CN104541201A - 具有主动中央凹能力的宽视场(fov)成像设备 - Google Patents

具有主动中央凹能力的宽视场(fov)成像设备 Download PDF

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CN104541201A
CN104541201A CN201380029492.0A CN201380029492A CN104541201A CN 104541201 A CN104541201 A CN 104541201A CN 201380029492 A CN201380029492 A CN 201380029492A CN 104541201 A CN104541201 A CN 104541201A
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C·高
H·华
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Magic Leap Inc
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    • H—ELECTRICITY
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    • G02B2027/0118—Head-up displays characterised by optical features comprising devices for improving the contrast of the display / brillance control visibility
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    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
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    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T19/00—Manipulating 3D models or images for computer graphics
    • G06T19/006—Mixed reality

Abstract

本发明包括一种能够捕捉宽视场图像和中央凹图像的中央凹成像系统，其中所述中央凹图像是所述宽视场图像的可控感兴趣区域。

Description

具有主动中央凹能力的宽视场(FOV)成像设备
相关申请
本申请要求2012年4月5日提交的美国临时申请号61/620,581和2012年4月5日提交的美国临时申请号61/620,574的优选权，通过引用将其公开内容并入到这里。
技术领域
本发明通常涉及宽视场(FOV)成像设备，并且更具体地，但非专有地，涉及双分辨率宽FOV成像系统，其能够同时捕捉大FOV和在该大FOV内的具有更高分辨率的小FOV。
背景技术
对于许多军用和民用监视应用，实时采集的高分辨率、宽视场(FOV)以及高动态范围(HDR)图像是必不可少的。例如，迫切需要用于许多监视应用中的全方向成像系统，其中具有足够的分辨率和帧速率的系统可以监视在所有方向上同时跨非常大的操作场(例如，球形或互补(complimentary)半球覆盖范围)，同时能够快速变焦到一个或多个感兴趣目标(object)以用于目标的可靠的识别和表征。这样的传感器需要提供卓越的位置感知和足够的细节解析。如果可得到，该类型传感器可以在军用和商业市场中发现无数的应用。
