. Alternatively, a single assembly 44 may be moved
thru space in the real world and records a subject 13 environment from
various points of regard at different times. The array 36 or array
assembly 44 may be constructed in a portable fashion such that the array
or array assembly is carried through a real world environment by a living
being or vehicle. Each array of the assembly transmits its respective
accoustic, shape, and imagery signatures to the processing means 3.
Processing means operates on the signature data to render the virtual
world model 14. Array 36 and array assembly 44 may be fastened together
and supported by conventional means such as screws 45 and support armature
46. Furthermore, sensors may be distributed over a vehicle such that the
inner or outer skin of the vehicle becomes a housing for the sensors. The
sensors can be placed on remote or host, piloted or unpiloted vehicles.
1) THREE-DIMENSIONAL PANORAMIC SHAPE INPUT
A panoramic 3-D digitizing system 7 comprises one type of input source 2
and is operated to input 3-D data representing a subject 13. The system 7
is operated to record the shape of a 3-D subject. System 7 may comprise a
3-D light pen, optical scanner, image recognition system, sonar,
ultrasonic, laser scanner, radar, laser radar (LADAR) system or systems.
Additionally, mathematical formula defining the shape of the subject may
be entered by an operator via a keyboard. The 3-D data is transmitted from
the system 7 to a computer processing system 9 where it is operated upon.
As shown in FIG. 13, the resulting 3-D data representing the subject is
called a wireframe 55. The wireframe is a 3-D line and point computer
generated rendering of a subject. The intersection of the lines form
polygons that define the surfaces of the subject. A 3-D shape input system
including a stylus and model table arrangement of the type described in
U.S. Pat. No. 4,514,818 by Walker available from Quantel Limited, UK, or
the 3SPACE TM Digitizer available from Polhemus of Colchester, Vt. may
provide the shape data in system 1. Alternatively, a three-dimensional
input system of a type described in U.S. Pat. Nos. 4,737,032 and 4,705,401
by Addleman and available from Cyberware Labratory, Inc. as the Rapid 3D
Color Digitizer Model 3030 and associated products may provide the shape
data in system 1. The Cyberware digitizer incorporates sensing and
illumination elements to record a three-dimensional subjects shape and
color. Seconds later, a graphics workstation displays the object as a
detailed, full color, three-dimensional model. Alternatively, a radar and
camera system decribed in U.S. Pat. No. 5,005,147 by Krishen et. al. may
be incorporated to provide shape and imagery data in system 1. Still
alternatively, a laser-radar(LADAR) system, including a video camera,
available from Autonomous Technologies Corp. of Orlando, Fla., may be
incorporated to provide shape and imagery data in the system 1.
2) THREE-DIMENSIONAL PANORAMIC CAMERA INPUT
Preferrably, a 3-D camera system f comprises a plurality of objective
lenses typically faced inward about a being or object, and outward to
record a scene. Preferrably the objective lenses 48a-48f of the camera
have overlapping or adjacent field of view coverage. Any conventional TV
camera or non-standard camera may be utilized in the present system 1 that
is compatable with signal processing means 3. The electrical section of
the camera is structured to convert the visual images recieved by the
image processor into electrical video signals 5a such that the information
is in a format that is compatible with standard video processing
equipment. Any conventional or unconventional video camera 37 may be
adapted to accept the images from the disclosed optical systems in FIG. 1
thru FIG. 7. The image processor of the camera is structured to convert
the visual images received into electrical video signals. Preferrably, the
processed camera signals are typically standard synchronized coded signals
utilized in the United States for video transmission. The signal processor
3 may be modified to convert each received electrical video signal 5a from
the image processor means into a standard or non-standard synchronized
coded signal of any given country or format for transmission and
processing as desired, such as NTSC, PAL, SECAM, IDTV, HDTV, or the like.
In both the spherical field of view optical assembly of FIG. 2, and the
positionable field of view camera arrangment of FIG. 3, images may be
combined by either electronic means or by optical means. Similarly, image
chrominance, luminance, hue, and intensity may be controlled
electronically, optically, or electro-optically by the camera or later by
the signal processing means. Typically, when a plurality of cameras 6a-6f
are incorporated, the plurality of images are compressed into a single
frame by processing means 2. When a single camera 6 is incorporated, the
images are optically integrated into a single frame.
Any of these arrangements may be incorporated with array 36, or array
assembly 44 of the system 1.
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