Patent Grant
7463342
The present invention relates to optical devices in general, and more specifically to an optical tracking device.
Tracking systems have numerous applications, including those detailed in the following patents; autonomous vehicles (U.S. Pat. No. 6,535,114), monitoring systems (U.S. Pat. No. 6,690,374), sports cameras (U.S. Pat. No. 6,567,038), conference video systems (U.S. Pat. No. 6,507,366), surgery (U.S. Pat. Nos. 6,725,079 and 6,662,036), positioning (U.S. Pat. No. 6,490,473), inspection (U.S. Pat. No. 6,259,960), spotlighting (U.S. Pat. No. 6,079,862), and machining (U.S. Pat. No. 6,429,404). Tracking systems use certain distinguishing features of a target being tracked as sources for detecting, tracking, or engaging the target. These features can be any form of energy emitted or reflected from the target including radio, millimeter-wave, infrared, visible light, laser, ultraviolet, and sound. Each energy source has different characteristics in terms of accuracy, response speed, maximum operation range, and operation environment such as weather and day/night. Since each electro-magnetic or mechanical wave has different characteristics, disadvantages of one wave can be compensated by advantages of others when some of them are employed together. For example, a tracking system can use both infrared and millimeter wave for providing all weather operation capability. Also, a tracking system can use both infrared and visual light for providing a day/night operation capability.
Many applications using tracking systems require high positioning accuracy and fast tracking ability with a reliable structural stability; e.g. star trackers, optical seekers, and robot vision. Optical tracking devices are well suited for these purposes. The optical tracking device typically requires an imaging system comprising a lens unit, an imaging unit having image sensors, and an image processing unit. For the image sensors, various solid-state focal plane arrays for different energy sources can be used such as CCD (charge-coupled device) or CMOS APS (complementary metal-oxide-semiconductor Active Pixel Sensor) for visible light and QWIP (Quantum Well Infrared Photodetector) for infrared. The CCD image sensor used to be a choice for many optical tracking devices for a long time because of its high sensitivity and high signal to noise ratio. However, it comes with high cost and slow response due to pixel to pixel charge transfer and tends to result in a large package because the control circuitry cannot be integrated into an image sensor. Currently, the CMOS APS has shown nearly equivalent to or better performance than the CCD image sensor. In addition, it provides many advantages including on-chip circuit integration, random pixel access, and low power consumption.
The imaging systems for the conventional optical tracking devices can be divided into two groups. One group uses a single camera while the other group uses a plurality of cameras. The imaging system with a single camera generally has a simpler configuration and image processing scheme than its counterpart. However, the optical tracking device with the single camera cannot produce three-dimensional image information. Furthermore, it is difficult to extract distance information from the single camera unless it is used in combination with a device such as a range finder. Additionally, it is easy to lose track of fast moving targets because a field of view (FOV) of the single camera is limited. Therefore, the imaging system with the single camera typically has a high ‘tracking dropout’ rate.
The imaging system with the plurality of cameras is capable of generating three-dimensional image information by disposing the lenses of cameras to have different viewing angles in order to use binocular parallax phenomena. Also, it can be configured to reduce the tracking dropout rate by using at least two lenses with different fields of view; for example, one narrow FOV for high resolution image and one wide FOV for low tracking dropout rate. U.S. Pat. No. 6,734,911 to Lyons describes such a system using a dual-angle lens to obtain both wide-angle image and narrow-angle image of a scene. However, the system described in the '911 patent uses a very complex lens configuration and generates large image distortion for wide-angle image. Furthermore, this system requires that the attitude of the imaging camera be adjusted by a servo motor. The imaging system with multiple cameras yields a complicated structure and requires a complicated image processing scheme.
Optical tracking devices usually require a camera attitude control system so that the image of the target can be in the center of the image sensor. Typically, the attitude of the camera is adjusted by using a servo motor or a gimbal system having macroscopic mechanical movements as disclosed in the U.S. Pat. No. 6,507,366 to Lee. These optical tracking devices with macroscopic mechanical movements, however, tend to be bulky and heavy with low imaging speed and high power consumption and involved with complicated alignment and calibration processes.
The imaging system 12 comprises an image sensor 13, configured to sense an image. The image sensor 13 may sense either a visual or infrared wavelength. The optical tracking device 11 also includes an image processor 14, communicatively coupled to the image sensor 13, configured to process the images sensed by the image sensor 13 and to generate an output signal 15. The image processor 14 may include a target-identifying algorithm.