但是，当设计光学成像系统时，有限的传感器分辨率和数据带宽对在目前水平的成像系统中可实现的空间分辨率和FOV具有限制。在用于具有固定像素的最常规的成像技术的FOV和分辨能力之间存在公知的固有折衷：越宽的FOV，越低的分辨能力。使用传统的基于集群的全方向照相机作为实例，为了获得1弧分(-300微弧度)的角分辨率，需要在具有5兆像素传感器的至少50个小FOV照相机(例如，FOV:33°x25°)来覆盖360°x360°的球视场，这导致用于单个球形全景图像的最小250兆像素被捕捉、存储以及传输，除非任何像素损耗和FOV重叠。为获得2弧秒的角分辨率需要大约成千的过高数量的照相机以覆盖球面场。作为结果，基于照相机集群的系统的成本和规模对于许多监视应用而言是不可接受的，没有提及的是聚集超过成千的高分辨率照相机对目前水平的数据管理和图像处理技术施加了巨大的挑战。
中央凹技术(foveation technique)可以使用具有高分辨率传感器主动地跟踪和捕捉感兴趣区域，而没有丢失周边区域的成像能力，这类似于人类视觉系统的中央凹特性。各种成像系统已经开发以探索在成像应用中应用中央凹技术的潜力。例如，Sandini等开发出具有空间-变化分辨率的类似视网膜的CMOS传感器以模仿人类视网膜(G.Sandini、P.Questa、D.Scheffer以及A.Mannucci,“A Retina-like CMOS sensor and itsapplications,”Proceedings of IEEE Workshop on Sensor Array andMultichannel Signal Process.(2000),pp.514-9)。Martinez和Wick提出使用液晶空间光调制器以动态修正在宽FOV成像系统内的中央凹区域处的像差(T.Martinez、D.V.Wick以及S.R.Restaino,“Foveated,widefield-of-view imaging system using a liquid crystal spatial light modulator,”Opt.Express8，555-60(2001):D.V.Wick、T.Martinez、S.R.Restaino以及B.R.Stone,“Foveated imaging demonstration,”Opt.Express 10,60-5(2002))。上述方法仅使用单个传感器以捕捉周边区域和中央凹区域，这限制了系统的整体信息吞吐量。备选地，Hua和Liu提出对于中央凹成像技术的双-传感器技术，其中使用两个独立的传感器以捕捉周边区域和中央凹区域(Hong Hua和Sheng Liu,“Dual-Sensor foveated imaging system,”APPLIED OPTICS,Vol.47,No.3,317-327,2008)。与单个传感器技术相比，双传感器技术使用不同尺寸和不同分辨率的两个不同的传感器，其具有潜力以低-成本检测器来产生高信息吞吐量。双-传感器方法的主要劣势是系统使用无焦系统结构，该无焦系统结构通常具有获得大周边FOV的有限的能力且通常导致笨重的系统。
发明内容
本发明涉及双-传感器宽-FOV中央凹成像技术，其能够实时获取周围空间的宽-FOV视频并同时以高帧速率获得多个对象(target)的非常高分辨率、高放大倍率的中央凹图像。具有适当分辨率和帧速率的所述宽-FOV视频使能实时能力以同时观察用于捕获、检测以及跟踪目标形成的迫近威胁的周围空间，而在所述宽FOV的多个小部分上以基本上较高的分辨率实时聚焦所述高分辨率中央凹视频，以使能重要对象识别和表征。所述中央凹视图的感兴趣区域(RoI)可以被实时转向到所述宽FOV图像的任何部分。这些能力类似于人类视觉系统的搜索、跟踪以及中央凹功能。通过集成所述中央凹能力到宽-FOV成像系统，本发明能够以高角分辨率捕获高达360°x360°的宽视场。
本发明典型地包含两个子系统：所述宽-FOV成像子系统和所述中央凹成像子系统；并且两个子系统被集成为一个系统，其中两个成像子系统共享相同的物镜，这导致紧凑和轻便的系统设计。在所述中央凹成像子系统中的阻挡(stop)与在所述宽-FOV成像子系统中的阻挡通过所述分束器为光学共轭。对于本发明，所述宽-FOV成像子系统捕捉宽视场而所述中央凹成像子系统捕捉所述宽视场的一个或几个选择的部分并产生极高分辨率的视频以使能准确对象识别。与现有水平的监视系统相比，本发明具有相对低成本、紧凑、低功耗、低数据带宽需求的优势以及就FOV、分辨率以及实时采集而言的毫不妥协的高性能。
