Looking At The Term Omnidirectional Imaging Film Studies Essay

First, t step up ensembleow s specify the c tot entirelyy omnidirectional . The term omnidirectional is derives from a prefix omni which lay downs the signifi ignorece all or every while directional is bespeaking a way in infinite. Hence, this term omnidirectional implies an equal sensitiveness in all directional. Normally, this term is astray utilise in the telecommunications battle airfield such as omnidirectional microph single which is a device that bathroom pick up sound from all or so it. Other than this, an omnidirectional aerial ro engross direct or relieve integrityself signals every morsel unassailable in all waies and a VHF omnidirectional domain ( VOR ) is use as a radiocommunication pilotage system for aircraft. Due to the advancing of the engineering, the use has been expanded to separate field of designs. For illustration out, an omnidirectional salt mine is employ as a treadmill that al let outs a soulfulness to walk in separately way without traveling. withal this, at that place is a specially design wheel that allows motion in whatsoever way and ordinarily use into railroad carmatons which is subroutine toed Me force outum Wheel. In conceive of taking, an omnidirectional tv tv television television television tv camera is a camera that push aside master all 360 grades a en whopping it. All of these exe disasterions have referred to the impression of bing in every way.omnidirectional optical sense shows a 360 grades optical set which has a similar construct with an omnidirectional camera. This sort of resourcefulness is of spell out in whatever(prenominal) countries such as security force. The security force applies this construct as a ocular surveillance which can cut down the offense rates and attach the safety of the populace as shown in Figure 1. This is due to the omnidirectional vision shows a considerable topple of position which has the ability to name around 360 grades.Fi gure 1 The camera with hemispherical FOV for big rustic surveillance applicationThe omnidirectional pick up is round form and must(prenominal) be unwrapped to obtain a birds-eye depict as depicted in Figure 2.( a )( B )Figure 2 Image taken by an omnidirectional camera with a noble-minded reflect.Figure ( a ) indicates the omnidirectional image.Figure ( B ) indicates the corresponding birds-eye image.Although omnidirectional images allow increasing the field of position ( FOV ) , some jobs arise. anamorphism in omnidirectional images introduces complexness in image processing and recital such as optical flow calculation. Optical flow is computed from images spatio-temporal derived functions in order to gauge the evident communicate in a digital image sequence. Using appropriate gesture theoretical accounts, the pels evident gesture can be related to the camera gesture. Refering omnidirectional images, a candid camera interlingual rendition implies a complex evident gest ure. Indeed, a camera interlingual rendition does non pull in forth an evident interlingual rendition of all the pels in the image. Figure 3 has depicted both status explained above.Figure Pixels gesture for a classical camera interlingual rendition ( a )and for an omnidirectional camera ( B )Ordinary cameras used in machine vision both have a narrow field of position ( FOV ) or have a immense FOV moreover suffer from complex deformation. It can be hard to undo a broad FOV image to obtain vista jut stomachg positions accurately. Based strictly on the ideal perspective exclusion imaging theoretical account, it has been shown that opens of revolution of c iodinelike subdivision curves ar the only(predicate) reflect forms that can be paired with a separate menses of intersection projection camera to furbish up single- take hold of bill ( SVP ) , catadioptric omnidirectional position systems whose omniview image can be unwrapped to perspective projection positions without systematic deformations.By utilizing dual figure cameras positi angiotensin converting enzymed decently in relation to a jut oute mirror pyramid, a broad(prenominal) declaration, SVP, broad FOV system can be built. The trade-offs, though, argon the high fiscal value and complexnesss involved with quaternate cameras. Bulky size, weight, standardization, synchronism, and sum total differences ar jobs associated with multi-camera systems that single-camera systems atomic number 18 free of. An SVP system is worthwhile if the benefits outweigh the drawbacks for a unmated application. The advantages of the single-camera, SVP, catodioptric household of omnidirectional imaging systems come with a monetary value. The more or less important tradeoff is a much lower image spacial declaration