In
The advanced optical tracking device have to track a fast moving target, provide the three-dimensional image information of the target, and compensate the aberration of the optical tracking device with simplified construction.
The present invention addresses the problems of the prior art and provides an optical tracking device using at least one Micromirror Array Lens, which is capable of tracking a fast moving target, providing three-dimensional image information of the target, and compensating the aberration of the optical tracking device with simplified construction. Also, the optical tracking device of the present invention provides a variable effective focal length, variable field of view, variable magnification, and variable optical axis capabilities.
The optical tracking device of this invention comprises a lens unit, a control circuitry communicatively coupled to the lens unit, and an imaging unit optically coupled to the lens unit. The lens unit comprises at least one Micromirror Array Lens, wherein the Micromirror Array Lens comprises a plurality of micromirrors and is configured to have a plurality of optical surface profiles by controlling rotations or translations of the micromirrors.
The general principle and methods for making the Micromirror Array Lens are disclosed in U.S. Pat. No. 6,970,284 issued Nov. 29, 2005 to Kim, U.S. Pat. No. 7,031,046 issued Apr. 18, 2006 to Kim, U.S. Pat. No. 6,934,072 issued Aug. 23, 2005 to Kim, U.S. Pat. No. 6,934,073 issued Aug. 23, 2005 to Kim, U.S. Pat. No. 7,161,729 issued Jan. 9, 2007, U.S. Pat. No. 6,999,226 issued Feb. 14, 2006 to Kim, U.S. Pat. No. 7,095,548 issued Aug. 22, 2006 to Cho, U.S. patent application Ser. No. 10/893,039 filed Jul. 16, 2004, U.S. patent application Ser. No. 10/983,353 filed Nov. 8, 2004, U.S. patent application Ser. No. 11/076,616 filed Mar. 10, 2005, and U.S. patent application Ser. No. 11/426,565 filed Jun. 26, 2006, all of which are incorporated herein by references.
The micromirrors in the Micromirror Array Lens can be individually controlled electrostatically or electromagnetically and have multiple motions by controlling up to three degree of freedom motion including two degrees of freedom rotational motion and one degree of freedom translational motion. Since the micromirrors in the Micromirror Array Lens can have multiple motions, the Micromirror Array Lens can form a plurality of optical surface profiles. The Micromirror Array Lens can change its focal length, field of view, or optical axis by changing its optical surface profile. Therefore, the Micromirror Array Lens is a variable focusing lens having a variable focusing property. Also, the Micromirror Array Lens is an adaptive optical component which compensates the aberration of an optical system. The Micromirror Array Lens comprising micromirrors has a variable focusing property, a very fast response time, a large focal length variation, a high optical focusing efficiency, a simple focusing structure, low power consumption, and a low production cost thanks to a mass production advantage.
The general principle, structure and methods for making the micromirror array devices and Micromirror Array Lens are disclosed in U.S. patent application Ser. No. 10/872,241 filed Jun. 18, 2004, U.S. patent application Ser. No. 11/072,597 filed Mar. 4, 2005, U.S. patent application Ser. No. 11/347,590 filed Feb. 4, 2006, U.S. patent application Ser. No. 11/369,797 filed Mar. 6, 2006, U.S. patent application Ser. No. 11/463,875 filed Aug. 10, 2006, U.S. patent application Ser. No. 11/534,613 filed Sep. 22, 2006, U.S. patent application Ser. No. 11/534,620 filed Sep. 22, 2006, U.S. patent application Ser. No. 11/549,954 filed Oct. 16, 2006, U.S. patent application Ser. No. 11/609,882 filed Dec. 12, 2006, U.S. patent application Ser. No. 11/685,119 filed Mar. 12, 2007, and U.S. patent application Ser. No. 11/693,698 filed Mar. 29, 2007, all of which are incorporated herein by references.
The control circuitry in the optical tracking device is configured to control the motions of micromirrors in the Micromirror Array Lens to form optical surface profiles for changing at least one focusing property of the lens unit. The focusing property of the lens unit is an effective focal length of the lens unit. The focusing property of the lens unit is an optical axis of the lens unit. The focusing property of the lens unit is a magnification of the lens unit. The focusing property of the lens unit is a field of view of the lens unit.
