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`(19)
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`0)
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`European Patent Office
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`Office européen des brevets
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`(11)
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`EP 1 028 389 A2
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`(12)
`
`EUROPEAN PATENT APPLICATION
`
`(43) Date of publication:
`16.08.2000 Bulletin 2000/33
`
`(51) Int. CI.7: GOGT 3/00
`
`(21) Application number: 001003763
`
`(22) Date of filing: 07.01.2000
`
`(84) Designated Contracting States:
`AT BE CH CY DE DK ES FI FFI GB GFI IE IT LI LU
`MC NL PT SE
`
`Designated Extension States:
`AL LT LV MK RO SI
`
`(30) Priority: 12.02.1999 JP 3477099
`
`(71) Applicants:
`- Advanet, Inc.
`Okayama-shi, Okayama-Pref. 700-0971 (JP)
`- Rios Corporation
`Okayama-shi, Okayama-Pref. 700-0942 (JP)
`
`
`
`(54)
`
`Arithmetic unit for image transformation
`
`An arithmetic unit for image transformation is
`(57)
`disclosed for transforming a fisheye image obtained by
`using a fisheye lens (2) into a plane image for display,
`comprising: a first coordinate calculating unit (35) for
`obtaining first projection coordinates derived by project-
`ing coordinates on the plane image onto a fisheye
`
`FlG.4
`
`- Fit Corporation
`Suwa-Gun, Nagano-Pref. 393-0023 (JP)
`
`(72) Inventors:
`- Shiota, Fuminori
`Okayama-ken 701 -1343 (JP)
`- Matsui, Tetsuji
`Okayama-ken 703-8275 (JP)
`
`(74) Representative:
`Sajda, Wolf E., Dipl.-Phys. et al
`MEISSNER, BOLTE & PARTNER
`Postfach 86 06 24
`
`81633 Miinchen (DE)
`
`image face as an imaginary object face; and a second
`coordinate calculating unit (36) for obtaining second
`projection coordinates derived by projecting the first
`projection coordinates obtained by the first coordinate
`calculating unit (35) onto the fisheye image face.
`
`
`
`Interpolation
`
`canputing
`unit
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`Sezxfl axmdi—
`Capture
`control
`nate calcu—
`
`
`unit
`lating unit
`
`
`lirst coordi—
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`nate calcu—
`lating unit
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`
`
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`EP1028389A2
`
`Printed by Xerox (UK) Business Seerces
`2167(HRSV36
`
`Panasonic Exhibit 1008 Page 1 of 10
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`EP 1 028 389 A2
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`2
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`Description
`
`BACKGROUND OF THE INVENTION
`
`1. Field of the Invention
`
`The present invention relates to an arithme-
`[0001]
`tic unit for image transformation and a monitoring sys-
`tem. More particularly,
`the invention relates to an
`arithmetic unit for image transformation for transforming
`an image obtained by using a fisheye lens into a plane
`image for display and a monitoring system having the
`arithmetic unit.
`
`2. Description of the Related Art
`
`An arithmetic unit for image transformation is
`[0002]
`used in, for example, a monitoring system using a mon-
`itoring camera. The operator monitors the state in a
`space (for example, shop) in which the monitoring cam-
`era is installed, by watching images from the monitoring
`camera displayed on a monitor provided for the monitor-
`ing system. When a lens attached to the camera is an
`ordinary standard lens, the space can be monitored
`only within the range of the angle of view of the standard
`lens.
`In order to monitor the entire space in which the
`camera is installed, it is necessary to provide a mecha-
`nism for properly changing the orientation of the cam-
`era.
`In case of providing such a mechanism, the cost
`increases and the camera has to be remote controlled.
`
`It consequently becomes hard for the operator to handle
`it.
`
`There is an idea such that a fisheye lens
`[0003]
`having the wide angle of view is attached to the camera
`and monitoring is performed by using the fisheye lens.
`An image produced by the fisheye lens is, however, dis-
`torted as compared with an image obtained by using the
`standard lens and is very hard for the operator to watch
`it. A technique for transforming an image produced by
`the fisheye lens into a plane image is disclosed as a
`camera orientation system in W092/21208.