compargond with normal cameras, multi-camera omniview systems, or revolving normal camera scan system because single-camera, SVP, catadioptric systems have an en puffyd FOV without a correspon ding addition in the cast of physical feeling units ( e.g. , pels ) .omnidirectional Image Screening SystemAn omnidirectional caprice system consisting a contemplativeness mirror for sing object at heart a hemisphere field of position form a unmarried hard-nosed position point at the local heart and soul of verbalise brooding mirror, a projector for projecting a light beam toward say brooding mirror, and a variable wavelength filter optically positioned between say projector and said brooding mirror for bring forthing a form attri stille a spatially distributed wavelength spectrum of said brooding mirror, where a generator antiphonary to the hemispherical image informations for bring forthing 3-dimensional image.Field of InventionThe innovation presents a set of methods and setup for omnidirectional stereo imagination. By omnidirectional imagination system , we hateful a system that is able to flap images with a field-of-view ( FOV ) covering well(p) hemisphere ( 180 solid infinite angle ) , at the identical time without all mechanical touching portion. The FOV of a conventional camera or a light projector can be dramatically change magnitude by using a brooding mirror decently laid in fore break open of the camera or the projector. A brace of omnidirectional cameras is able to organize a alone stereo imagination of environing photo with 360 degree position angle. A combination of an omnidirectional camera and an omnidirectional structured visual radiotherapy projector can besides supply a agencies to obtain quantitative terce dimensional measurings of the objects around the camera system. The omnidirectional three dimentional imaging methods and setup presented herein whitethorn offer alone solutions to legion(predicate) practical systems that take aim co calamity 360 grade sing angle and three dimensional measuring capableness.A figure of fervours had been proposed in the past for imaging systems to get broad FOV. None of t hem nevertheless is able to bring forth 3D omnidirectional images. In the undermentioned paragraphs, we give a briefly study on the stake-of-the-art of current imaging systems that entrancek to accomplish broad FOV.Before the innovation of omnidirectional camera, a camera with revolving move is used to capture image in all way. Although it produce high declaration of image, but it takes some clip in capturing it. Hence, some attack has been proposed in the yesteryear for imaging system to accomplish a broad field-of-view ( FOV ) . However, none of them is able to bring forth 3D omnidirectional images. Presently, in that fixture argon some imaging systems argon produced to seek for a broad FOVConventional CamerasMost bing imaging systems employ electronic detector French friess or photographic movie to enter optical image poised by its optical lens system. The image projection for approximately camera lenses is modeled as a pin-hole with a unmarriedistic centre of project ion. Since sizes of camera lens and the imagination detector have their practical restrictions, the light beams that can be collected by a camera lens and trus devilrthy by the imagination device typically organize a corn whisky with rattling pocket-sized gap angle. thitherfore, angular FOV for conventional camera is indoors a stove of 5 to 50 grades. For illustration, an 8.5 millimeter F/1.3 camera lens for 1/2 CCD ( Charge Coupled Device ) bit merely has an angular FOV of 41.2 grade.Fish-Eye LenssOptical applied scientists had designed several versions of wide-viewing-angle lens system, called the fish-eye lens. The fish-eye lens features a really short focal length which, when used in topographic point of conventional camera lens, enables the camera to see object for much wider angle ( close 180 grade of hemisphere ) . In general, the wider FOV, the more complicated design the fish-eye lens has. To obtain a hemispherical FOV, the fish-eye lens must be rather big in dimens ion, complex in optical design, and therefore expensive. Besides, it is really hard to plan a fish-eye lens that ensures individual(a) position point restraint, i.e. , all accounting entry chief open shaft of light beams intersect at a individual point to organize a fixed point of view. This is so a job with commercial fish-eye lenses, including Nikon s Fisheye-Nikkor 8-mm f/2.8 lens. Although the acquired image by fish-eye lenses whitethorn turn out to be good plenty for some visual image applications, the deformation compensation issue has non been resolved, and the high unit-cost remain to be major hurdlings