CN101023669A - Tracking camera control - Google Patents
Tracking camera control Download PDFInfo
- Publication number
- CN101023669A CN101023669A CNA2005800311353A CN200580031135A CN101023669A CN 101023669 A CN101023669 A CN 101023669A CN A2005800311353 A CNA2005800311353 A CN A2005800311353A CN 200580031135 A CN200580031135 A CN 200580031135A CN 101023669 A CN101023669 A CN 101023669A
- Authority
- CN
- China
- Prior art keywords
- tracking
- datum mark
- camera
- parameter
- photography machine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
- G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
- G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
- G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
- G08B13/19678—User interface
- G08B13/19689—Remote control of cameras, e.g. remote orientation or image zooming control for a PTZ camera
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
- G01S3/782—Systems for determining direction or deviation from predetermined direction
- G01S3/785—Systems for determining direction or deviation from predetermined direction using adjustment of orientation of directivity characteristics of a detector or detector system to give a desired condition of signal derived from that detector or detector system
- G01S3/786—Systems for determining direction or deviation from predetermined direction using adjustment of orientation of directivity characteristics of a detector or detector system to give a desired condition of signal derived from that detector or detector system the desired condition being maintained automatically
- G01S3/7864—T.V. type tracking systems
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
- G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
- G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
- G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
- G08B13/19639—Details of the system layout
- G08B13/19641—Multiple cameras having overlapping views on a single scene
- G08B13/19643—Multiple cameras having overlapping views on a single scene wherein the cameras play different roles, e.g. different resolution, different camera type, master-slave camera
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/188—Capturing isolated or intermittent images triggered by the occurrence of a predetermined event, e.g. an object reaching a predetermined position
Abstract
The invention relates to a device for aligning a tracking camera, using a guide camera, in relation to objects, whose spatial position is limited to a restricted field by predetermined parameters. Guide parameters are determined from the alignment of the guide camera and in turn tracking parameters are determined for the alignment of the tracking camera.
Description
Suitable when the capture video film is to adopt a plurality of video cameras, so that can represent the thing that takes place from a plurality of visual angles in synthetic film.Especially in unrepeatable incident, for example under 5 sports persons' situation, could make the film of high-quality like this.
So far, so for this reason at the photographer of the also essential respective numbers of operation, these photographers aim at the video camera each according to the content that can see from the relevant position.These photographers have fully mainly caused the expense of this shooting.Thereby expectation wherein can be cancelled photographer's solution.
Especially be well known that in the monitoring camera in object protection, wireless from afar or a plurality of video cameras of line traffic control are arranged., here at present also always a people control a video camera; This people only can replace between video camera quickly.This solution is not content with described applicable cases equally, because still need a people for each video camera that will follow the tracks of.
The present invention solves following task, promptly controls one or more video cameras so in phase, so that these video cameras longer time ground auto-tracking shooting objects.At this, following unessentially be, whether write down and the video flowing of " off-line ground " montage video camera subsequently, perhaps whether transmit these video flowings to mobile control room, in this mobile control room directly and have time deviation ground live video data is not merged.
More known technology from the field of graph and image processing, in these technology, from picture material by analyze that change in pattern can be located and the tracking camera image in the object that enough characterizes.This technology relatively successfully is used in the object protection, because usually do not change image to the longer time there, and the object that will so monitor is represented the obvious variation with respect to static background.In this point, also can on kinematics, reverse this method and tracker function is provided, in this tracker function, not to determine the position of object in the image of fixing video camera, but make the video camera tracing object.For example Sony has been made such video camera.Should consider only to realize this tracker function at this according to the two-dimension analysis of picture material.Three-dimensional motion is analyzed and is in the conceptual phase at present; The solution of being advised at present is the 3D model of essential tracked object all, but this is for example unavailable under the situation that physical culture is relayed.