`image
`[0004]
`The system transforms a circular
`obtained by using the fisheye lens into an image pro-
`duced by a normal
`image pickup lens (for example,
`standard lens) by an arithmetic process and a plane
`image seen from an arbitrary view point can be
`obtained. In this case, when a high speed arithmetic unit
`is used, plane image data can be obtained at real time
`rates only by software.
`In most of the cases, it takes
`long time for a communicating process, operation as a
`human interface, and the like in a terminal device con-
`nected to a network. It is therefore preferable to realize
`a part in which the same process is repeated in an
`image transforming process, by hardware.
`[0005]
`Since the projecting method (stereoscopic
`projection, equidistant projection, orthogonal projection,
`or the like) of projecting a fisheye lens image onto an
`image pickup device (such as CCD) provided for the
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`camera is determined at the time of designing, by exe-
`cuting arithmetic computations according to mathemat-
`ical expressions by hardware,
`the image can be
`transformed to a plane image.
`[0006]
`As disclosed in W092/21208, however,
`when calculations upon transformation are expressed
`by mathematical equations and executed according to
`the mathematical equations by hardware,
`it is neces-
`sary to realize many calculations of not only addition,
`subtraction, multiplication, and division, but also square
`root, trigonometric function, and the like by the hard-
`ware. The unit consequently cannot help becoming
`expensive inevitably.
`[0007]
`The invention has been achieved in consid-
`eration of the actual condition of the conventional tech-
`
`nique and it is an object of the invention to provide an
`arithmetic unit for image transformation capable of pro-
`viding inexpensive hardware for transforming a fisheye
`image obtained by using a fisheye lens into a plane
`image for display.
`
`SUMMARY OF THE INVENTION
`
`In order to achieve the object, an arithmetic
`[0008]
`unit for image transformation according to the invention,
`for transforming a fisheye image obtained by using a
`fisheye lens into a plane image for display, comprises:
`
`a first coordinate calculating unit for obtaining first
`projection coordinates on a fisheye image face as
`an imaginary object face derived by projecting coor-
`dinates on the plane image; and
`a second coordinate calculating unit for obtaining
`second projection coordinates derived by projecting
`the first projection coordinates obtained by the first
`coordinate calculating unit onto the fisheye image
`face.
`
`[0009]
`
`The action of the configuration is as follows:
`
`Step 1. The first projection coordinates on the fish-
`eye image face as an imaginary object
`face
`obtained by projecting coordinates on the plane
`image are derived by the first coordinate calculating
`unh;and
`Step 2. The second projection coordinates obtained
`by projecting the first coordinates onto the fisheye
`image face are derived.
`
`That is, when an image is transformed, the
`[0010]
`coordinate calculations are not performed by mathe-
`matical equations at once but are executed by stages.
`Consequently, the calculating unit can be constructed
`by combining simple arithmetic circuits and the hard-
`ware part in the arithmetic unit for image transformation
`can be realized at low cost.
`
`As a preferred embodiment of the invention,
`[0011]
`a logic circuit for arithmetic operation has a pipelined
`
`Panasonic Exhibit 1008 Page 2 of 10
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`EP 1 028 389 A2
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`4
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`architecture in each of the first and second coordinate
`
`calculating units.
`[0012]
`By making the logic circuit have the pipelined
`architecture,
`the coordinate transformation can be
`sequentially performed by stages and the circuit config-
`uration can be partially simplified. As a result, the hard-
`ware part in the arithmetic unit for image transformation
`can be realized at low cost.
`
`the
`As another preferred embodiment of
`[0013]
`invention, the logic circuit for arithmetic operation is lim-
`ited to calculations of addition, subtraction, multiplica-
`tion, and square root, and division and other function
`calculations are handled by referring to a lookup table.
`[0014]
`In case of executing the calculations accord-
`ing to the equations by the hardware, it is necessary to
`realize many arithmetic operations such as addition,
`subtraction, multiplication, and division, and in addition,
`square root, trigonometric function, and the like by hard-
`ware. It is consequently necessary to use a large-scale
`circuit part. Especially, depending on the projecting
`method of the fisheye lens, there may be a case such
`that approximation occurs by trigonometric function or
`infinite polynomial. The logic circuit for arithmetic opera-
`tion is consequently limited to addition, subtraction, mul-
`tiplication, and square root. With respect to a part
`expressed by division or other function, a lookup table is
`referred to. Consequently, the hardware can be simpli-
`fied and it can contribute to reduce the cost of the arith-
`
`metic unit for image transformation.
