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

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

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

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

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

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

7. 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) DiffCentered derivation Analytic derivation

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

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

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

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