The imaging unit in the optical tracking device comprises at least one image sensor and is configured to receive a scene image formed by the lens unit to generate the image information of the scene image, wherein the scene image can include a target image if the target is within a field of view of the lens unit.
The optical tracking device of the invention further comprises an image processing unit, communicatively coupled to the imaging unit, configured to process the image information from the imaging unit and generates a control signal for the control circuit to control the lens unit. Using the processed image information, the image processing unit determines a next action that has to be performed by the lens unit and generates the control signal for the control circuit, accordingly.
According to the control signal, the control circuit controls the lens unit to change at least one focusing property of the lens unit, wherein the focusing properties of the lens unit include the effective focal length of the lens unit, the optical axis of the lens unit, the magnification of the lens unit, and the field of view of the lens unit. In the present invention, the Micromirror Array Lens plays a major role to change these focusing properties of the lens unit by forming an optical surface profile providing a required focusing property to the lens unit. Also, the focusing property of the lens unit can be controlled by both the Micromirror Array Lens and a conventional variable focus lens or lens group. The conventional variable focus lens or lens group can be a fixed focal length lens or lens group having macroscopic mechanical lens movements or a non-MMAL (Micromirror Array Lens) variable focus lens.
The image processing can start with a target search process from the scene image using a target search algorithm. When the target search process fails, the image processing unit generates a control signal to adjust at least one focusing property of the lens unit including the field of view and optical axis of the lens unit in order to continue the target search process. When the target search process succeeds, the image processing unit extracts target movement information from the scene image and generates a control signal based on the target movement information. The control signal makes the lens unit change at least one focusing property of the lens unit to perform a next action.
By changing at least one focusing property of the lens unit including the effective focal length of the lens unit, the focus status or magnification of the image can be adjusted. For example, the target image in the scene image can be refocused in order to provide a sharper target image. The effective focal length of the lens unit can be adjusted in high speed because the motions of micromirrors in the Micromirror Array Lens can be controlled very fast, which allows that the optical tracking device with the Micromirror Array Lens can maintain focus on a fast moving target. Furthermore, by changing at least one focusing property of the lens unit, the resolution of the image can be adjusted. To obtain high-resolution images, the optical tracking device is configured to have a narrow field of view. However, it is possible to lose the target from the field of view of the lens unit when the movement of the target is fast. In order to reduce the tracking dropout rate, the optical tracking device is configured to have a wide field of view. Using the time-sharing technique, the optical tracking device with the Micromirror Array Lens can provide both a high resolution image with the narrow field of view and a low solution image with the wide field of view within a short time period.
By changing at least one focusing property of the lens unit including the optical axis of the lens unit, the target image can be placed at the desired location of the image sensor such as at the center of the image sensor. Also, the ability to change the optical axis of the Micromirror Array Lens may allow an optical tracking device having a large tracking area without a servo mechanism or a gimbal system for controlling the attitude of the optical tracking system.
The Micromirror Array Lens can form a lens having an optical surface profile simulating an arbitrary curved surface. To be a good lens, the lens must satisfy two conditions. One is the convergence condition that all light rays scattered from one point of an object should converge into one point of an image plane. The other is the phase matching condition that all converging light rays should have the same phase at the image plane. To satisfy the lens conditions, the surface of conventional reflective lens is formed to have all light rays scattered by one point of an object be converged into one point of the image plane and have the optical path length of all converging light rays be the same.
The array of the micromirrors arranged in the substantially flat surface or in the curved surface can satisfy these two conditions. The surface profile of the array of the micromirrors satisfies the convergence condition, wherein arbitrary scattered light rays from one point of the object are converged into one point of the image plane by adjusting the rotational and/or translational motions of each micromirror. Also, the surface profile of the array of the micromirrors satisfies the phase matching condition, wherein the phases of all converging light rays are adjusted to be the same. Even though the optical path lengths of light rays converged by the array of the micromirrors are different from those of an equivalent conventional reflective lens, the same phase condition can be satisfied by adjusting the rotational and/or translational motions of each micromirror because the phase of light is periodic. The required maximum translational displacement is at least half of the wavelength of light. Half wavelength of translational motion is enough to satisfy the same phase condition by use of the periodicity of the light. The array of the micromirrors satisfies both convergence and phase matching conditions. Therefore, the array of the micromirrors can form a Micromirror Array Lens having the surface profile satisfying the convergence and the phase matching conditions and performing the lens properties.
