Human Engineering in Stereoscopic Viewing Devices

Transcription

1 Human Engineering in Stereoscopic Viewing Devices

2 ADVANCES IN COMPUTER VISION AND MACHINE INTELLIGENCE Series Editor: Martin D. Levine McGill University Montrial. Quibec. Canada COMPUTER VISION FOR ELECTRONICS MANUFACTURING L. F. Pau HUMAN ENGINEERING IN STEREOSCOPIC VIEWING DEVICES Daniel B. Diner and Derek H. Fender PYRAMIDAL ARCmTECTURES FOR COMPUTER VISION Virginio Cantoni and Marco Ferretti SIGMA: A Knowledge-Based Aerial Image Understanding System Takashi Matsuyama and Vincent Shang-Shouq Hwang A Continuation Order Plan is available for this series. A continuation order will bring delivery of each new volume immediately upon publication. Volumes are billed only upon actual shipment. For further information please contact the publisher.

3 Human Engineering in Stereoscopic Viewing Devices DANIEL B. DINER Jet Propulsion Laboratory Pasadena. California and DEREK H. FENDER California Institute of Technology Pasadena. California Springer Science+Business Media, LLC

4 Diner, Daniel B. Hunan engineering m stereoscopic viewing devices / Daniel B. Diner and Derek H. Fender. p. CM. (Advances 1n conputer vision and Machine Intel 1Igence) Includes bibliographical references and Index. 1. Optical pattern recognition. 2. Human engineering. 3. Stereoscopic views. 4. Conputer vision. I. Fender, Derek, H. II. Title. III. Title: Stereoscopic viewing devices. IV. Series. TA1650.D ' 7 dc CIP ISBN DOI / ISBN (ebook) Springer Science+Business Media New York 1993 Originally published by Plenum Press, New York in 1993 Softcover reprint of the hardcover 1st edition 1993 Allrightsreserved No part of this book may be reproduced, stored in retrieval system, or transmitted in any form or by any means, electronic, mechanical, photocopying, microfilming, recording, or otherwise, without written permissionfromthe Publisher

5 Acknowledgements We wish to thank Dr Charles H. Anderson, Dr Antal K. Bejczy, Debra D. Camp, Roy Chafin, Alecia Chen, Dave Coufal, Dr Michel Delpech, Antony R.H. Fender, Dr Donald B. Gennery, Peter German, Shane Groff, Dr Blake Hannaford, Stephen P. Hines, Dr Michael Hyson, Eric C. Johnson, Daniel J. Kerrisk, Dr Gerhard Knieper, Douglas A. McAffee, Carol Mullenax, Dr Jeremiah I. Nelson, Hoang X. Pham, Dr Antonio Medina Puerta, Howard C. Primus, Dr L. Barkus Stark, Dr Wen-King Su, Steven C. Venema, Marika von Sydow, and Brian H. Wilcox for participating in many discussions during the progress of this work. This book has been developed from a Jet Propulsion Laboratory report number JPL D-8186 dated 15 January We wish to thank Jim Rooney for his help. v

6 Contents 1. Introduction Scope and Structure of This Book 1 2. Stereoscopic Properties of the Human Visual System Visual Anatomy and Neurophysiology Gross Anatomy of the Eye, Optic Nerve, and Optic Tract Neuroanatomy and Neurophysiology of the Visual System The Phenomenon of Fusion The Sense of Direction Fusion Retinal Disparity and the Percept of Depth Neurophysiology of the Binocular System Functional Models of the Binocular System Control Systems of the Eye Curvature of Stereoscopic Space The Vieth-Muller Circle 22 vii

7 viii Contents The Horopter Panum's Fusional Area Appendices The Curvature of Binocular Space Curvature at Other Points on the Centerline Curvature at Points not on the Centerline References Methods of Viewing 3-D Images Non-stereoscopic 3-D Viewers Variable Focal-length Mirror and High-speed Monitor The Shaking Camera Classes of Stereoscopic Images Separate Left-eye and Right-eye Recorded Images Combined Left-eye and Right-eye Recorded Images Presentation Techniques of Stereoscopic Images Presentation Techniques with Separate Images Presentation Techniques with Combined Images References Double Camera Systems Definition of Two-camera Systems Twin-lens Stereoscopic Photographic Systems Aerial Reconnaissance Photographs Television Camera Systems Typical Two-camera Stereoscopic Systems Stereoscopic Magnification Magnified Stereoscopic Depth Curvature of Stereoscopic Space Curvature at the Point of Convergence Curvature Corrected for Tangents of Angles Perceived Curvature of Stereoscopic Space Non-linearities of Time-bases 64

8 Contents ix 5. Single Camera Systems 67 5.l. Discussion of Single-camera Viewing Systems Folded and Unfolded Systems Precision Requirements of Mirror Mountings Advantages of Single-camera Systems I. Lens Focal Length Iris Opening Instabilities and Noise Disadvantages of Single-camera Systems l. Loss of Redundancy Asymmetric Adjustments Mirror Alignment and Size 72 I 6. Spatially-sampling Cameras and Monitors 73 6.l. Curvature of Binocular Space Depth Distortion of the Fronto-parallel Plane l. Perceived Curvature of the Fronto-parallel Plane The Effect of Inter-viewpoint Distance The Source of Depth Distortions l. Hyperstereoscopy, Orthostereoscopy and Hypostereoscopy Parallel Camera Configurations Curves of Apparent Equal Depth l. Family of Curves for Converged Cameras Location of the Images on the Camera Image Plates Height and the Fronto-parallel Planes l. Depth Distortions Caused by Telephoto Lenses Vertical Disparity Depth Resolution and Lozenge Size l. Converged Cameras Parallel Cameras Cameras and Monitors Appendices - Additional Mathematics l. Lozenge Length as a Function of Inter-viewpoint Distance The Pixel Rays - Singularities 119

9 x Contents The Denominators of the Ellipses and Hyperbolae The ~ Singularities n The Axes of the Ellipses The n, and nr Singularities References The Observer The Individual Observer Sub-pixel Depth Resolution The Apparent Location of Stereoscopic Images Converged cameras Parallel Cameras Moving Observers Head Motion Towards and Away from the Monitor Horizontal Head Motion - the Inverse Parallax Problem Vertical Head Motion 7.5. The Orthostereoscopic Distortion 7.6. References Moving Objects in the Work Space 8.1. Apparent Size Changes of a Moving Object 8.2. Apparent Depth of Moving Objects Converged Cameras Parallel Cameras Reducing Depth Distortions for Converged Cameras Distortion and Resolution The Region of Stereoscopic Viewing- Converged Cameras Reduction of Depth Distortion Reduction of Static Depth Distortion Reduction of Dynamic Depth Distortion 161

10 Contents Dynamic Distortion Caused by Panning the Camera Rig 9.3. Symmetrically Shifted Stereoscopic Images 9.4. References xi Setting up a Stereoscopic Camera System Designing a Stereoscopic Camera Rig The Desired Capabilities and Tasks Camera Resolution Observer-dependent Needs Other Camera Characteristics Calibrating the Cameras Specifications and Tolerances Image Collection Plate Alignment Setting up a Stereoscopic Camera Rig The System Variables Independent Variables Dependent Variables Independent Variables Using a Frame Buffer The Controllable Dependent Variables References 189 Index 191