Folded parallel-light-channel based stereo imaging system with disparity and convergence angle control

Abstract

A stereo imaging system having convergence angle and disparity control includes a pair of pivoting folded-parallel-light-channel (FPLC) units arranged to provide a virtual left side view and a virtual right side view of a scene. Each FPLC unit includes a fixed lens unit adapted to focus reflected light comprising an image of a scene to an image sensor and a laterally translatable light-redirecting unit comprising a reflector adapted to define a parallel image reflection path to the fixed lens unit via a collimated light beam comprising substantially parallel light beams. The stereo imaging system further includes a disparity-adjusting mechanism adapted to alter a distance between the pair of pivoting FPLC units and a convergence-angle-adjusting mechanism adapted to pivot the pivoting FPLC units.

What is claimed is: 
     
         1 . A stereo imaging system having convergence angle and disparity control, comprising:
 a pair of pivoting folded-parallel-light-channel (FPLC) units arranged to provide a virtual left side view and a virtual right side view of a scene, each FPLC unit comprising:
 a) a fixed lens unit adapted to focus reflected light comprising an image of a scene to an image sensor, and 
 b) a laterally translatable light-redirecting unit comprising a reflector adapted to define a parallel image reflection path to the fixed lens unit via a collimated light beam comprising substantially parallel light beams; 
   a disparity-adjusting mechanism adapted to alter a distance between the laterally translatable light-redirecting units of the pair of pivoting FPLC units; and   a convergence-angle-adjusting mechanism adapted to pivot the pivoting FPLC units.   
     
     
         2 . The stereo imaging system according to  claim 1 , wherein the disparity-adjusting mechanism comprises a first actuator operatively connected to a cam assembly. 
     
     
         3 . The stereo imaging system according to  claim 2 , wherein the convergence-angle-adjusting mechanism comprises a second actuator adapted to pivot a pair of pivoting housings each respectively carrying a one of the pair of FPLC units. 
     
     
         4 . The stereo imaging system according to  claim 1 , wherein the reflector defines a planar reflective surface. 
     
     
         5 . The stereo imaging system according to  claim 4 , further including a concave lens disposed between the reflector and an image inlet of each of the pair of FPLC units. 
     
     
         6 . The stereo imaging system according to  claim 5 , wherein the concave lens defines a lens field of view that is the same as a field of view of the fixed lens unit. 
     
     
         7 . The stereo imaging system according to  claim 1 , wherein the reflector defines an arcuate reflective surface. 
     
     
         8 . The stereo imaging system according to  claim 7 , wherein the arcuate reflective surface is configured to define a reflector field of view that is the same as a field of view of the fixed lens unit. 
     
     
         9 . The stereo imaging system according to  claim 1 , wherein the fixed lens unit defines a wide-angle lens unit. 
     
     
         10 . The stereo imaging system according to  claim 1 , wherein the fixed lens unit defines a telephoto lens unit. 
     
     
         11 . A stereo imaging system having convergence angle and disparity control, comprising:
 a pair of pivoting folded-parallel-light-channel (FPLC) units arranged to provide a virtual left side view and a virtual right side view of a scene, each FPLC unit comprising:
 a) a fixed lens unit adapted to focus reflected light comprising an image of a scene to an image sensor, and 
 b) a laterally translatable light-redirecting unit comprising a planar reflector adapted to define a parallel image reflection path to the fixed lens unit via a collimated light beam comprising substantially parallel light beams; 
   a disparity-adjusting mechanism adapted to alter a distance between the laterally translatable light-redirecting units of the pair of pivoting FPLC units; and   a convergence-angle-adjusting mechanism adapted to pivot the pivoting FPLC units.   
     
     
         12 . The stereo imaging system according to  claim 11 , wherein the disparity-adjusting mechanism comprises a first actuator operatively connected to a cam assembly. 
     
     
         13 . The stereo imaging system according to  claim 12 , wherein the convergence-angle-adjusting mechanism comprises a second actuator adapted to pivot a pair of pivoting housings each respectively carrying a one of the pair of FPLC units. 
     
     
         14 . The stereo imaging system according to  claim 11 , further including a concave lens disposed between the planar reflector and an image inlet of each of the pair of FPLC units. 
     
     
         15 . The stereo imaging system according to  claim 14 , wherein the concave lens defines a lens field of view that is the same as a field of view of the fixed lens unit. 
     
     
         16 . The stereo imaging system according to  claim 11 , wherein the fixed lens unit defines a wide-angle lens unit. 
     
     
         17 . The stereo imaging system according to  claim 11 , wherein the fixed lens unit defines a telephoto lens unit. 
     
     
         18 . A stereo imaging system having convergence angle and disparity control, comprising:
 a pair of pivoting folded-parallel-light-channel (FPLC) units arranged to provide a virtual left side view and a virtual right side view of a scene, each FPLC unit comprising:
 a) a fixed lens unit adapted to focus reflected light comprising an image of a scene to an image sensor, and 
 b) a laterally translatable light-redirecting unit comprising an arcuate reflector adapted to define a parallel image reflection path to the fixed lens unit via a collimated light beam comprising substantially parallel light beams; 
   a disparity-adjusting mechanism adapted to alter a distance between the laterally translatable light-redirecting units of the pair of pivoting FPLC units; and   a convergence-angle-adjusting mechanism adapted to pivot the pivoting FPLC units.   
     
     
         19 . The stereo imaging system according to  claim 18 , wherein the disparity-adjusting mechanism comprises a first actuator operatively connected to a cam assembly. 
     
     
         20 . The stereo imaging system according to  claim 19 , wherein the convergence-angle-adjusting mechanism comprises a second actuator adapted to pivot a pair of pivoting housings each respectively carrying a one of the pair of FPLC units. 
     
     
         21 . The stereo imaging system according to  claim 18 , wherein the arcuate reflective surface is configured to define a reflector field of view that is the same as a field of view of the fixed lens unit. 
     
     
         22 . The stereo imaging system according to  claim 18 , wherein the fixed lens unit defines a wide-angle lens unit. 
     
     
         23 . The stereo imaging system according to  claim 18 , wherein the fixed lens unit defines a telephoto lens unit.