The micromirror Array Lens can simulate various curved surfaces that are used in conventional optical devices. The optical surface profile of the Micromirror Array Lens satisfies a convergence condition and a phase matching condition to simulate a flat mirror. The optical surface profile of the Micromirror Array Lens satisfies a convergence condition and a phase matching condition to simulate a parabolic concave mirror. The optical surface profile of the Micromirror Array Lens satisfies a convergence condition and a phase matching condition to simulate a spherical concave mirror. The optical surface profile of the Micromirror Array Lens satisfies a convergence condition and a phase matching condition to simulate a hyperbolic concave mirror. The optical surface profile of the Micromirror Array Lens satisfies a convergence condition and a phase matching condition to simulate an elliptic concave mirror. The optical surface profile of the Micromirror Array Lens satisfies a convergence condition and a phase matching condition to simulate a parabolic convex mirror. The optical surface profile of the Micromirror Array Lens satisfies a convergence condition and a phase matching condition to simulate a spherical convex mirror. The optical surface profile of the Micromirror Array Lens satisfies a convergence condition and a phase matching condition to simulate a hyperbolic convex mirror. The optical surface profile of the Micromirror Array Lens satisfies a convergence condition and a phase matching condition to simulate an elliptic convex mirror.
The general properties of the Micromirror Array Lens are disclosed in U.S. Pat. No. 7,057,826 issued Jun. 6, 2006 to Cho, U.S. Pat. No. 7,173,400, issued Feb. 6, 2007, U.S. patent application Ser. No. 10/896,146 filed Jul. 21, 2004, U.S. patent application Ser. No. 10/979,568 filed Nov. 2, 2004, U.S. patent application Ser. No. 11/218,814 filed Sep. 2, 2005, U.S. patent application Ser. No. 11/359,121 filed Feb. 21, 2006, U.S. patent application Ser. No. 11/382,273 filed May 9, 2006, and U.S. patent application Ser. No. 11/429,034 filed May 5, 2006, all of which are incorporated herein by references.
The lens unit of the present invention can use various configurations including zoom type or telescope type configurations. The conventional zoom type imaging systems use a conventional lens or lens group having macroscopic mechanical lens movements or a non-MMAL variable focus lens such as a liquid crystal lens. The fixed focal length lens or lens group having macroscopic mechanical lens movements has a slow response time and requires a complicated driving mechanism. Also, the fixed focal length lens or lens group having macroscopic mechanical lens movement has a limited variable focusing property because it cannot change its optical axis. On the other hand, the focal length of the non-MMAL variable focus lens can be changed without macroscopic mechanical lens movements. However, the non-MMAL variable focus lens has a limited variable focusing property because it has a slow response time and cannot change its optical axis. They basically comprise a variator for changing the magnification of the lens unit and a compensator for maintaining focus.
However, the zoom type lens unit having a Micromirror Array Lens in the present invention can provide required focusing properties without or with minimal macroscopic mechanical lens movements. The Micromirror Array Lens can be used as a variator. When the Micromirror Array Lens is used as the variator, the functions of the variator is not limited to change only the magnification of the lens unit but extended to change any at least one of the focusing properties of the lens unit described above. Also, the Micromirror Array Lens can be used as a compensator, wherein the compensator is configured to maintain focus of the lens unit.
The lens unit can further comprise a fixed focal length lens or lens group having macroscopic mechanical lens movements, optically coupled to the Micromirror Array Lens. The Micromirror Array Lens is a variator and the fixed focal length lens or lens group having macroscopic mechanical lens movements is a compensator. Alternatively, the fixed focal length lens or lens group having macroscopic mechanical lens movements is a variator and the Micromirror Array Lens is a compensator. Also, both the Micromirror Array Lens and the fixed focal length lens or lens group having macroscopic mechanical lens movements can be configured to change at least one focusing property of the lens unit and maintain focus of the lens unit, together.
The lens unit can further comprise a non-MMAL variable focus lens such as a liquid crystal lens, optically coupled to the Micromirror Array Lens, wherein the focal length of the non-MMAL variable focus lens is changed without macroscopic mechanical lens movements. However, the non-MMAL variable focus lens has a limited variable focusing property because the non-MMAL variable focus lens is slow and can not change its optical axis. The Micromirror Array Lens is a variator and the non-MMAL variable focus lens is a compensator. Alternatively, the non-MMAL variable focus lens is a variator and the Micromirror Array Lens is a compensator. Also, both the Micromirror Array Lens and the non-MMAL variable focus lens can be configured to change at least one focusing property of the lens unit and maintain focus of the lens unit, together.