`another preferred
`[0015]
`According to further
`embodiment of the invention, the second coordinate
`calculating unit is used to obtain the second projection
`coordinates by multiplying the first projection coordi-
`nates by a predetermined coefficient and the predeter-
`mined coefficient is obtained from the lookup table.
`[0016]
`When the projecting method of the fisheye
`lens differs, the coefficient becomes different. Only by
`changing data in the lookup table, the invention can deal
`with a different projecting method and it is unnecessary
`to replace the hardware part. The cost of the hardware
`part in the arithmetic unit for image transformation can
`be therefore reduced also with respect to the point.
`[0017]
`A monitoring system according to the inven-
`tion is characterized by comprising the arithmetic unit
`for image transformation. According to the arithmetic
`unit for image transformation, the arithmetic unit can be
`constructed by combining simple arithmetic circuits and
`the cost of the hardware part in the arithmetic unit for
`image transformation can be reduced, so that an inex-
`pensive monitoring system can be provided.
`
`BRIEF DESCRIPTION OF THE DRAWINGS
`
`[0018]
`
`is a diagram showing setting of a coordinate
`Fig. 1
`system;
`Fig. 2 is a diagram for explaining a correction coef-
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`ficient k1;
`Fig. 3 is a diagram for explaining a procedure of
`transforming coordinates by hardware; and
`Fig. 4 is a block diagram of circuits mounted on a
`PCI bus substrate.
`
`DETAILED DESCRIPTION OF THE PREFERRED
`EMBODIMENTS
`
`A preferred embodiment of an arithmetic unit
`[0019]
`for image transformation according to the invention will
`be described in detail with reference to the drawings.
`
`(Positional relation of coordinate system)
`
`Referring to Fig. 1, the positional relation of
`[0020]
`coordinates to be transformed will be described. The
`
`coordinate system will be set as follows. As a space for
`showing the position of an object, an (X, Y, Z) coordi-
`nate space in which the position of a fisheye lens is the
`origin and the direction of the optical axis is the Z axis is
`set. The azimuth (q)) and the zenithal angle (0) are set
`as parameters indicating the position of the object seen
`from the origin.
`[0021]
`Since the position on an image pickup
`device (such as CCD), of an object whose image is
`obtained through the fisheye lens is determined at an
`angle seen through the fisheye lens, it is assumed that
`the object is positioned on the surface of a hemisphere
`of radius of 1. The hemispherical face is called an imag-
`inary object face.
`[0022]
`A plane image to be obtained is shown by an
`(u, v) coordinate system in Fig. 1.
`It is assumed that the
`center (origin) of the (u, v) coordinate system is in the
`position apart from the origin of the (X, Y, Z) coordinate
`system by distance 1 and is in contact with the hemi-
`spherical face as the imaginary object face. The plane
`expressed by the (u, v) coordinate system is made cor-
`respond to pixels of a display image on a monitor. The
`angle between the u axis of the coordinate system and
`the (X, Y) plane, that is, the angle formed by an inter-
`secting line of a plane which passes the origin of the (u,
`v) coordinate system and is in parallel with the (X, Y)
`plane and the (u, v) plane and the u axis is set as (or).
`[0023]
`A plane image (fisheye image) obtained
`through the fisheye lens is expressed by a (p, q) coordi-
`nate system as shown in Fig. 1.
`It is assumed that the
`(p, q) coordinate system is parallel to the (X, Y) plane
`and has the origin on the Z axis.
`In a position on an
`image pickup face (for example, position of a pixel on a
`CCD image pickup device), the image circle diameter
`differs according to the size of the image pickup device
`and the focal distance of the fisheye lens. Consequently,
`it is assumed that a fisheye image is projected in a circle
`of radius 1 of an image of an object positioning at 90
`degrees (2 = 0) from the front of the lens. At the time of
`actually use, magnification adjustment is performed.
`[0024]
`An image is transformed as follows. The pro-
`
`Panasonic Exhibit 1008 Page 3 of 10
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`EP 1 028 389 A2
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`L=(u2 +‘12)05
`
`When the distance L is determined, k1 is
`[0032]
`constant. Consequently, a table of k1 with respect to the
`distance L is formed as a lookup table and multiplication
`by k1 obtained from the lookup table is executed,
`thereby enabling (X2, Y2, 22) to be obtained as follows
`(refer to Fig. 3).