Therefore the following description relates to following situation: for as horse racing, football match or the incident skiing, the remote-operated video camera of a plurality of energy so is installed, so that always in the scope of a video camera, more frequent be in the scope of a plurality of video cameras to corresponding sportsman's (being objects).On middle position, guide long-distance operating device, and this long-distance operating device is connected with control desk with computer, thus can not only be automatically by computer and video camera is aimed at.Even under the situation of application tracking device function, only utilize a photographer can not reach the result of high-quality, because can not coordinate the control device of video camera fully mutually.Must always manually carry out on the one hand video camera is registered on the object.Photographer must determine with imagining, should be next with which camera position.Especially, video camera does not have alignment motion person to enter position in the detection range, but aims at the last position of having left detection range.If connected tracker function in addition, then this tracker function will be followed the tracks of the object of any one motion, for example follow the tracks of support staff or spectators.In addition, tracker function is not necessarily reliable, and if temporarily covered the sportsman, so then tracker function be transformed into that any one is visible, on the object of motion.
If the object of taking is gone up motion at projected path or face (for example at slideway, horse racing barrier runway or sports ground), then can adopt according to solution of the present invention.At least the guided photography machine is positioned on this track or the face.Make this guided photography machine follow the tracks of the object that to take by photographer.This realizes around the tripod of horizontal rotational shaft with video camera by having regularly usually, just allows video camera that two degrees of freedom are arranged.On this tripod, laid and utilized it can determine the transducer of the corresponding anglec of rotation; These sensing datas are in the following parameter that is also referred to as the degree of freedom.According to optical axis and these two angles of the vertical line of camera position on table top (Spielflaeche) and the distance of this camera lens of camera lens, calculate the intersection point of optical axis and table top by analytic geometry; This is also referred to as datum mark below intersection point.Thus, so in reverse according to the computational process of the reference position on the table top, calculate the essential direction of optical axis in the space for each tracking camera, and calculate the essential level and the vertical anglec of rotation thus, so that the same datum mark of alignment motion field all of each tracking camera in these tracking cameras.So, by known adjusting device these fiducial values are transferred to the video camera control device, and these fiducial values have caused tracking camera is transferred in the motion of guided photography machine like this, make tracking camera keep aiming at the object of being followed the tracks of by the guided photography machine.
Essential following cognitive for this reason, promptly under video camera that is placed and the situation apart from enough table tops far away, the inclination of video camera provides necessary range information with improving.If video camera for example is positioned at some rice on the goal in the football field, though then can show the video camera that the identical anglec of rotation is followed the tracks of the proceeds posterolateral that is positioned at goal line greatly.On the contrary, the vertical rotation angles that is positioned at the video camera on the side line at first with the distance dependent of sportsman apart from the guided photography machine.But can calculate this vertical rotation angles according to the inclinometer of guided photography machine fully; So the anglec of rotation of guided photography machine also causes revising the anglec of rotation of tracking camera lessly.
Drawn two-dimentional situation in the accompanying drawings in order to describe.Guided photography machine L is with respect to the vertical line h on the E of plane
LThe angle [alpha] that tilted, and therefore alignment fiducials point S, this datum mark S here can be by tangent by distance vertical line h under two-dimensional case
LIntersection point point apart from d
LCalculate.Therefore, by vertical line h
LApart from d
LBy the vertical line h of guided photography machine L with respect to tracking camera F
FThe position determine apart from d
F, and determine apart from d by the arc tangent of angle beta
F
Therefore if do not relate to a plane, and relate to another two-dimensional surface, this face then can be described in many cases with resolving, so the numerical computations beam is resolved the intersection point of definite face with this.Also can form a face by sub-face, so this a little or be the part on plane, or be other can resolve the face of describing.At this, obviously do not need excessively to require the description too accurately of the computing capability of processor nowadays; By server or even signal processor this computing capability can be provided.
The parameter of face thereby be to utilize it to limit the parameter of the object's position in space; These possible positions are at the following restricted area (Restriktionsfeld) that is also referred to as.But also can use line, can resolve the curve described or the combination of line and curve comes replacement face.In this case, usually not with the intersection point of optical axis., if relate to (crooked) straight line, then easily analytical Calculation goes out the vertical point of the distance and the distance of these straight lines.The point that should hang down is the point of minimum range and is datum mark therefore.So this method can be being migrated on the curve of combination with identical mode in the face of combination, so that also can determine datum mark here.