The lens unit with pan focus can have one Micromirror Array Lens to change at least one focusing property of the lens unit, wherein a compensator maintaining focus of the lens unit is not necessary.
Similar to the zoom type imaging system, the conventional telescope type imaging systems basically comprise a primary mirror and a secondary mirror. In the conventional telescope type imaging systems, the magnification of a lens unit is changed through additional eyepieces at a cost of resolution while other focusing properties cannot be changed. The telescope type lens unit having the Micromirror Array Lens can provide required focusing properties without or with minimal macroscopic mechanical mirror movements and without changing eyepieces. The Micromirror Array Lens can be a primary mirror in the telescope type configuration. The Micromirror Array Lens can be a secondary mirror in the telescope type configuration. The Micromirror Array Lens used as the primary lens may have an opening so that light can pass through the Micromirror Array Lens. The lens unit may further comprise a flat mirror to complete the telescope type configuration.
The lens unit can advantageously use at least two Micromirror Array lenses, wherein the focusing property of the lens unit can be effectively controlled without macroscopic mechanical lens movements. The zoom type lens unit comprises a first Micromirror Array Lens and a second Micromirror Array Lens. The first Micromirror Array Lens is arranged to reflect light from the scene to the second Micromirror Array Lens and the second Micromirror Array Lens is arranged to reflect the light from the first Micromirror Array Lens to the imaging unit. The first Micromirror Array Lens and the second Micromirror Array Lens are positioned so that the path of the light reflected by the first Micromirror Array Lens and the second Micromirror Array Lens is not blocked. Alternatively, the first Micromirror Array Lens and the Second Micromirror Array lens can be disposed to be parallel to each other. In this case, the optical tracking device further comprises a beam splitter positioned between the first Micromirror Array Lens and the second Micromirror Array Lens. The first Micromirror Array Lens and the second Micromirror Array Lens can be used as a variator and a compensator, respectively. Alternatively, the first Micromirror Array Lens and the second Micromirror Array Lens can be used as a compensator and a variator, respectively. It is also possible that the first Micromirror Array Lens and the second Micromirror Array Lens is configured to change at least one focusing property of the lens unit and maintain focus of the lens unit, together.
The Micromirror Array Lens can be the primary mirror having a variable focusing property in the telescope type configuration. The Micromirror Array Lens can be the secondary mirror having a variable focusing property in the telescope type configuration. In the conventional reflective lens, the cost to produce mirrors having some curved surfaces is more expensive than that of others. For example, the spherical mirror can be produced with much less cost than the parabolic mirror. However, the Micromirror Array Lens can produce arbitrary optical surface profiles with the same low cost. Therefore, the optical tracking device using Micromirror Array Lenses does not have to sacrifice the image quality to reduce the cost.
The telescope type lens unit can also advantageously use at least two Micromirror Array lenses. The telescope type lens unit comprises a first Micromirror Array Lens and a second Micromirror Array Lens, wherein the first Micromirror Array Lens is a primary mirror and the second Micromirror Array Lens is a secondary mirror. The first Micromirror Array Lens and the second Micromirror Array can form various telescope type configurations. The first Micromirror Array Lens and the second Micromirror Array form a Newtonian type telescope configuration. The first Micromirror Array Lens and the second Micromirror Array form a Cassegrain type telescope configuration. The first Micromirror Array Lens and the second Micromirror Array form a Gregorian type telescope configuration. Also, the first Micromirror Array Lens and the second Micromirror Array can form various variations of the telescope type configurations described above.
The Lens unit may further include at least one auxiliary lens or lens group depending on the applications of the optical tracking device. The lens unit further comprises a focus lens or lens group to focus an image. The lens unit further comprises an erector lens or lens group to produce an inverted image. The lens unit further comprises a relay lens or lens group to focus the image onto the image sensor. These auxiliary lenses or lens groups can be advantageously used in the zoom type lens unit having a variator and a compensator.
The optical tracking device may further comprise a mechanical movement unit, communicatively coupled to the image processing unit, configured to mechanically adjust attitude of the optical tracking device in response to the control signal in order to adjust the optical axis of the lens unit. Although the optical tracking device comprising the Micromirror Array Lens can change the optical axis of the lens unit, the mechanical movement unit can be combined for a larger tracking area.