本发明的所述物镜使用旋转对称折射光学元件以捕捉伞状FOV或利用曲面镜以及必要的旋转对称折射光学元件以捕捉环状全景FOV。本发明的所述扫描镜可以是双轴扫描镜以使用两个倾斜运动采样所述宽-FOV或者可以是单轴扫描镜以使用倾斜和旋转的组合运动采样所述宽-FOV。
在本发明的一方面中，所述示例性系统集成多个宽-FOV中央凹成像单元以获得比单个单元获得的FOV大的FOV。所述集成系统可以具有或不具有单视点特性。当希望单视点特性时，使用多面镜以基本共同定位(co-locate)在所述集成系统中所有所述成像单元的视点到单个视点。
附图说明
当结合附图阅读时可以进一步理解本发明的示例性实施例的上文的发明内容和下文的具体实施方式，其中：
图1示意性示出根据本发明的示例性光学系统。
图2示意性示出根据本发明使用的扫描镜的两种类型的运动。
图3示意性示出根据本发明的上述光学系统的示例性设计。
图4示意性示出根据本发明的包含曲面镜表面的上述光学系统的另一示例性设计。
图5示出根据本发明的图像处理流水线的实例的框图。
图6示意性示出根据本发明的包含多个成像单元的示例性光学系统的设计布局。
具体实施方式
根据本发明的实施例将被关于附图充分描述。阐述说明书以提供对本发明的理解。但是，显而易见的是，本发明可以在没有这些细节的情况下被实践。而且，可以以各种形式实施本发明。但是，不应该限于此处提出的实施例构造下文描述的本发明的实施例。当然，这些实施例、附图以及实例是说明性的并且旨在避免模糊本发明。
本发明的主要实施例包括中央凹成像系统(100)，其有能够捕捉宽视场图像和中央凹图像，其中中央凹图像是宽视场图像的可控感兴趣区域，该系统包括：
a.物镜(110)，面对外部场景，配置为接收来自外部场景的入射光并在分束器上聚焦光；
b.分束器(120)，配置为将来自外部场景的入射光分离到宽视场成像路径(125)和中央凹成像路径(135)中；
c.宽视场成像路径(125)，该宽视场成像路径包括：
i.第一阻挡(127)，其限制在宽视场路径中从分束器(120)接收的光的量；
ii.宽视场成像透镜(130)，配置为接收来自阻挡(127)的光并在宽视场成像传感器上形成宽视场图像；
iii.宽视场成像传感器(140)，配置为接收来自宽视场成像透镜(130)的光；
d.中央凹视图成像路径(135)，该中央凹视图成像路径包括：
i.第二阻挡(137)，其限制在中央凹成像路径中从分束器(120接收的光的量；
ii.扫描镜(150)，有能够被控制以反射来自分束器(120)的光；
iii.中央凹成像透镜(160)，配置为接收来自扫描镜(150)的与外部场景的感兴趣区域相关的光的部分并在中央凹成像传感器上形成中央凹图像；以及
iv.中央凹成像传感器(170)，配置为接收来自中央凹成像透镜(160)的光；
在一些实施例中，来自外部场景的入射光穿过物镜(110)到分束器(120)，其中分束器(120)将光分离到两个光学路径，宽视场成像路径(125)和中央凹成像路径(135)。在宽视场路径中，光沿宽视场成像路径(125)穿过第一阻挡(127)到宽视场成像透镜(130)。透镜在宽视场成像传感器(140)上聚焦宽视场图像。在中央凹视图成像路径上，沿中央凹成像路径(135)，光穿过第二阻挡(137)到扫描镜(150)，其中扫描镜(150)通过分束器(120)反射感兴趣区域朝向中央凹成像透镜(160)。在中央凹成像传感器(170)上，中央凹成像透镜(160)聚焦中央凹图像。
在一些实施例中，在系统的前面设置物镜(110)。邻近物镜设置接收来自物镜的光的分束器(120)。分束器(120)将光分离到两个光学路径中，宽视场成像路径(125)和中央凹成像路径(135)。沿宽视场成像路径(125)，第一阻挡(127)与分束器(120)光通信，以及沿中央凹成像路径(135)，第二阻挡(137)与分束器(120)光通信。邻近或在第二阻挡(137)的位置处设置扫描镜(150)，其中沿中央凹成像路径(135)，扫描镜(150)接收来自分束器(120)的光并反射光返回到分束器(120)。沿宽视场成像路径(125)，面对第一阻挡(127)设置宽视场成像透镜(130)，其中沿宽视场成像路径(125)，宽视场成像透镜(130)接收来自分束器(120)的穿过第一阻挡(127)的光。面对分束器(120)设置中央凹成像透镜(160)，其中沿中央凹成像路径(135)，中央凹成像透镜(160)接收从扫描镜(150)反射的来自分束器(120)的光。面对宽视场成像透镜(130)设置宽视场成像传感器(140)。面对中央凹成像透镜(160)设置中央凹成像传感器(170)。通过传感器记录两个图像，宽视场图像和在该宽视场图像内的感兴趣区域的高分辨率图像。