`
`In this manner, the first projection coordinates on the
`hemispherical face are determined.
`
`m [
`
`As a second step of the calculation, a proce-
`0033]
`dure of obtaining second projection coordinates w(p1,
`q1) on a fisheye image face from the first projection
`coordinates (X2, Y2, 22) determined (refer to Fig. 1 with
`respect to w) will be explained.
`[0034]
`As described above, since the point P‘ is on
`the surface of the hemisphere of radius of 1, the zenithal
`angle (01) is unconditionally determined from the value
`of 22 (refer to Fig.
`1 with respect to 01). The following
`equation (1) is therefore derived.
`
`0,: cos'1(22)
`
`(1)
`
`Since the azimuth of the point w on the
`[0035]
`image pickup face and that of the point P' on the hemi-
`spherical face are the same, the following equation (2)
`is satisfied.
`
`(p1,q1)=k2 ' (Xzin)
`
`(2)
`
`Since the height (h) from the origin on the
`[0036]
`fisheye image face (origin of the p, q coordinate system)
`to the point w is expressed as a function of 01 according
`to the fisheye image projecting method, the following
`equation (3) is satisfied.
`
`h = WM)
`
`(3)
`
`Some examples of specific functions of F(e1)
`[0037]
`according to the projecting method will be shown. When
`it is assumed that the focal distance of the fisheye lens
`is f, the following relations are established.
`
`equidistant projection:h =f - 0
`
`stereoscopic projection: h = 2f - tan(0/2)
`
`[0038]
`
`When the equation (1) is substituted for the
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`jecting position on the image pickup face (p, q coordi-
`nates) of a point (u, v coordinates) on a plane image is
`obtained by arithmetic operation. By referring to lumi-
`nance information at the point, data of the plane image
`to be obtained can be generated.
`Information of the
`view points (q), 0, or) and the scale factor (zoom ratio) as
`the size of the plane image is information inputted by
`the operator through a keyboard, pointing device, or the
`like and is obtained and set in advance as data for cal-
`
`culation by a higher-order arithmetic processing unit.
`
`Necessary parameters are, as shown in
`[0025]
`Figs. 1 and 2, (X0, Y0, Zo) indicative of the center (ori-
`gin) of a plane image and change amounts aux, avx,
`auy, avy, auz, avz in the respective axes of the (X, Y, Z)
`coordinates when a point is moved in the respective
`directions on the (u, v) coordinate system by an amount
`of one pixel (corresponding to one pixel on the monitor
`screen).
`The parameters can be easily obtained from
`[0026]
`the information of the angle information ((p, e, or) of the
`view point and the magnification of the image.
`
`(Calculating procedure for image transformation)
`
`A calculating procedure for image transfor-
`[0027]
`mation will now be described with reference to Fig. 3.
`The calculating procedure is performed by, broadly, two
`steps of first and second steps.
`
`M [
`
`First, the coordinates of a point P' (first pro-
`0028]
`jection coordinates) on the hemispherical face as an
`imaginary object face, which is a projection of a point P
`on a plane image (the u, v coordinates) are obtained.
`[0029]
`When it is assumed that the (X, Y, Z) coordi-
`nates of the point P are (X1, Y1, Z1) and the (u, v) coor-
`dinates are (u1, v1), the following are given.
`
`X1=X0+u1- aux+v1- avx
`
`Y1=Y0+u1- auy+v1- avy
`
`Z1=Zo+u1- 0uz+v1- avz
`
`As clearly shown in Fig. 2, the point P' is on
`[0030]
`the line connecting O and P. When a coefficient is set to
`k1, the following relation is satisfied.
`
`(X2,Y2,22)=k1-(X1,Y1,Z1)
`
`The distance between the origin of the (X, Y,
`[0031]
`Z) coordinate system and the point P' expressed by the
`coordinates (X2, Y2, 22) is 1. The distance between the
`origin (X0, Y0, 20) of the (u, v) coordinate system and
`the point P‘ expressed by the coordinates (X2, Y2, 22) is
`1. The distance L from the origin of the (u, v) coordinate
`system to the point P is obtained as follows.
`
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`EP 1 028 389 A2
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`equation (3), the following equation (4) is given. h can
`be expressed as a function determined by 22.