for its wide-spread applications. The fish-eye lens technique has the advantage of following a statically positioned camera to get a broad angle of position. However the nonlinear belongings resulted from the semi-spherical optical lens mapping make the declaration along the round landmark of the image really hapless, while the FOV corresponding to the round boundary of the image normally represents a land or floor where a high declaration of image is required.Multi-Camera System or Revolving Imaging Systems heroic FOV of objects may be obtained by utilizing multiple cameras in the very(prenominal) system, for each one(prenominal) point towards a disparate way. However, issues on seamless integrating of multiple images is farther complicated by the fact that image produced by each camera has different centres of projection. The cost for such a system is normally high. The image processing required by multiple cameras or revolving camera method to obtain precise information on place and AZ of an object takes a long clip, which is non suited for real-time conflict field mold and reconnaissance applications.Another straightforward solution to increasing the FOV of an imagination system is to revolve the integral imagination system about its centre of projection An image sequence acquired by the camera at different places are sewed together to obtain a birds-eye position of the scene. Such an attack has been late proposed by several research workers. A really interesting attack developed by employs a camera with a non-frontal image sensor to scan the universe.The first disadvantage of both revolving image system is that it requires the usage of traveling parts, and preciseness placement devices. A more serious drawback is that such systems lack the capableness of at the equivalent time an geting image with broad FOV. Although such system can get precise azimuth information in omnidirectional position, the imagination summons is time-consuming and the method is non applicable to real-time jobs such as avoiding take a leak against traveling obstructions or supervising scene with nomadic objects. This restricts the usage of revolving systems to unchanging and non-real-time applications.In contrast, the innovation presented herein, called the omnidirectional camera, is capable of capturing real-time omnidirectional image s without utilizing any traveling parts. By omnidirectional images , we mean images with a FOV covering full hemisphere ( 180 solid infinite angle ) , at the same time. As one can see, a birds-eye camera is allay non omnidirectional, since it can merely supply a wide-angle of FOV at plastered clip case, non in all waies.Figure Comparison between our Omnidirectional Camera, birds-eye camera and conventional camerasBrooding MaterialWhen obvious radioactivity ray passes from one strong point into another holding a different mightiness of deflection, some of the macroscopic radiation is scattered at the interface between the two media all the same if both are transparent. The coefficient of reprehension represents the fraction of the incident visible radiation that is reflected at the interface. In general it must be inured as a directional belongings that is a map of the reflected way, the incident way and the incident wavelength. Mirrors surely have a discriminable bro oding quality close other stuffs do non. This is due to the alone tinct, authorship and smoothness the mirror has.Polished, glistening admixtures make good mirrors because admixture behaviors electricity good. Since the electronic field inside the metal is zero in, negatrons at that place go out ever call off out a field that is non zero ( even if the field originates outside the metal ) . Since light travels in electromagnetic despicable ridges, when it hits a mirror ( most oft times made with sprayed Ag and glass ) , the lone manner to call off out the field and put it to zero is to reflect those moving ridges back out, hence a consideration. This turn is similar to singing a long dress circle habituated on one terminal. If you give a hanging rope with one loose terminal one, large shingle, the rope will beckon to the top, and so back down. This is what happens when light hits a mirror.Some molecules hold light and substitute some of it to fondness. These stuffs are normally black. White stuffs have molecules that about at one time let go of visible radiation after absorbing it. There is an full scope of soaking up in different colourss. alloy works good for mirrors because it reflects panoptical visible radiation on all parts of the originate at the same clip. maculation unsmooth draw nears do reflect visible radiation ( depending on colour and composing ) , they typically reflect