Nowadays, panoramic annular lens (PAL) applies in aerospace, robotics vision, industrial pipeline endoscope and corporate video conferencing. A cylinder-to-plane projection which called the Flat Cylinder Perspective (FCP) is adopted in PAL. The FCP projected the three-dimensional cylindrical field object onto a two-dimensional annular image plane. The optical system has fade zone in the center of detector. Based on the structure of the PAL system, this paper shows that a panoramic lens is designed with free-form surfaces. In the designed optical system, the local annular object field of view is projected onto a rectangular image plane. The free-form panoramic lens has a wide field of view of 140°in horizontal direction and a field of view of 40°in vertical direction. The design of the panoramic lens can maximize the use of area and have no fade zone in rectangular detector.
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