`
`h = F(cos'1(22))
`
`(4)
`
`With respect to the distance r from the origin
`[0039]
`of the (X, Y, Z) coordinate system to the point Q
`obtained by projecting the point P' onto the (X, Y) plane,
`since the point P‘ is a point on the surface of the hemi-
`sphere of radius of 1, the following equation (5) is satis-
`fied.
`
`r=(1_222)o.5
`
`(5)
`
`The following equation (6) is therefore given
`[0040]
`from the equations (4) and (5).
`
`k2 = h/r
`= F(cos'1(22))/(1 -z2 2) 0'5 (6)
`
`That is, the coefficient kg of the equation (2)
`[0041]
`can be derived as a function of 22. With respect to the
`coefficient k2, a lookup table for obtaining the coefficient
`k2 from the value of 22 in accordance with the equation
`(3) is generated. By using the value, second projection
`coordinates (p1, q1) on the image pickup face are
`obtained as follows.
`
`p1=k2 ' X2
`
`in the first step for
`As described above,
`[0042]
`image transformation, calculation is limited to addition,
`subtraction, multiplication, and square root, and the
`other functions are obtained from the lookup table. The
`calculation in the second step is limited to multiplication
`and the other calculation of functions and the like is han-
`
`dled by referring to the lookup table. By executing the
`calculations in accordance with the steps, a simple
`arithmetic circuit (logic circuit such as an adder) can
`have a pipelined architecture. The circuit scale of the
`part of the complicated function calculation is sup-
`pressed by using the lookup table. Further, by changing
`the table for obtaining kg in the second step, a fisheye
`lens of a different projecting method can be dealt with
`easily, moreover, by the same arithmetic circuit.
`
`(Example of circuit configuration)
`
`A specific circuit block configuration will now
`[0043]
`be described with reference to Fig. 4. The configuration
`relates to an example of a substrate which is configured
`for a computer system having a PCI (Peripheral Compo-
`nent Interconnect) bus.
`[0044]
`A fisheye lens 2 is attached to a CCD cam-
`era 1 and image information obtained by the CCD cam-
`
`era 1 is sent to a PCI bus substrate 3 and subjected to
`processes for image transformation. The PCI bus sub-
`strate 3 comprises: a camera interface 30 for obtaining
`fisheye image data from a CCD provided for the CCD
`camera 1; a frame memory 31 for storing fisheye image
`data of one frame; an interpolation computing unit 32 for
`executing an interpolating computation on the basis of
`the calculation result of an operation part 40; an FIFO
`memory 33; a capture control unit 34 for controlling cap-
`ture of the fisheye image data to the frame memory 31;
`the operation part 40 (part surrounded by a broken line)
`having the configuration which characterizes the inven-
`tion; and a PCI bus interface 39 for sending plane image
`data obtained by the coordinate transformation.
`[0045]
`The operation part 40 comprises a first coor-
`dinate calculating unit 35, a second coordinate calculat-
`ing unit 36, a first lookup table 37 connected to the first
`coordinate calculating unit 35, and a second lookup
`table 38 connected to the second coordinate calculating
`unit 36. Further description will be given in relation to
`the coordinate transforming procedure. The first coordi-
`nate calculating unit 35 is a part of executing the calcu-
`lation of the first step shown in Fig. 3 and can obtain the
`first projection coordinates (X2, Y2, 22) on the hemi-
`spherical face from the (u, v) coordinates in the plane
`image. The first lookup table 37 is a table for obtaining
`the correction coefficient k1 from the distance L.
`[0046]
`The second coordinate calculating unit 36 is
`a part of executing the calculation of the second step in
`Fig. 3 and can obtain the second projection coordinates
`(p1, q1) on the fisheye image face from the first projec-
`tion coordinates (X2, Y2, 22) derived by the first coordi-
`nate calculating unit 35. The second lookup table 38 is
`a table for obtaining the correction coefficient k2.
`
`(Description of circuit operation)
`
`The operation of the circuit shown in Fig. 4
`[0047]
`will now be described.
`
`Fisheye image data obtained by the CCD
`[0048]
`is written into the frame memory 31 via the
`camera 1
`camera interface 30. Since the coordinates (p, q) on the
`image pickup face corresponding to the coordinates (u,
`v) on the display screen are obtained in the operation
`part 40, image data corresponding to the coordinates
`(p, q) sequentially designated by the operation part 40 is
`read from the frame memory 31 and is sent to the inter-
`polation computing unit 32.