visible radiation in all waies. You can see this in concrete, for illustration. It seems to scintillate because it reflects light, but non in one way or ordered manner. Mirrors, nevertheless, do reflect in one way. Because metal ( including metal pigment ) is smooth, it s the best stuff for mirrors. panoptical Spectrum WavelengthElectromagnetic RadiationElectromagnetic radiation is considered to be wave-like, dwelling of electric and magnetic field constituents that are rectangular to each other and besides to the way of extension. Electromagnetic radiation consists of visible radiation, high temperature or beaming energy, radio detection and ranging, moving ridges, and X raies. Each of it has a specific scope of wavelengths.Figure An electromagnetic moving ridge demoing electric field, magnetic field constituents and the wavelength.Figure The spectrum of electromagnetic radiation.Visible visible radiation prevarications within a really narrow part of the spectrum with wavelengths runing between about 0.4 micron and 0.7 micron. The perceive colour is primed(p) by the wavelength for illustration, radiation holding wavelength of about 0.4 micron appears to be violet, whereas green and ruby-red colour occur at about 0.5 and 0.65 micron severally.CoatingMetallic elements are dismal and extremely brooding. The sensed colour is determined by the wavelength distribution of the radiation that is reflected and non absorbed. A bright silvery visual aspect when exposed to gabardine light indicates that the metal is extremely brooding over the full scope of the seeable spectrum. Aluminum and Ag are two metals that exhibit this brooding behaviour. Copper and gilded appear red-orange and sensationalistic severally because of the energy associated with purity light photons holding short wavelength is non reemitted as seeable visible radiation.The enormous bulk of optical constituents are made of respective(a) types of glass, and the bulk of those objects are coated with thin beds of particular stuffs. The intent of these coatings is to modify the contemplation and transmission belongingss of the constituents excavates.High- manifestation coatings can be applied to the exterior of an object. For illustration, a level adult male of glass is used to bring forth a first- egress mirror. Alternately, they can be applied to an internal surface to bring forth a second-surface mirror, which is used to build certain prisms. High-reflection coatings can be classified as both insulator or metallic coatings.Metallic coating s are used generally for mirrors. They do non trust on the rules of optical intervention but kind of on the physical and optical belongingss of the come up stuff. However, metallic coatings are frequently over-coated with thin dielectric movies to increase the coefficient of reflection over a coveted scope of wavelengths or scope of incidence angles.Over-coating metallic coatings with a difficult, individual, dielectric bed of half-wave optical thickness improves scratch and tarnish opposition but merely marginally affects optical belongingss. Depending on the insulator used, such over-coated metals are referred to as lasting, protected or hard-coated metallic reflectors.The chief advantages of metallic coatings are broadband spectral public presentation, insensitiveness to angle of incidence and polarisation, and low cost. Their primary disadvantages embarrass lower lastingness, lower coefficient of reflection and lower misemploy threshold.Today s multilayer dielectric coa tings are unusually difficult and lasting. With comely attention and handling, they can hold long life lastingness. Quarter-wave thicknesses of alternately high- and low-refractive baron stuffs are applied to the substrate to organize a dielectric multilayer stack, as shown in figure. By taking stuffs of appropriate refractile indexes, the assorted reflected wave-fronts can be made to interfere constructively to bring forth a extremely efficient reflector.The extremum coefficient of reflection value is dependent upon the ration of the refractile indices of the two stuffs, every bit good as the figure of layer braces. Increasing either increases the coefficient of reflection. Over limited wavelength intervals, the coefficient of reflection of a dielectric surfacing easy can be made to return the highest coefficient of reflection of a metallic coating. Furthermore, the coatings are effectual for both s- and p-polarization constituents, and can be designed for a broad angle of incid ent scope. However, at angles that are significantly distant from the design angle, coefficient of reflection is markedly reduced.CVI Melles Griot is a taking provider of preciseness optical constituents and multielement optical