[Studies in Computational Intelligence 481] Artur Babiarz, Robert Bieda, Karol Jędrasiak, Aleksander Nawrat (auth.), Aleksander Nawrat, Zygmunt Kuś (eds.) - Vision Based Systemsfor UAV Applications (2013, Sprin

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124 S. Fraś et al. monitoring parts of the process in factories or in observation of surroundings of unmanned aerial vehicle (UAV) [12]. There are also many other types of video acquisition devices, e.g. stationary or rotating camera. Each type has its pros and cons. The project purpose was to create a device, which combines advantages of other devices and avoids the disadvantages. Basic assumption was that the device has to have possibility to trace all its surroundings and allow instant changes of direction of video acquisition. 2 General Concept of Omnidirectional Video Acquisition The idea of creating a device with a wide range of view is not something new. Solutions, which offer such video canvassing, already exist. An example of such appliance can be rotating camera (fig. 1). The wide angle of sight of this camera is obtained through the movement of the camera in horizontal or/and in vertical direction. This creates a possibility to direct the camera on the desired area, which is limited only by the range of its movement. When the designated point in space, which is supposed to be captured by camera, is not covered by its current field of view, a latency caused by the time needed to turn rotating camera appears. This solution, theoretically, provides capturing video with 360º of horizontal field of view but at a given instant, operator can observe only a little range of this space. This is why constant operator attention is needed. Another solution is camera with a "Fisheye" type lens (fig. 1). It allows observation of the whole half-sphere at one moment. The application of such lens with a short focal length, increases the angle of the view of the camera but the result of that operation is considerable image distortion. This “barrel” distortion, is the main disadvantage of cameras based on fisheye lenses. This aberration occurs, when with increasing distance from the middle of captured video stream and approaching the edges of the field of vision, image becomes smaller. It is possible to try to straighten such an image but it is not easy and involves a considerable loss of part of image, and reduction of its quality. Device, which combines the advantages of the rotating camera as well as the “fisheye” lens is an OVAD (fig. 1). Assembling several cameras enables parallel multidirectional canvassing. The quantity of the cameras depends on the width of their visual field. If the sum of the visual fields of all the cameras is greater or equal than 360º then the image is being registered from all directions. To obtain an image from desired area all that is need to be done is to choose the appropriate camera and operator can immediately get access to it, not having to wait until camera turns to the designated position. Not only does the video stream include the entire 360° horizontal field of view, but it also is not distorted, so it shows no signs of the biggest disadvantage of the fisheye lens. Correction of a small barrel distortion, which appears on video captured by used cameras, can be conducted by a computer program. An application combining the images from all six cameras together into one video panorama is an additional advantage of such a solution.
Omnidirectional Video Acquisition Device (OVAD) 125 Fig. 1. PTZ camera AXIS P5532-E (a), OVAD (b), LC-1120 FISHEYE Premium (c) 3 Lens Distortion Distortion is the fifth of Seidel aberrations [1]. This aberration is an effect of non- uniform magnifying over entire field of vision. The bigger incidence angle of rays of light is, the bigger is deviation from primary incidence angle. Distortion does not occur in very thin lenses and in pinhole cameras. However, pinhole camera field of view is narrow in comparison with the one of camera with lens. Increasing field of view of pinhole camera would mean increase of focal plane size. Today focal planes are very small and increasing their size is not reasonable, so increasing its field of view creates necessity to use systems of lenses. The result of that operation is appear- and radial distortion. Those two types are describing directions of dislocation of specific points. Radial distortion can be described as displacing of specific points along- side with radiuses diverging from center of lens (radial direction), while tangential distortion appears when points are shift in a direction, which is perpendicular to those radiuses. Tangential distortion may occur when focal plane is not placed in parallel with lens. There are also a few another defined types of distortion, however usually their influence on quality of image is not as important and visible as the one of men- tioned radial and tangential distortion. Because of that they are usually omitted during analysis of distorted picture. Radial distortion is displacement of certain points in ing of distortion. There are two main types of optical distortion - tangential distortion relation with distance from the middle point of captured image. There are two types of radial distortion: • barrel distortion (fig. 1.a) – with increasing distance from center of image, there is possibility that image will be curved towards center of image or it can be said that magnificationn decreases towards edges of image. This aberration is typical for standard lenses. Video streams captured by cameras used in OVAD project are distorted by this type of radial distortion [1]. • pincushion distortion (fig. 1.b) – mostly present in telephoto lenses, with increasing distance from center of focal plane image is curved towards its’ edges, magnification increases [1]. There can be found some annotations in literature about moustache distortion (fig 1.c), which is made from both barrel and pincushion distortion. This aberration makes image curved as in pincushion distortion when closer to the edges, while closer to the center it behaves as barrel distortion. Other than moustache distortion this aberration is also named mixed distortion or complex distortion.
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Studies in Computational Intelligen
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Aleksander Nawrat · Zygmunt Kuś E
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“In God We Trust, All others we o
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VIII Preface valuable information i
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Contents Part I: Design of Object D
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Contents XIII Technology Developmen
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XVI List of Contributors Adam Czorn
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XVIII List of Contributors Henryk M
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XX List of Contributors Józef Wron
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2 Design of Object Detection, Recog
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4 A. Babiarz et al. 1 Introduction
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Recognition and Location of Objects
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Probabilistic Approach to Planning
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206 Practical Applications of Class
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Prototyping the Autonomous Flight A
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Technology Development of Military
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344 Conclusions Control algorithms
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[Studies in Computational Intelligence 481] Artur Babiarz, Robert Bieda, Karol Jędrasiak, Aleksander Nawrat (auth.), Aleksander Nawrat, Zygmunt Kuś (eds.) - Vision Based Systemsfor UAV Applications (2013, Sprin

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