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Optics system design applying a micro-prism array of a single lens stereo image pair

Chien-Yue Chen,1 Ting-Ting Yang,1 and Wen - Shing Sun2,*


1

Graduate School of Optoelectronics, National Yunlin University of Science &Technology, 64002 Douliou Yunlin, Taiwan(R.O.C) 2 Department of Optics and Photonics, National Central University, 32001 Chung-Li, Taiwan(R.O.C) * Corresponding author: wssun@dop.ncu.edu.tw

Abstract: In this study we apply a micro-prism array technique to enable a single lens CCD to capture a stereo image for the simulation of double lens vision. A micro-prism array plate serves as the basis for design, which also improves the lightweight and portability of the overall system in addition to lowering the mass-production costs. Most important of all, this design possesses the characteristics of integration compatibility between generalpurpose and video camera.
2008 Optical Society of America
OCIS codes: (080.0080) Geometric optics; (110.0110) Imaging systems; (220.0220) Optical design and fabrication; (220.4830) Systems design; (350.3950) Micro-optics.

References and links


A. J. Parker, Binocular depth perception and the cerebral cortex, Nat. Rev. Neuroscience 8, 379-391 (2007). 2. J. Y. Son, B. Javidi, and K. D. Kwack, Methods for Displaying Three-Dimensional Images, Proc. of IEEE 94, 502-523 (2006). 3. S.Y. Park, N. Lee, and S. Kim, Stereoscopic imaging camera with simultaneous vergence and focus control, Opt. Eng. 43, 31303137 (2004). 4. T. P. Pachidis and J. N. Lygouras, Pseudo-Stereo Vision System: A Detailed Study, J. of Intel. Rob. Sys. 42, 135167 (2005). 5. J. Gluckman and S. K. Nayar, Rectified Catadioptric Stereo Sensors, in IEEE Trans. Pattern Anal. Machine Intell. 24, 224-236 (2002). 6. J. Zhu and Y. Li, S. Ye, Design and calibration of a single-camera-based stereo vision sensor, Opt. Eng. 45, 083001 1-6 (2006). 7. Y. Xiao and K. B. Lim, A prism-based single-lens stereovision system: From trinocular to multi-ocular, Image Vis. Comput. (2007). 8. D. H. Lee and I. S. Kweon, A Novel Stereo Camera System by a Biprism, IEEE Trans. Robotics Auto. 16, 528-541 (2000). 9. D. Feng, Y. Yan, X. Yang, G. Jin, and S.Fan, Novel integrated light-guide plates for liquid crystal display backlight, J. Opt. A: Pure Appl. Opt. 4, 111117 (2005). 10. C. Yan, M. Nakao, T. Go, K. Matsumoto, and Y. Hatamura, Injection molding for microstructures controlling mold-core extrusion and cavity heat-flux, Microsystem Technol. 9, 188-191 (2003). 11. H. Ottevaere, B. Volckaerts, J. Lamprecht, J. Schwider, A. Hermanne, I. Veretennicoff, and H. Thienpont, Two-dimensional plastic microlens arrays by deep lithography with protons: fabrication and characterization, J. Opt. A: Pure Appl. Opt. 4, 2228 (2002). 12. 13. http://www.renoirpuzzle.com.twenewsepaper20050428.html. E. Hecht, Optics 4thed., (Addison Wesley, 2002). 1.

1. Introduction In the normal human vision, the actual visual image is formed stereo image pairs by the coordination effects of the human eye. Depth perception [1] is produced via induced stereo image targeted on certain objects. When a certain object with both eyes, the separation between the eyes, and the disparity in the visual angle between them creates two completely different images on the retina. This phenomenon is called binocular disparity. In addition, the

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29 September 2008 / Vol. 16, No. 20 / OPTICS EXPRESS 15495