Since the Micromirror Array Lens is an adaptive optical component, the lens unit can compensate for the aberration of the optical tracking device by controlling each micromirror of the Micromirror Array Lens. The aberration of the optical tracking device include, but not limited to, phase errors of light introduced by the medium between an object and its image and the defects of the optical tracking device that may cause the image to deviate from the rules of paraxial imagery. The Micromirror Array Lens is further controlled to compensate for chromatic aberration by satisfying the same phase condition for each wavelength of Red, Green, and Blue (RGB), respectively, to get a color image. Further, an object which does not lie on the optical axis can be imaged by the Micromirror Array Lens without macroscopic mechanical movements of the optical tracking device.
The general principle, methods for making the micromirror array devices and Micromirror Array Lens, and their applications are disclosed in U.S. Pat. No. 7,077,523 issued Jul. 18, 2006 to Seo, U.S. Pat. No. 7,068,416 issued Jun. 27, 2006 to Gim, U.S. patent application Ser. No. 10/914,474 filed Aug. 9, 2004, U.S. patent application Ser. No. 10/934,133 filed Sep. 3, 2004, U.S. patent application Ser. No. 10/979,619 filed Nov. 2, 2004, U.S. patent application Ser. No. 10/979,624 filed Nov. 2, 2004, U.S. patent application Ser. No. 11/076,688 filed Mar. 10, 2005, U.S. patent application Ser. No. 11/208,114 filed Aug. 19, 2005, U.S. patent application Ser. No. 11/208,115 filed Aug. 19, 2005, U.S. patent application Ser. No. 11/382,707 filed May 11, 2006, U.S. patent application Ser. No. 11/419,480 filed May 19, 2006, U.S. patent application Ser. No. 11/423,333 filed Jun. 9, 2006, all of which are incorporated herein by references.
A method for tracking a target using an optical tracking device comprises steps of capturing an scene image using a lens unit having at least one Micromirror Array Lens comprising a plurality of micromirrors and an imaging unit, processing the scene image using an image processing unit and extracting target movement information, generating a control signal, and changing a focusing property of the Micromirror Array Lens by forming an optical surface profile of the Micromirror Mirror Array Lens by controlling motions of the micromirrors in the Micromirror Array Lens according to the control signal. The step of changing the focusing property of the Micromirror Array lens is for changing a focusing status of the scene or target image. The step of changing the focusing property of the Micromirror Array lens is for adjusting an effective focal length of the lens unit. The step of changing the focusing property of the Micromirror Array lens is for adjusting a field of view of the lens unit. The step of changing the focusing property of the Micromirror Array lens is for adjusting an optical axis of the lens unit. The step of changing the focusing property of the Micromirror Array lens is for adjusting a magnification of the lens unit.
The method for tracking the target using an optical tracking device further comprises measuring the distance between the lens unit and the target by extracting an in-focus target image from the scene image using the image processing unit. The method for tracking the target using an optical device further comprises measuring three-dimensional image information of the target by changing a focal plane of the lens unit by adjusting the effect focal length of the lens unit. The method for tracking a target using an optical tracking device further comprises using a time-sharing technique to obtain a wide field of view image and a narrow field of view image within a short time period.
The optical tracking device of the present invention has many advantages. The optical tracking device with the Micromirror Array Lens can maintain focus on a fast moving target because the effective focal length of a lens unit can be quickly changed. Also, a narrow field of view for high resolution image and a wide field of view for a low tracking dropout can be provided using a time-sharing technique. Furthermore, the optical axis of the lens unit can be adjusted to locate the target image at the center of the image sensor. Also, the ability to change the optical axis of the Micromirror Array Lens may allow an optical tracking device having a large tracking area without a servo mechanism or a gimbal system for controlling the attitude of the optical tracking device. The optical tracking device using the Micromirror Array Lens can be simpler and weigh less than conventional tracking systems.
The present invention will now be described in detail with reference to embodiments thereof as illustrated in the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without some or all of these specific details. In other instances, well known process steps and/or structures have not been described in detail in order to not unnecessarily obscure the present invention.
The optical tracking device 21 of the invention further comprises an image processing unit 25, communicatively coupled to the image sensor 24, configured to process the image information from the imaging sensor 24 and generate an output signal 25A including image data and position information of a target. The image processing unit 25 may include a target identification algorithm. The image processing unit 25 also generates a control signal 25B for the control circuit 23 to control the lens unit 22. Using the processed image information, the image processing unit 25 determines a next action that has to be performed by the lens unit 22 and generates the control signal 25B for the control circuit 23, accordingly.