在一些实施例中，物镜(110)位于在系统的前面。分束器(120)位于物镜和面对物镜(110)和扫描镜(150)的阻挡(137)之间，以便它接收来自物镜的光。扫描镜(150)位于分束器的后面，其中它接收来自分束器(120)的中央凹图像路径的光并将光反射回到分束器(120)。宽视场成像透镜(130)面对分束器的宽视场图像路径，而中央凹成像透镜(160)面对分束器(120)的中央凹图像光学路径。宽视场成像传感器(140)面对宽视场成像透镜(130)，以及中央凹成像传感器(170)面对中央凹成像透镜(160)。
在一些实施例中，来自外部场景的入射光穿过物镜(110)到分束器，于是分束器(120)传输光的一个拷贝到宽视场透镜(130)和传输光的第二拷贝到扫描镜(150)。扫描镜(150)将感兴趣区域反射返回到分束器(120)，并且分束器反射光到中央凹成像透镜(160)。同时，沿宽视场成像路径(125)，宽视场成像透镜(130)传输光到宽视场图像传感器(140)。沿中央凹成像路径(135)，中央凹成像透镜(160)传输光到中央凹成像传感器(170)。因此，通过传感器记录两个图像，宽视场图像和在该宽视场图像内的感兴趣区域的高分辨率图像。
图1示出根据本发明的用于双-传感器宽-FOV中央凹成像系统的示例性系统布局100。该系统包含两个子系统：宽-FOV成像子系统和中央凹成像子系统。宽-FOV成像子系统包含物镜110、分束器120、阻挡127、宽-FOV成像透镜130以及成像传感器140。中央凹成像子系统包含物镜110、分束器120、扫描镜150、阻挡137、中央凹成像透镜160以及成像传感器170。在该示例性布局100中，两个成像子系统共享相同的物镜110以及光学路径115。通过物镜110捕捉在FOV105内的光。当光穿过物镜110后，通过分束器120将光学路径115分离为两个不同路径：宽-FOV成像路径125和中央凹成像路径135。在宽-FOV成像路径125中，宽-FOV成像透镜130在宽FOV成像传感器140上成像通过物镜110捕捉的在FOV105内的整个视野。在中央凹成像路径135中，扫描镜150被设置在阻挡137的位置处或邻近阻挡137的位置并且反射通过物镜110捕捉的在FOV105内的一些光线。通过瞬间倾斜扫描镜150朝向感兴趣的方向，重定向来自FOV105的感兴趣的子-FOV的光线到分束器120并且反射朝向中央凹成像透镜160并在中央凹成像传感器170上成像。
在该示例性布局100中，物镜110可以是一组旋转对称透镜以捕捉连续的伞状FOV、或近半球形FOV、或近球形FOV。物镜110还包含曲面镜表面以及必要的旋转对称透镜以捕捉环状全景FOV。曲面镜可以是球面镜、抛物面镜、双曲面镜、锥面镜、椭圆面镜，或者带有或不带有对称或非球面镜等。成像传感器140和170可以是包含光感测单元(像素)阵列的任何光感测设备，其转换光子为电子信号，包括但不限于，电荷-耦合器件(CCD)、或互补金属氧化物半导体(CMOS)或其他类型的光感测设备。扫描镜150可以是任何类型的快速移动镜设备，其扫描移动可以被电子控制，包括但不限于，音圈镜、压电镜、微机电系统(MEMS)镜或其他类型的扫描镜。分束器120可以是立方体或板的形式，并且可以是非偏振分束器或偏振分束器。当使用偏振分束器时，使用四分之一波长板与分束器以增加光效率。在分束器120和阻挡137之间的空间中设置四分之一波长板。可以在中央凹成像路径135和宽-FOV成像路径125中使用附加的偏光器以减少在两个路径之间的串扰。