`[0049]
`Strictly, the position of a pixel on the fisheye
`image does not coincide with a pixel on the plane image
`to be displayed on the monitor. Plural data of pixels
`nearby is consequently read from the frame memory 31
`and interpolation is performed by obtaining a weighted
`mean of the data,
`thereby enabling a natural plane
`image to be obtained.
`[0050]
`The interpolated image data is subjected to
`speed adjustment by the FIFO memory and resultant
`data is transferred to a memory on the host computer
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`Panasonic Exhibit 1008 Page 5 of 10
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`EP1 028 389 A2
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`projecting coordinates on the plane image onto
`a fisheye image face as an imaginary object
`face; and
`
`a second coordinate calculating unit (36) for
`obtaining
`second
`projection
`coordinates
`derived by projecting the first projection coordi-
`nates obtained by the first coordinate calculat-
`ing unit (35) onto the fisheye image face.
`
`The monitoring system according to claim 5, char-
`acterized in that a logic circuit for arithmetic opera-
`tion has a pipelined architecture in each of the first
`and second coordinate calculating units (35, 36).
`
`The monitoring system according to claim 6, char-
`acterized in that the logic circuit for arithmetic oper-
`ation
`is
`limited
`to
`calculations
`of
`addition,
`subtraction, multiplication, and square root, and
`division and other function calculations are per-
`formed by referring fo a lookup table (37, 38).
`
`The monitoring system according to claim 7, char-
`acterized in that the second coordinate calculating
`unit (36) is used to obtain the second projection
`coordinates by multiplying the first projection coor-
`dinates by a predetermined coefficient (k1) and the
`predetermined coefficient (k1) is obtained from a
`lookup table (38).
`
`side via the PCI bus interface 39. In case of the example
`of the configuration of Fig. 4, since the processes such
`as coordinate calculation and interpolating calculation
`can be executed by a middle-scale FPGA (or gate
`array),
`the hardware can be constructed relatively
`cheap.
`
`Claims
`
`image transformation for
`for
`1. An arithmetic unit
`transforming a fisheye image obtained by using a
`fisheye lens (2) into a plane image for display, char-
`acterized by comprising:
`
`for
`(35)
`a first coordinate calculating unit
`obtaining first projection coordinates derived by
`projecting coordinates on the plane image onto
`a fisheye image face as an imaginary object
`face; and
`a second coordinate calculating unit (36) for
`obtaining
`second
`projection
`coordinates
`derived by projecting the first projection coordi-
`nates obtained by the first coordinate calculat-
`ing unit (35) onto the fisheye image face.
`
`2. The arithmetic unit according to claim 1, character-
`ized in that a logic circuit for arithmetic operation
`has a pipelined architecture in each of the first and
`second coordinate calculating units (35, 36).
`
`3. The arithmetic unit according to claim 2, character-
`ized in that the logic circuit for arithmetic operation
`is limited to calculations of addition, subtraction,
`multiplication, and square root, and division and
`other function calculations are handled by referring
`to a lookup table (37, 38).
`
`4. The arithmetic unit according to claim 3, character-
`ized in that the second coordinate calculating unit
`(36) is used to obtain the second projection coordi-
`nates by multiplying the first projection coordinates
`by a predetermined coefficient (k1) and the prede-
`termined coefficient (k1) is obtained from a lookup
`table (38).
`
`5. A monitoring system comprising
`
`a CCD camera (1) to which a fisheye lens (2) is
`attached and
`
`(PCI)
`Interconnect
`a Peripheral Component
`bus substrate (3) having an arithmetic unit for
`image transformation for transforming a fisheye
`image obtained by using the fisheye lens (2)
`into a plane image for display,
`characterized in that
`the arithmetic unit
`
`for
`
`image transformation comprises:
`for
`(35)
`a first coordinate calculating unit
`obtaining first projection coordinates derived by
`
`10
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`20
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`30
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`35
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`40
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`45
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`50
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`55
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`Panasonic Exhibit 1008 Page 6 of 10
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`Panasonic Exhibit 1008 Page 8 of 10
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`Panasonic Exhibit 1008 Page 10 of 10
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