The Panoramic Annular Imaging Expand The Algorithm

Panoramic Annular Lens (PAL) is a new style optical system, it can image the field of view about 360° at one time. So PAL has great potential in fields of robot vision, en-doscope, national defence and navigation. However, the image of PAL is in an annular region, and it has great aberration, so effective algorithms of stretching the image should be designed according to different spaces to reduce the aberration. Image principle of Panoramic Annular Lens and methods of digital image processing of its annular image are discussed in the former part of the thesis, and processing results are also shown. Additionally, based on the character of PAL' s annular imge, and its image principle, an improved algorithm of stretching the annular image of a cylinder is introduced in the paper. Researches on algorithms of stretching images of three- dimensional space and two-dimensional plane surface are also discussed. All these works expand fields of application of PAL greatly. The construction of the software system of PAL is introduced, the system including the real- time dynamic monitoring part and the static stretching part, which has functions of processing images of three- dimensional space, two- dimensional plane surface and cylinder surface. Finally, shortages of the program research are summarized, suggestions of future research are also presented in the last session of the thesis.