The optical tracking device 21 may further comprise a mechanical movement unit 26 as shown in
In order to provide a high-resolution image, an optical tracking device must have a narrow field of view. However, as the field of view decreases, the capturing area of the tracking system becomes narrow, and the object being tracked may be lost more easily, resulting in increase in the tracking dropout rate. In order to reduce the tracking dropout rate, the field of view of the tracking system must be increased to broaden the capturing area.
The optical tracking system of the present invention has a variable field of view according to the present invention. A Micromirror Array Lens of the present invention can change its focal length very fast. The rapid focal length change of the Micromirror Array Lens enables the optical tracking device to use a time-sharing technique, wherein both a narrow field of view image and a wide field of view image are provided within a short time period. The time-sharing technique makes the tracking dropout rate of the target reduced while a high-resolution image is maintained. Also, the rapid focal length change of the Micromirror Array Lens enables the optical tracking device to maintain focus on a fast moving target. The principles of maintaining focus on a fast moving target are described in detail in U.S. patent Ser. No. 10/896,146.
The optical tracking device using a Micromirror Array Lens can provide three-dimensional image information. Therefore, the optical tracking device using Micromirror Array Lenses provides the three-dimensional image information of a target.
The focal (focused) plane of the lens unit is changed by changing the focal length of each Micromirror Array Lens. An imaging unit includes one or more two-dimensional image sensors that taking an original two-dimensional image at each focal plane. An image processing unit generates the all-in-focus image and the depth information for in-focus image from original two-dimensional images. All the processes are achieved within a unit time which is less than or equal to the afterimage time of the human eye. By changing the focal length of the lens unit in multiple steps, a single camera system using a Micromirror Array Lens can provide three-dimensional image information about a target.
The optical tracking device of the present invention is capable of providing distance information.
The imaging system using the conventional distance acquisition method tends to be bulky and expensive because multiple cameras are required.
1/f=1I/SOBT+1/SI
The optical tracking system using the Micromirror Array Lens 111 can provide the distance information of the target with a simpler structure and low cost.
The optical tracking device of the present invention is capable of providing a variable magnification.
Alternatively, additional optical elements can be added to make the in-line optical arrangement for the zoom type optical tracking device as shown in
Since the positions of Micromirror Array Lenses 141, 142, 146, and 147 need not be changed, the zoom type optical tracking devices in
Even though the zoom type optical tracking devices using Micromirror Array Lenses are explained with two lenses, actual zoom type optical tracking devices using Micromirror Array Lenses also may have additional lens groups to get necessary and auxiliary performances of the zoom type optical tracking device. The zoom type optical tracking devices may comprise at least one of a focus lens group, a variator lens group, a compensator lens group, an elector lens group, and a relay lens group.
The lens unit may further comprise a first auxiliary lens group 154 and a second auxiliary lens group 155. In figures, lens groups are schematically illustrated by a lens for simplicity. It should be noted that in practice, each lens group may include a different kind and different number of lenses to satisfy system requirements. The first auxiliary lens group 154 is a focus lens group to bring the image into focus. The first Micromirror Array Lens 151 is a variator to change at least one focusing property of the lens unit by controlling the rotation and/or translation of micromirrors 152. The second Micromirror Array Lens 153 is a compensator to maintain focus by controlling the rotation and/or translation of micromirrors 152. The second auxiliary lens group 155 is a relay lens group to focus the image onto an image sensor 156. The focusing properties of the lens unit include the effective focal length, the optical axis, the magnification, and the field of view of the lens unit. Further, each micromirror 152 of the Micromirror Array Lenses 151 and 153 can be controlled to compensate for the aberration of the optical tracking device. In one alternative embodiment, the first Micromirror Array Lens 151 is used as a compensator to maintain focus while the second Micromirror Array Lens 153 is used as a variator to change at least one focusing property of the lens unit by controlling the micromirrors 152. In another alternative embodiment, the first Micromirror Array Lens 151 and the second Micromirror Array Lens 153 both change at least one focusing property of the lens unit and maintain focus altogether by controlling the micromirrors 152. Since the zoom type optical tracking device of the present invention does not have macroscopic moving elements, the zoom type optical tracking device can be built in a simple and compact structure with low power consumption, low cost, and high speed tracking.