disparity in the images on the retina is affected by the distance from the object, thus, the binocular disparity differs as well. Stereo image development has been ongoing over the past 200 years. In it the binocular parallax principle is applied. Many stereo image display techniques have been developed [2], primarily stereo-image display devices for naked-eye vision and Head Mounted Displays (HMDs). Nevertheless it does not matter which display technique is used, they all require a set of stereo image pairs from which to create stereo depth perception. The techniques for stereo image become critical links in the current stereo image display techniques. There are two ways of handling the production of stereo images, namely one-lens-twoshots or two-lenses-single-shot. The former can only shoot static objects, while the latter can capture dynamic object images. Therefore they all become primary objects of study. The twolenses-single-shot method applies the principle of binocular parallax to successfully capture the stereo image pair. After extensive evolution up to the present day there have been two primary methods of shooting stereo images developed [3]: two-lenses and single lens methods. The single lens shooting technique for producing stereo image applies reflective [4,5] and refractive [6,7] elements. Normally the reflective method uses a mirror, and the refractive one uses a prism or simple lens. A comparison of these two methods indicates that the technique for using double lenses in the shooting of stereo objects requires the parameters for the said double lenses to be consistent, in addition to the fact that the double lenses must be adjusted precisely. This requirement is difficult to control. Additionally, the act of shooting itself must be simultaneous, in comparison to the stereo shooting of a single lens. The former approach seems to be able to easily resolve the difficulties encountered in the double lenses approach. Additionally, the space or room required for a single lens stereo shooting apparatus is relatively smaller, making it more effective for use in the multi-vision stereo display development expected in the future. D.H. Lee et al. [8] proposed that in a single lens camera, a simple prism set could be placed in front of a CCD. In this way on a single CCD would be required to obtain images using stereo vision. Still, the drawback is the volume and weight of the prism itself making it difficult to build a portable prism-based system complete with a CCD. In light of this, in this study we propose replacing the original heavy pair of prisms with a micro-prism array plate. Through the incorporation of this micro-prism plate the device can create stereo image pairs on the sensor portion of the CCD. See Fig. 1 below for details. It illustrates a reference architectural diagram for the system design where the l represents the distance between the first apex of the lens and the sensor; tz represents the distance from the micro-prism array plate to the first apex of the lens; T represents the distance from the object to the micro-prism array plate. The material for the micro-prism array plate is specifically chosen as PMMA (polymethylmethacrylate), the so called organic glass. This material possesses advantages, such as its photo permeability, lightweight and ease of processing. The general PMMA refractive index is 1.491, and stability wise, its quality is the best among plastic optics materials. Nevertheless, its weakness lies in excessive moisture absorption, poor surface hardness and poor solubility. Since PMMA possesses advantages of stability in size and being inexpensive in price, the micro-prism array plate is also adopted as the light guiding plate for the display board [9]. The manufacturing process for injection molding has considerably matured [10] as has the hot-embossing process [11], making them feasible for adoption in photolithography and the plastic optics. These processes are all capable of undergoing further processing for mass-production on demand. Plastic optics possesses the characteristics of lightness and thinness, therefore after assembly, this is an aid to system features such as portability.

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Object

Micro Prism

Sensor Lens

Objective Size

tz

y
Fig. 1. Diagram of the systems reference architecture.

2. Theorem for capturing stereo images Objects are positioned at finite distance. Figure 2 shows the geometry of the micro-prism and the frame of the image plane. At some point oc in space, two image points located at either the top or the bottom of this point will be formed through this set of micro-prisms. After the light moves through the lens, an image will be formed on the image plane at either mu or md, where mu is the photographed image from the top of the object with angle ; md is the photographed image from the left of the object with angle ; and the is the refractive angle for the prism.
ou oc od Objective plane

mu md Image plane

Micro prism

Lens

Fig. 2. Geometry of the micro-prism and image plane frame.

Similarly, when the camera is aimed at a distance object, a true and inverted image (as depicted in Fig. 3 [12]) will be created through the combined effects resulting from the microprism array plate and lens set. In this figure, 1 is defined as the incident angle of the light rays.

Fig. 3. Infinite stereo-system for the micro-prism.

3. FOV of prism A system for the capturing of stereo images is designed by applying the basic characteristics of refractive effects from prism. Figure 4 illustrates the geometry of the light path through the prism [13]. is the apex angle and its value is defined as positive when the angle is upward, negative when downward. n will be defined as the refractive index. Incoming light rays come from the left and reach to the prism at point B. Through refraction, this light ray will emerge from the prism at point D. The angle of the incoming and outgoing ray path is which is a
#98553 - $15.00 USD Received 14 Jul 2008; revised 4 Sep 2008; accepted 13 Sep 2008; published 17 Sep 2008

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29 September 2008 / Vol. 16, No. 20 / OPTICS EXPRESS 15497

deviation angle formed by the prism. The outgoing light rays to the incident light rays moves in a counter clockwise direction and are positive while the outgoing incident light rays move in a clockwise direction are defined as negative. All outgoing or incident angles are , in which case, the clockwise light rays to the normal direction are defined as positive. Nevertheless, if counter clockwise, they are negative. From Fig. 4, Eq. (1) can be seen that

= (1 1 ) + ( 2 2 ) = + 2 1

(1)

Through the geometric relationship and by applying the apex angle in addition to Snells Law one can obtain

= 1 2
sin 1 = sin 1 n

(2)

sin

= n sin 2

(3)

Then from Eq. (2) and (3) the outgoing angle 2 can be obtained

2 = sin 1 ((n 2 sin 2 1 )1/ 2 sin cos sin 1 )

(4)

By substitituting Eq. (4) into Eq. (1), the interrelationship between the deviation angle , prism apex angle , prism refractive index n, in addition to incident angle 1 can be obtained as follow

= sin 1 ((n 2 sin 2 1 )1/ 2 sin cos sin 1 ) 1

(5)

D C n

2 B 1

Fig. 4. Geometry of a prism.