作为它的有益效果之一，本发明组合两个成像子系统到一个集成系统，其中两个成像子系统共享相同的物镜，这产生紧凑和轻便的系统。通过分束器120，在中央凹成像子系统中的阻挡137与在宽-FOV成像子系统中的阻挡127光学共轭。对于本发明，宽-FOV成像子系统捕捉宽视场，而中央凹成像子系统捕捉该宽视场的一个或几个选择的部分并产生非常高分辨率的视频以使能准确的对象识别。与现有水平的监视系统相比，本发明具有相对的低成本、紧凑、低功耗、低数据带宽需求的优势以及就FOV、分辨率以及实时采集而言的毫不妥协的高性能。
在本发明的一个方面中，扫描镜可以是通过沿如图2a中所示的X和Y轴的倾斜运动253和254来连续采样宽-FOV的双轴扫描单元252。扫描镜还可以是如图2b中所示在旋转台258上安装的或具有沿Z轴旋转的能力的单轴扫描单元255，其中扫描镜通过沿Y轴的倾斜运动257和沿Z轴旋转运动258采样宽-FOV。
与现有技术中双传感器技术相比，本发明使用常规成像系统结构，其中光学阻挡是在成像系统内，其中一组透镜是在阻挡的前面以及一组透镜是在阻挡的后面。使用常规成像系统结构优于现有技术中无焦系统的优势是：
a.允许更紧凑的系统和更简单的设计，在通过在阻挡的两侧使用透镜来修正特定的光学像差的情况下；
b.能够实现比无焦系统更大的FOV并同时维持紧凑形状因素。
在另一重要方面，本发明使用一对光学共轭阻挡，其在成像系统内并产生通过分束器以及分别位于宽视场和中央凹视图光学路径中。在现有技术中，在无焦系统的入口处设置阻挡，并在无焦系统的另一侧上是通过无焦系统产生的阻挡的图像。
然而，在现有技术中，另一重要方面，仅通过X和Y倾斜轴控制扫描镜。在本发明中，扫描镜也被配置为使用X或Y倾斜以及Z旋转代替。
图3示意性示出仅使用旋转对称透镜以捕捉伞形FOV305的本发明的示例性设计300。在该示例性设计300中，物镜310仅包含平面-凹透镜元件。使用3-元件透镜作为宽-FOV成像透镜330。双轴高速扫描镜350在X和Y双方向上扫描，其邻近阻挡337设置用于采样在FOV305中的感兴趣区域(ROI)。分束器320是线删类型偏振分束器。在分束器320和扫描镜350之间设置四分之一波长板380以改变在穿过波长板两次后的光的偏振。在一个示例性实施方式中，中央凹成像透镜360可以使用双胶透镜(cemented doublet)。为了进一步提高系统光学性能，在中央凹成像路径和宽-FOV成像路径中，在阻挡之前或之后添加更多的透镜元件。
图4示意性示出使用曲面镜以捕捉环形全景FOV405的本发明的示例性设计400。在该示例性设计400中，物镜410包含5个光学元件。在物镜410中的第一元件为曲面镜412。曲面镜412的光学表面是旋转对称镜表面，沿旋转轴414通过1-维多项式扫描的360度描述其表面轮廓。使用4-元件透镜作为宽FOV成像透镜430。在旋转台上安装单轴高速扫描镜450，并邻近阻挡437设置以通过关于图2b中描述的倾斜运动和旋转运动扫描全景FOV405。分束器420使用偏振分束器。在分束器420和扫描镜450之间设置四分之一波长板480以改变在穿过波长板两次后的光的偏振。在示例性实施方式中，中央凹成像透镜460可以使用双胶透镜。为了进一步提高系统光学性能，在中央凹成像路径和宽-FOV成像路径中，在阻挡之前或之后添加更多的透镜元件。
图5示出用于本发明所必需的图像处理流水线的实例的框图。第一，事件/目标检测算法对于处理宽-F0V图像以发现感兴趣区域(ROI)是必要的。一旦识别感兴趣区域，信号以及ROI的位置(角度)信息被发送到快速扫描镜以使用中央凹成像传感器再次采样感兴趣区域。然后，应用图像分析算法到中央凹图像以收集关于ROI的细节信息。分析结果将确定是否有必要跟踪区域和/或采取进一步行动。有时，一个或几个图像不足以表征ROI，作为使用扫描镜跟踪的附加，有必要继续跟踪在全景视图中的ROI。
图6示意性示出包含用于扩展系统FOV的多个成像单元的示例性光学系统的设计布局600。示例性系统包含聚集在一起的至少两个宽-FOV中央凹成像设备以捕捉大于单个单元捕捉的指定的FOV。在设计布局600中，使用4个宽-FOV中央凹成像设备682-688以扩展整体FOV到360度。成像单元被安装到一起，而它们的FOV指向彼此远离。为了消除在系统600的总FOV中的盲点，期望成像单元以这样的方式安装，在任何两个邻近单元之间存在FOV重叠。使用单元682和684作为实例，单元682的FOV边界692与单元684的FOV边界694在距离成像单元的一定距离处相交以确保超过距离成像单元的该距离不存在两个单元之间的FOV间隙。