system. CVI Melles Griot shows thatOur protected gold, Ag, and aluminium coatings exhibit exceeding broadband coefficient of reflection and are practical for many applications. Typical utilizations for these mirrors include single-use applications where the experiment itself amendss the mirror. A assortment of diameters and square sizes are offered, including an 8 ten 8 protected aluminium version.CoatingProtected GoldProtected SilverProtected AluminumSubstrateFloat drinking glassThickness3.2 A 0.25 millimeterCoefficient of reflectionRavg & gt 96 %from 800 nm 20 AmRavg & gt 97.5 %from 450 2 AmRavg & gt 96 %from 2 20 AmRavg & gt 90 %from 450 nm 2 AmRavg & gt 95 %from 2 20 Am disability Threshold2 J/cm21064 nanometer, 10 N, 10 Hertz3 J/cm21064 na nometer, 10 N, 10 Hertz0.3 J/cm21064 nanometer, 10 N, 10 HertzFront Surface Flatness& lt 5I/inch 633 nanometer diam Tolerance+0.0/-0.25 millimeterClear Aperture& gt 90 % of SurfaceSurface flavour60-40 Scratch-DigALoadingMaterials those are capable of conveying visible radiation with comparatively dwarfish soaking up and contemplation is transparent-one can see finished with(predicate) them. unequivocal stuffs are those through which visible radiation is transmitted diffusely that is, visible radiation is scattered within the inside, to the grade that objects are non clearly distinguishable when viewed through a specimen of the stuff. Materials that are imperviable to the transmittal of seeable visible radiation are termed opaque.When light returns from one medium into another, several things happen. Some of the light radiation may be transmitted through the medium, some will be absorbed and some will be reflected at the interface between the two media.Most of the captive ra diation is reemitted from the surface in the signifier of seeable visible radiation of the same wavelength which appears as reflected visible radiation. The coefficient of reflection for most metals is between 0.9 0.95 and some little fraction of energy from electron decay procedure is dissipated as heat.Metallic elements are opaque and extremely brooding. The sensed colour is determined by the wavelength distribution of the radiation that is reflected and non absorbed. A bright silvery visual aspect when exposed to white light indicates that the metal is extremely brooding over the full scope of the seeable spectrum. Aluminum and Ag are two metals that exhibit this brooding behaviour. Copper and gilded appear red-orange and yellow severally because of the energy associated with white light photons holding short wavelength is non reemitted as seeable visible radiation.When visible radiation radiation passes from one medium into another holding a different index of divagation, some of the visible radiation is scattered at the interface between the two media even if both are transparent. The coefficient of reflection represents the fraction of the incident visible radiation that is reflected at the interface. If the visible radiation is normal or perpendicular to the interface, soWhere and are the indices of refraction of the two media. If the incident visible radiation is non normal to the interface, R will depend on the angle of incidence. Since the index of refraction of air is really close to 1. Thus the higher the index of refraction of the solid, the greater is the coefficient of reflection. For typical silicate spectacless, the coefficient of reflection is about 0.05. Merely as the index of refraction of a solid depends on the wavelength of the incident visible radiation. This mode that the coefficient of reflection vary with wavelength. Contemplation losingss for lenses and other optical instruments are lessen significantly by surfacing the reflectin g surface with really thin beds of dielectric stuffs such as Mg fluoride.Mirror ManufacturingIn modern times the mirror substrate is shaped, polished and cleaned, and is so coated. Glass mirrors are most frequently coated with non-toxic Ag or aluminum, implemented by a series of coatingsTin ( II ) ChlorideSilverChemical activatorCopper keystoneThe Tin ( II ) Chloride is applied because Ag will non bond with the glass. The activator causes the tin/silver to indurate. Copper is added for long-run lastingness. The pigment protects the coating on the cover of the mirror from abrasions and other inadvertent harm.In some applications, by and large those that are cost-sensitive or that require great lastingness, mirrors are made from a individual, bulk stuff such as polished metal. Technical mirrors may utilize Ag, aluminum or gold coating and achieve coefficient of reflection of 90 % 95 % when new. A protective transparent greatcoat may be applied to disallow oxidization of the brooding bed. Applications