We propose a high-performance glass-plastic hybrid minimalist aspheric panoramic annular lens (ASPAL) to solve several major limitations of the traditional panoramic annular lens (PAL), such as large size, high weight, and complex system. The field of view (FoV) of the ASPAL is 360{\deg}x(35{\deg}~110{\deg}) and the imaging quality is close to the diffraction limit. This large FoV ASPAL is composed of only 4 lenses. Moreover, we establish a physical structure model of PAL using the ray tracing method and study the influence of its physical parameters on compactness ratio. In addition, for the evaluation of local tolerances of annular surfaces, we propose a tolerance analysis method suitable for ASPAL. This analytical method can effectively analyze surface irregularities on annular surfaces and provide clear guidance on manufacturing tolerances for ASPAL. Benefiting from high-precision glass molding and injection molding aspheric lens manufacturing techniques, we finally manufactured 20 ASPALs in small batches. The weight of an ASPAL prototype is only 8.5 g. Our framework provides promising insights for the application of panoramic systems in space and weight-constrained environmental sensing scenarios such as intelligent security, micro-UAVs, and micro-robots.

翻译：摘要：本文提出一种高性能玻璃-塑料混合型极小非球面全景环形透镜（ASPAL），以解决传统全景环形透镜（PAL）在体积、重量和系统复杂度等方面的主要局限。该ASPAL的视场角（FoV）为360°×（35°~110°），成像质量接近衍射极限。这款大视场ASPAL仅由4片透镜组成。此外，我们基于光线追迹方法建立了PAL的物理结构模型，并研究了其物理参数对紧凑度比的影响。针对环形曲面的局部公差评估，我们提出了一种适用于ASPAL的公差分析方法。该方法可有效分析环形曲面的表面不规则性，并为ASPAL的制造公差提供明确指导。借助高精度玻璃模压和注塑非球面透镜制造技术，最终小批量生产了20片ASPAL原型。单颗ASPAL原型重量仅为8.5克。本框架为全景系统在空间与重量受限的环境感知场景（如智能安防、微型无人机和微型机器人）中的应用提供了重要启示。