在相关图6的本发明的一个方面中，图6的示例性系统不具备单个视点。单个视点意味着在集群中的所有成像单元从共同注视位置有效地捕捉整个视场，而在多视点集群中的成像单元从移位的注视位置捕捉成像视场。对于特定应用，期望必须从单个视点捕捉整个成像视场。为了获得单个视点特性，使用多面镜(multi-faceted mirror)以基本上共同定位集群系统中所有成像单元的视点到单个视点。

Claims (21)

1.一种中央凹成像系统(100)，能够捕捉宽视场图像和中央凹图像，其中所述中央凹图像是所述宽视场图像的可控感兴趣区域，所述系统包括：
a.物镜(110)，面对外部场景，被配置为接收来自所述外部场景的入射光并在分束器上聚焦所述光；
b.分束器(120)，被配置为将来自外部场景的入射光分离到宽视场成像路径(125)和中央凹成像路径(135)；
c.宽视场成像路径(125)，所述宽视场成像路径包括：
i.第一阻挡(127)，其限制在所述宽视场路径中从所述分束器(120)接收的光的量；
ii.宽视场成像透镜(130)，被配置为接收来自所述阻挡(127)的光并在宽视场成像传感器上形成宽视场图像；
iii.宽视场成像传感器(140)，被配置为接收来自所述宽视场成像透镜(130)的光；
d.中央凹视图成像路径(135)，所述中央凹视图成像路径包括：
i.第二阻挡(137)，其限制在所述中央凹成像路径中从所述分束器(120)接收的光的量；
ii.扫描镜(150)，能够被控制以反射来自所述分束器(120)的光；
iii.中央凹成像透镜(160)，被配置为接收来自所述扫描镜(150)的与所述外部场景的感兴趣区域相关的所述光的一部分并在中央凹成像传感器上形成中央凹图像；以及
iv.中央凹成像传感器(170)，被配置为接收来自所述中央凹成像透镜(160)的光；
其中来自所述外部场景的所述入射光穿过所述物镜(110)到所述分束器(120)，其中所述分束器(120)将所述光分离到两个光学路径中，宽视场成像路径(125)和中央凹成像路径(135)，其中沿所述宽视场成像路径(125)，所述光穿过所述第一阻挡(127)到所述宽视场成像透镜(130)，其中所述透镜在所述宽视场成像传感器(140)上聚焦所述宽视场图像，其中沿所述中央凹成像路径(135)，所述光穿过所述第二阻挡(137)到所述扫描镜(150)，其中所述扫描镜(150)通过所述分束器(120)反射感兴趣区域朝向所述中央凹成像透镜(160)，其中所述中央凹成像透镜(160)在所述中央凹成像传感器(170)上聚焦所述中央凹图像；其中通过所述传感器记录所述两个图像，宽视场图像和在所述宽视场图像内的感兴趣区域内的高分辨率图像。
2.根据权利要求1所述的中央凹成像系统，其中在所述系统的前面设置所述物镜(110)，其中邻近物镜设置接收来自所述物镜的光的所述分束器(120)，其中所述分束器(120)将所述光分离到两个光学路径中，宽视场成像路径(125)和中央凹成像路径(135)，其中沿所述宽视场成像路径(125)，所述第一阻挡(127)与所述分束器(120)光通信，其中沿所述中央凹成像路径(135)，所述第二阻挡(137)与所述分束器(120)光通信，其中邻近所述第二阻挡(137)的位置或在所述第二阻挡(137)的位置处设置所述扫描镜(150)，其中沿所述中央凹成像路径(135)，所述扫描镜(150)接收来自所述分束器(120)的光并反射所述光返回到所述分束器(120)，其中沿所述宽视场成像路径(125)，面对所述第一阻挡(127)设置所述宽视场成像透镜(130)，其中沿所述宽视场路径(125)，所述宽视场成像透镜(130)接收穿过所述第一阻挡(127)的来自所述分束器(120)的光，其中面对所述分束器(120)设置所述中央凹成像透镜(160)，其中沿所述中央凹成像路径(135)，所述中央凹成像透镜(160)接收从所述扫描镜(150)反射的来自所述分束器(120)的光，其中面对所述宽视场成像透镜(130)设置所述宽视场成像传感器(140)，以及其中面对所述中央凹成像透镜(160)设置所述中央凹成像传感器(170)，其中通过所述传感器记录所述两个图像，宽视场图像和在所述宽视场图像内的所述感兴趣区域的高分辨率图像。