From the Field of View (FOV) to the micro-prism array plate, the light of exiting ray through the micro-prism array plate must accommodate the horizontal FOV correctly as depicted in Fig. 5. The horizontal viewing angle for the shooting camera lens is 43.6. In other words, the half viewing angle is equal to 21.8. By definition, the apex angle for the upper half of the micro-prism array plate is =19.74. Therefore the incident angles of the light rays at the micro-prism array plate are 1=9.954 and x=0, where x is the angle between the outgoing light ray and the horizontal axis. Thus, then the incident angle is 1=-9.954 and x=21.8 as depicted in Fig. 6. Conversely, the apex angle for the lower half of the micro-prism array plate is =-19.94, and the incident micro-prism array angle is 1 =9.954 with x=21.8, in addition to 1=-9.954 with x=0, as depicted in Fig. 7.

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1 = 9.954 1 = 9.954

x = 0 x = 21.8

1 = 9.954

x = 21.8
x=0

Fig. 5. Horizontal FOV of the Prism.

1 = 9.954
x=0

x = 21.8

1 = 9.954
9.954

Fig. 6. Diagram of the geometric relationship of the light ray with an incident angle of 1 against the upper portion of the prism array plate.

1 = 9.954
x = 21.8
x=0

1 = 9.954

Fig.7. Diagram of the geometric relationship of the light ray with an incident angle of 1 against the lower portion of the prism array plate.

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4. Lens design The whole system must include a lens to simulate the effects of a real camera combined with those from a micro-prism array plate. So, in this study we designs one set of lenses to simulate a real ray trace. The purpose of this study is to determine the qualities of the sensors. 4.1 Specification In this study we adopt the image acquisition head for a CCD (1/3 Sony color DSP CCD) with 300,000 pixels. DSP digital signal processing is used to process signal acquisition, because this method of processing signals is efficient with less noises. The effective height and width are 4.8 mm and 3.6 mm, respectively. The pixel size is 7.5m7.5m. According to the relevant parameters for a 1/3 color DSP CCD camera, the settings for the aperture should have an f-number = 2.8 with an effective focus length of f = 6 mm. See Eqs. (6) and (7)
FOV = 2* (tan 1 ( h2 + v2 )) f
h

(6)
v f

w = 2* tan 1

h f

= 2* tan 1

(7)

where h is the vertical image height; and v is the horizontal image height on the sensor. We calculate the diagonal FOV to be FOV=53.13, where the HFOV angle is w= 43.6, and the VFOV angle is h= 33.4. The CCD camera specifications and parameters are as follow
Table 1. The study used CCD camera specifications

Sensor

1/3color DSP CCD camera 640H480V 7.5m7.5m 4.8mm3.6mm 2.4mm 1.8mm 2.8 6mm 53.13 43.6 33.4

Sensor Area Pixel size Image Area H image height(h) V image height(v) F number EFL Field of view(FOV) H FOV V FOV

4.2 Analysis After a complicated optimization process, we obtain the radii of the curvature, thickness of the lens, air space, diameter of each surface and materials of lenses, as shown in table 2. The lens layout is depicted in Fig. 8. In order to evaluate the image quality, the following parameters: MTF, through focus MTF, field curvature and distortion, and relative illumination are shown in Fig. 9 (a)-(d).
#98553 - $15.00 USD Received 14 Jul 2008; revised 4 Sep 2008; accepted 13 Sep 2008; published 17 Sep 2008

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Table 2. lens data after optimization

Surface

Type

Radius (mm)

Thickness (mm)

Glass

Diameter (mm)

Conic

OBJ Standard Infinity Infinity Infinity 1 Standard -16.87022 2.01545 N-LASF44 5.938121 2 Standard -11.38133 0.2000178 5.310538 3 Standard 8.836072 1.8 N-LASF44 4.373789 4 Standard 4.008514 1.5 N-SF10 2.839724 5 Standard 22.29026 0.09736744 1.798448 STO Standard Infinity 0.1984345 1.776824 7 Standard -3.276087 1.115331 N-SF10 1.784093 8 Standard 3.838311 2 N-LASF44 2.900674 9 Standard -3.757469 0.1999869 3.781393 10 Evenasph 5.044049 1.999784 M-NBFD13 4.254624 -15.89739 11 Standard -4.836006 3.874409 4.013081 Order 2nd 4th 6th 8th 10th Term 0 11.704984exp-3 -2.2163045exp-3 0.27672667exp-3 -1.6536814exp-5

Fig. 8. Lens layout after optimization.