The lens unit may further comprise a first auxiliary lens group 164 and a second auxiliary lens group 165. The first auxiliary lens group 164 is a focus lens group to bring an image into focus. The fixed focal length lens or lens group 161 having macroscopic mechanical lens movements is a variator to change the magnification of the lens unit and the Micromirror Array Lens 162 is a compensator to maintain focus by controlling the rotation and/or translation of the micromirrors 163. The second auxiliary lens group 165 is a relay lens group to focus the image onto an image sensor 166. The optical axis can be changed by controlling rotation and/or translation of micromirrors 163 of the Micromirror Array Lens 162. Each micromirror 163 of the Micromirror Array Lens 162 can be controlled to compensate for the aberration of the optical tracking device. In one alternative embodiment, the Micromirror Array Lens 162 is used as a variator to change at least one focusing property of the lens unit by controlling the micromirrors 163, while the fixed focal length lens or lens group 161 having macroscopic mechanical lens movements is used as a compensator to maintain focus. In another alternative embodiment, the fixed focal length lens or lens group 161 having macroscopic mechanical lens movements and the Micromirror Array Lens 162 both change at least one focusing property of the lens unit and maintain focus by controlling the position of the fixed focal length lens or lens group 161 and/or by controlling the micromirrors 163.
The zoom type optical tracking device may further comprise an additional auxiliary lens group (not shown) as an erector lens group in order to produce an inverted image. Also, the auxiliary lens or lens group can be used for further enhancement of the zoom type optical tracking device. The zoom type optical tracking device may further comprise extra Micromirror Array Lens or Micromirror Array Lenses (not shown) to compensate for the aberration of the optical tracking device. The zoom type optical tracking device may further comprises an optical filter or filters for image enhancement. The zoom type optical tracking device of the present invention has less moving elements than those of conventional zoom type optical tracking devices.
The zoom type optical tracking devices in
In stead of using zoom type configurations, the optical tracking device can use telescope type configurations to provide a variable focusing property. Conventional reflecting telescopes typically comprise a primary mirror and a secondary mirror having. These mirrors have a curved or flat surface with a fixed focal length. The primary mirror gathers light and reflects the light to a secondary mirror and the secondary mirror reflects the light to a focal plane. In the conventional telescope type imaging systems, the magnification of a lens unit is changed through additional eyepieces at a cost of resolution while other focusing properties cannot be changed. The telescope type lens unit having the Micromirror Array Lens can provide required focusing properties without or with minimal macroscopic mechanical mirror movements and without changing eyepieces. The micromirror Array Lens can simulate various curved surfaces that are used in conventional reflecting telescopes. The optical surface profile of the Micromirror Array Lens satisfies a convergence condition and a phase matching condition to simulate a flat mirror. The optical surface profile of the Micromirror Array Lens satisfies a convergence condition and a phase matching condition to simulate a parabolic concave mirror. The optical surface profile of the Micromirror Array Lens satisfies a convergence condition and a phase matching condition to simulate a spherical concave mirror. The optical surface profile of the Micromirror Array Lens satisfies a convergence condition and a phase matching condition to simulate a hyperbolic concave mirror. The optical surface profile of the Micromirror Array Lens satisfies a convergence condition and a phase matching condition to simulate an elliptic concave mirror. The optical surface profile of the Micromirror Array Lens satisfies a convergence condition and a phase matching condition to simulate a parabolic convex mirror. The optical surface profile of the Micromirror Array Lens satisfies a convergence condition and a phase matching condition to simulate a spherical convex mirror. The optical surface profile of the Micromirror Array Lens satisfies a convergence condition and a phase matching condition to simulate a hyperbolic convex mirror. The optical surface profile of the Micromirror Array Lens satisfies a convergence condition and a phase matching condition to simulate an elliptic convex mirror.
Each telescope configuration described above has many variations. Although the embodiments of these variations are not shown, these variations can be readily simulated by an optical tracking device using Micromirror Array Lenses.
The advantages of the present invention include ability to rapidly change the focal length and optical axis of a camera system, allowing for high-resolution, wide-angle imaging. While the invention has been shown and described with reference to different embodiments thereof, it will be appreciated by those skills in the art that variations in form, detail, compositions and operation may be made without departing from the spirit and scope of the invention as defined by the accompanying claims.
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