3.根据先前权利要求中任一项所述的中央凹成像系统，其中所述物镜是一组旋转对称透镜以捕捉伞状或半球形状的视场。
4.根据权利要求1-2中任一项所述的中央凹成像系统，其中所述物镜利用曲面镜以及必要的旋转对称折射光学元件以捕捉伞状全景视场。
5.根据权利要求1-2中任一项所述的中央凹成像系统，其中所述成像传感器(140)和(170)是将光子转换为电子信号的包含光感测单元(像素)阵列的任何光感测设备，包括但不限于，电荷-耦合器件(CCD)、或互补金属氧化物半导体(CMOS)或其他类型的光感测设备。
6.根据权利要求1-2中任一项所述的中央凹成像系统，其中所述扫描镜(150)是其扫描运动被电子控制的任何类型的快速移动镜设备，包括但不限于，音圈镜、压电镜、微机电系统(MEMS)镜或其他类型的扫描镜。
7.根据权利要求1-2中任一项所述的中央凹成像系统，其中所述扫描镜是能够通过沿X和Y轴的倾斜运动(253)和(254)连续采样所述宽-FOV的双轴扫描单元(252)。
8.根据权利要求1-2中任一项所述的中央凹成像系统，其中所述扫描镜是旋转单轴扫描镜(255)，其中所述镜通过沿Y轴的倾斜运动(257)和沿Z轴的旋转运动(258)采样所述宽-FOV。
9.根据权利要求1-2中任一项所述的中央凹成像系统，其中所述扫描镜的孔执行所述第二阻挡(137)的功能以限制在所述中央凹成像路径中从所述分束器接收的所述光的量。
10.根据权利要求1-2中任一项所述的中央凹成像系统，其中所述分束器(120)是立方体或板的形式，并且是非偏振分束器或偏振分束器。
11.根据权利要求1-2中任一项所述的中央凹成像系统，其中所述分束器是偏振分束器，并且使用四分之一波长板与所述分束器以增加光效率，其中在所述分束器(120)和所述扫描镜(150)之间设置所述四分之一波长板。
12.根据权利要求1-2中任一项所述的中央凹成像系统，其中在所述中央凹成像路径(135)和所述宽-FOV成像路径(125)二者中使用附加的偏光器以减少在两个路径之间的串扰。
13.根据权利要求1-2中任一项所述的中央凹成像系统，其中所述中央凹成像透镜是放大所述中央凹图像的一组旋转对称透镜。
14.根据权利要求1-2中任一项所述的中央凹成像系统，其中所述中央凹成像透镜包含非球面反射或折射表面。
15.根据权利要求1-2中任一项所述的中央凹成像系统，其中所述宽视场成像透镜是放大所述宽视场图像的一组旋转对称透镜。
16.根据权利要求1-2中任一项所述的中央凹成像系统，其中所述宽视场成像透镜包含非球面反射或折射表面。
17.根据权利要求1-16中任一项所述的中央凹成像系统，其中所述系统包含聚集在一起的至少两个宽-FOV中央凹成像设备以捕捉比单个单元捕捉的FOV大的指定的FOV。
18.根据权利要求17所述的系统，其中在多个视点处放置多个宽-FOV成像设备而没有FOV间隙，以捕捉连续的宽-FOV图像。
19.根据权利要求17所述的系统，其中通过多面镜共同定位所述多个宽-FOV成像设备在共同虚拟视点处，就好像从单个视点捕捉所述宽-FOV图像。
20.根据权利要求1-2中任一项所述的中央凹成像系统，其中通过扫描镜控制器(151)控制所述扫描镜，其中所述扫描镜控制器具有与微处理器通信的电子接口。
21.根据权利要求1-2中任一项所述的中央凹成像系统，其与一种控制在所述宽视场图像内的所述中央凹图像的对象区域的方法相结合，其中所述方法包括以下步骤：
a.从所述宽视场图像传感器接收图像；
b.检测感兴趣的对象区域；
c.产生命令到所述快速扫描镜控制，对应于将所述扫描镜指向在感兴趣的对象处；
d.从所述中央凹图像传感器接收图像；
e.表征在所述中央凹图像中的目标。
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