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(a)

(b)

(c)

(d)

Fig. 9. Image quality of the lens: (a) MTF; (b) through focus MTF; (c) field curvature and distortion; (d) relative illumination.

5. System simulation results and findings 5.1 Structure of micro-prism array The whole system is composed of one single micro-prism array plate integrated with a set of lenses to form an optical system. The lens set has a viewing angle limitation, the distance between the lens set is 60 mm and the height is 52.964 mm. If set for one small prism with a width equal to 0.850 mm, then the apex angle for the prism is =19.74 with a depth d=0.305 mm, as depicted in Fig. 10.
0.305mm 0.695mm y 0.850mm

Fig. 10. micro-prism plate.

5.2 Stereo image at infinity The findings of this research are exhibited in the backgrounds of LightTools software. The system is set with 550 nm as the center wavelength G. In the Fig. 11(a) we can see 1, 2, 3, 4, 5, 6 light beams representing the object light rays from different half viewing angles. These light beams reach the overall entrance pupil of lens, so this figure represents the receptive scope of the designed optical system. From this figure we can explain the trace effect for each and every light beam. The first light beam represents the light beam from infinity, with viewing angle of -9.954 into the upper portion of the prism array. It then passes through the entrance pupil of lens set to finally reach the lowermost position of the sensor. The second
#98553 - $15.00 USD Received 14 Jul 2008; revised 4 Sep 2008; accepted 13 Sep 2008; published 17 Sep 2008

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beam of light represents light from a object from infinity which enters at viewing angle of 9.954 into the upper portion of the prism array, then passes through the lens set and finally reaches the center of the sensor. The third beam represents the object light from infinity with viewing angle of 0 into the upper portion of the prism array, and then passes through the lens set to form an image point and finally lands at -1.12 mm of the sensor. The fourth light beam represents the light ray from infinity with viewing angle of 9.954 that moves into the lower portion of the prism array, passing through the entrance pupil of the lens set and finally reaching the uppermost position of the sensor. The fifth light beam represents light from infinity that passes with viewing angle of -9.954 into the lower portion of the prism array, through the entrance pupil of the lens set until finally reaching the center of the sensor. The sixth beam represents the object light from infinity with viewing angle of 0 and moves into the lower portion of the prism array, then passes through the lens set to form an image point and finally lands at 1.12 mm of the sensor. The photo image point distribution for the sensor is depicted in Fig. 11(b). The six points in this figure labeled 1, 2, 3, 4, 5, 6 represent the beams of light impacting the sensor to form photo image points. The area of the sensor is 4.8 mm3.6 mm.
1 3 5 2 6 4 Micro- prism array plate Lens Image plane

(a)

3.6mm
4 6 6 4 2,5

4.8mm

(b) Fig. 11. Object light from infinity enters the prism lens with: (a) system light trace diagram; (b) photo image in receptive area.

5.3 Stereo image at finite distance The designed micro-prism array plate is integrated with a lens with fine image quality to photograph an object of 850 mm as depicted in Fig. 12. The preset three-stage reference light
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source are R,G and B with R= 630 nm, G=550 nm, B=470 nm. The energy is preset at pR=0.3554 watt, PG=0.26698 watt, pB=0.18666 watt, respectively, as the input images. These are to substitute for the photographed objects. The simulation proves that the image can be dissected into two via displacement. Figure 13(a) depicts the case with an object at 850 mm. This is the scenario without the use of a micro-prism array plate. It can be seen that the object light rays do pass through the lens set Fig. 13(b) depicts the image generated from light rays passing through the micro-prism array plate and lens sets. 6. Conclusions The costs of our device using a micro-prism array digital camera for stereo photographing images are relatively low compared with those using traditional digital lenses or two sets of digital lenses for shooting. In addition, our device takes up limited space and is easy to carry. This makes it perfect for stereo photographic equipments or cameras. Hopefully in this design can be implemented in such devices in the near the future.

(a)

(b) Fig. 12. Light trace diagram: (a) above the micro-prism array; (b) below the micro-prism array.

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(a)

(b) Fig.13. Simulated images: (a) images only passing through the lens set; (b) images passing through micro-prism array and lens set.

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