necessitating higher coefficient of reflection or greater lastingness where broad bandwidth is non indispensable usage dielectric coatings, can accomplish coefficient of reflection every bit high as 99.99 % over a narrow scope of wavelength.Mirror ManufacturingBaseGlass, which is a major mirror constituent, is really non a really good stuff for contemplation. In fact, it is merely able to reflect four per centum of the visible radiation it comes in contact with. What it has is a uniformity belongings that allows it to hold really few bumps, peculiarly when it is polished. The smoothness of glass makes it a good campaigner for a base of a brooding metal.CoatingThe base stuff, in order to go brooding, needs to be coated with a center of attention that reacts good to visible radiation. The most normally used stuffs are metal coatings such as Ag, gold or chrome. Mercury was used by mirror makers until it was finally abandoned in the fortiess due to jobs with toxicity . Modern mirrors in a flash make usage of aluminium as the metallic coating. Mirrors that are used under high temperatures are frequently coated with Si oxides and Si nitrates which tend to be a protective coating applied to forestall scrape.DesignMirrors need to integrate surface regularity in their designs in order to go effectual. The glass sheets that are used demand to be level and lasting. For family usage, the thickness of the mirror is taken into consideration, with its strength increasing pro rata to its thickness. For heavy-duty mirrors, such as those used in scientific research, the surface has to be specially designed to retain uniformity while adding a curvature. This gives the mirror the ability to concentrate every bit good as reflect visible radiation. The design of the mirror besides specifies the sort of surfacing to be used. The features that are of import in the pick of the surfacing include lastingness and coefficient of reflection.ProcedureTo do a mirror, the first measure is to cut and determine the glass harmonizing to the formulated design. Diamond-tipped proverbs are normally used to make a all right coating. After this, the panels, called spaces, are placed in an optical scrape machine. This machine uses an scratchy liquid and a grinding home base to make a smooth texture on the glass. Finally, the brooding stuff is placed on the glass utilizing an evaporator, which has the ability to heat the metal used for surfacing until it evaporates onto the spaces surface.IntegrityThe quality control of mirrors is an of import portion of the fabrication procedure. The mirror s surface is by and large inspected utilizing the bare oculus or a microscope in order to search into if there are any abrasions or variability. An infrared photographic procedure may besides be used to see if there is a deficiency of uniformity in the thickness of the metal. In some instances, the mirror may besides be placed under environmental proving wherein it is s ubjected to heat or cold to see how good it can defy assorted temperatures.Possibly you ve been in a state of affairs where you have nt had a mirror on manus and have resorted to utilizing the most brooding surface around you. Depending on the colour, form and texture of the surface, it may hold sufficed, but mirrors surely have a distinguishable brooding quality most other stuffs do non. This stems from the alone colour, composing and smoothness a mirror has.Get downing With MetalPolished, glistening metals make good mirrors because metal behaviors electricity good. Since the electronic field inside the metal must be zero, negatrons at that place will ever call off out a field that is non zero ( even if the field originates outside the metal ) . Since light travels in electromagnetic moving ridges, when it hits a mirror ( most frequently made with sprayed Ag and glass ) , the lone manner to call off out the field and put it to zero is to reflect those moving ridges back out, hence a contemplation. This procedure is similar to singing a long rope attached on one terminal. If you give a hanging rope with one loose terminal one, large shingle, the rope will beckon to the top, so back down. This is what happens when light hits a mirror.How mask Affects ReflectionSome molecules hold light and convert some of it to heat. These stuffs are normally black. White stuffs have molecules that about instantly let go of visible radiation after absorbing it. There is an full scope of soaking up in different colourss. Metal works good for mirrors because it reflects seeable visible radiation on all parts of the surface at the same clip. Silver works good in peculiar because it s the closest to white and reflects a assortment of colourss better ( Cu and gold would non