MIRROR DESIGN Principles and Tools INSTITUTO DE SISTEMAS

MIRROR DESIGN: Principles and Tools INSTITUTO DE SISTEMAS E ROBÓTICA Cláudia Deccó, José Santos-Victor, José Gaspar, Niall Winters Instituto Superior Técnico Lisbon, Portugal {ccgdecco, jasv, jag, niall}@isr. ist. utl. pt Omniviews Review Meeting IST, Lisbon, September, 2001 http: //www. isr. ist. utl. pt/labs/vislab Computer and Robot Vision Laboratory

Vertical and Horizontal Resolution Mirrors INSTITUTO DE SISTEMAS E ROBÓTICA http: //www. isr. ist. utl. pt/labs/vislab Computer and Robot Vision Laboratory

Mirror Equations • Vertical Resolution INSTITUTO DE SISTEMAS E ROBÓTICA • Horizontal Resolution http: //www. isr. ist. utl. pt/labs/vislab Computer and Robot Vision Laboratory

MIXED MIRROR • Conventional Camera • Log Polar Camera INSTITUTO DE SISTEMAS E ROBÓTICA http: //www. isr. ist. utl. pt/labs/vislab Computer and Robot Vision Laboratory

Mixed Mirror Design INSTITUTO DE SISTEMAS E ROBÓTICA Blind zone Benefit: Enhanced Resolution for more complex environments http: //www. isr. ist. utl. pt/labs/vislab Computer and Robot Vision Laboratory

INSTITUTO DE SISTEMAS E ROBÓTICA http: //www. isr. ist. utl. pt/labs/vislab Computer and Robot Vision Laboratory

DIFFERENT METHODOS OF DERIVATIONS (dh/d )t/dh/d ) n for distances = [100 200 300 400] (cm) Diff Centered derivation Analytic derivation INSTITUTO DE SISTEMAS E ROBÓTICA http: //www. isr. ist. utl. pt/labs/vislab Computer and Robot Vision Laboratory

MIXED MIRROR PROTOTYPE • Ultra Precision Lathe INSTITUTO DE SISTEMAS E ROBÓTICA – – – – Rank Pneumo Model ASG-2500 (Aspheric Surface Generator) Repeatibility de 10 nm Precision de 5 nm 50 kg of maximum load on the plaque Position control made by an interferometer of He. Ne HP Controler: AB 8200 http: //www. isr. ist. utl. pt/labs/vislab Computer and Robot Vision Laboratory

MIXED MIRROR • Specs INSTITUTO DE SISTEMAS E ROBÓTICA Radius : Fovea field of view : Retina field of view : f: height: distance (d): http: //www. isr. ist. utl. pt/labs/vislab 3 cm 28 -52 degrees 80 -115 degrees 25 mm 70 cm 200 cm Computer and Robot Vision Laboratory

Astigmatism Field Curvature INSTITUTO DE SISTEMAS E ROBÓTICA In: E. Hecht, “Optics”, Addison-Wesley http: //www. isr. ist. utl. pt/labs/vislab Computer and Robot Vision Laboratory

CONCLUSIONS • General principles of mirror designs INSTITUTO DE SISTEMAS E ROBÓTICA • Specifications matching the various applications • Mixed mirror and flexible design tools • Mirro realization http: //www. isr. ist. utl. pt/labs/vislab Computer and Robot Vision Laboratory