reflect blue good, for illustration ) .How Smoothness Affects ContemplationWhile unsmooth surfaces do reflect visible radiation ( depending on colour and composing ) , they typically reflect visible radiation in all waies. You can see this in concrete, for illustration. It seems to scintillate because it reflects light, but non in one way or ordered manner. Mirrors, nevertheless, do reflect in one way. Because metal ( including metal pigment ) is smooth, it s the best stuff for mirrors. Mirrors that are warped or non wholly smooth give distorted images.Obtaining Omnidirectional View Using Reflective Mirror.To dramatically increase the FOV of an imagination system, there is an unusual attack utilizing a brooding surface. The FOV of a picture camera can be greatly increased by utilizing brooding surface with properly designed surface forms. The rear-view mirror in a auto is a day-to-day illustration of utilizing brooding mirror to increase the FOV of a driver.There are a figure of surface profiles that can be used to bring forth omnidirectional FOV. Figure list three illustrations conelike mirror, spherical mirror, and parabolic mirror. The optical geometry of these bulging mirrors provides a guileless and effectual agencies to change over picture camera s coplanar position into an omnidirectional position around the perpendicular axis of these mirrors, without utilizing any traveling portion.At the first glimpse, it appears that the omnidirectional imagination undertaking can be accomplished by utilizing any bulging mirror. Unfortunately, this is non the instance. In reexamining some BASIC of image formation, we know that an image is two dimensional form of brightness ( or colourss ) . A satisfactory imagination system must continue two indispensable featuresGeometric correspondence there must be a one-to-one correspondence between pels in an image and point in the scene.Single point of view restraint each pels in the image corresponds to a peculiar sing way delimit by a beam from that pel on image matte through a pinhole ( individual sing point ) .Notice that although the bellying mirrors listed in Figure can greatly increase the FOV, and may turn out adequate for certain omnidirectional scene monitoring applications, they are non satisfactory imaging devices. These reflecting surfaces do non continue the individual point of view restraint ( SVC ) . For a high quality omnidirectional imagination system, all the light beams coming in the omni imager caput should hold a individual ( practical ) sing point.Design of the omni-mirror that meets the SVCIn this subdivision, we will discourse a desirable convex mirror surface profile that satisfies the individual point of view restraint all the ( extensions of ) visible radiation beams reflected by the mirror must go through through a individual ( practical ) point of view. We call such a brooding mirror the omni-mirror. permit us first define necessary symbols and nomenclature. As shown in the Figure, we use an off-shelf picture camera with a regular lens whose FOV covers full surface of the omni-mirror. Since the optical design of camera and lens is rotationally symmetric, all we need to find is the cross-section map zA that defines the mirror surface cross-section profile. The mirror is so the solid of revolution obtained by brushing the cross-section about the optical axis. The map of the omni-mirror is to reflect all viewing beams coming from picture camera s screening centre ( focal point, labeled as C ) to the surface of physical objects in the FOV. The cardinal characteristic of this contemplation is that all such reflected beams must hold a projection towards a individual practical screening point at mirror s focal centre, labled as O. In other words, the mirror should efficaciously point sing beams such that the camera equivalently sees the objects in the universe from a individual point of view O.We choose hyperboloid as the desirable form of the omni-mirrors. A well-known characteristic of a inflated curve is that the extension of any beam reflected by the inflated curve originated from one of its focal points passes through its another focal point. If we choo se the hyperbolic profile for the omni-mirror, and topographic point a picture camera at its focal point C, as shown in Figure, the imagination system will hold a individual point of view at its another focal point O, as if the picture camera were placed at the practical screening location O. The alone characteristic of the omni-mirror is that the extension of the entrance light beam sensed by the CCD camera is ever go throughing through a individual practical point of view O regardless of the location of the projection point M on the mirror surface.