Possible in these cases is that a plurality of is possible as datum mark, because there is the local minimum of distance in these points.So used that point near a last datum mark.This method also is applicable to uneven face certainly.
Be alternative in this place, also can be with replace line in the space around " sleeve pipe " of this line as restricted area.Resolve that ground is described as the extruding (Extrusion) of circle with this line or along the extruding of the spline function of the sealing of (batten) line., amount of calculation is significantly bigger, so that does not preferably adopt this solution.
In expansion scheme of the present invention, systematically use the datum mark that early is determined in time, its mode is an extrapolated next datum mark from these datum marks that early are determined in time.In order to extrapolate, especially the method that is used in the Kalman filter can be performed well in determining next estimated value.So one side adopts the datum mark of the most approaching next estimated value or interpolate value under the situation of ambiguity.Preferably use the mean value between the datum mark of the datum mark calculated and institute's interpolation, this mean value utilizes fixing weight or utilizes variable weight to constitute, as these weights are scheduled to by Kalman filter or other filter.Therefore, especially support to have covered the situation of the part of zone or track.
So the photographer who is enough to make the guided photography machine is the position of tracing object roughly, because the position filtering device is correspondingly revised datum mark.Photographer preferably has switch on video camera, he temporarily only makes interpolate value work with this switch.This switch also can trigger by watch-dog in production control room certainly; Comprise in being applied in of pattern-recognition method and classification.
The also focal length of coupling tracking camera under the situation of the focal length of the guided photography machine that can regulate counting in case of necessity from the neutralization of the range information of object, consequently, even object is away from tracking camera, it is roughly the same that the image cutting-out of guided photography machine and tracking camera still keeps.The method of analytic geometry also is applied, should be in the same way or oppositely realize coupling because come according to the situation of the relative camera position of datum mark.So this method is used reference sphere and replaced datum mark, and other degree of freedom of so focusing, so that the size of reference sphere keeps identical.Fully also can adjust the amplification coefficient of tracking camera from the director center at this; So be suitable for respect to new amplification coefficient simply and keep object size.
Above-mentioned follow-up control apparatus is integrated in so far the solution well, and this follow-up control apparatus comes pursuit movement to calculate according to picture material and the therefore position of tracking camera.But, owing to determine different fiducial values at the anglec of rotation of corresponding tracking camera in this case, so essential compensation.Usually realize this compensation thus, promptly utilize the probability of error to calculate fiducial value, and constitute the mean value of being estimated like this, make also the relatively poor approximate value of weighting more consumingly.Therefore especially realized, when object temporarily disappears, still followed the tracks of this tracking camera in tracking camera, so but only follow the tracks of according to the coordinate of guided photography machine.If it is visible that object becomes again, then the tracking by picture material control can be engaged on the object once more, and adjusts the coordinate that is provided by the guided photography machine.On the contrary, when in the guided photography machine, disappearing, manually or automatically weight is adjusted to zero, and a therefore application tracking in tracking camera.
In all cases, preferably use error estimation and error propagation in the numerical computations.
Claims (8)
1. be used for the device tracking camera aimed at respect to object by the guided photography machine, the spatial object position of described object is limited on the restricted area by predetermined parameters, its mode is to determine boot parameter according to the aligning of described guided photography machine, and determines tracking parameter in order to aim at tracking camera thus.
2. press the described device of claim 1, wherein,
-by predetermined face or line described restricted area is described,
-described guided photography machine is positioned at outside the described restricted area,
-predetermined guided photography machine is relative mutually with tracking camera and with respect to the position of described restricted area,
-determine described boot parameter according to the degree of freedom of described guided photography machine,
-determine datum mark according to described boot parameter, this datum mark is optical axis and the intersection point of restricted area or the having apart from the point of the minimum range of optical axis of described restricted area of guided photography machine,
-according to described datum mark, determine described tracking parameter according to the degree of freedom of tracking camera, and described tracking parameter is flowed to tracking camera be used to aim at.
3. by the described device of claim 2, wherein, under the situation of a plurality of possible datum marks, select that datum mark near pre-determined datum mark.
4. by the described device of claim 2, wherein,, and when determining new datum mark, use the datum mark of being estimated according to the motion of former value interpolation datum mark.
5. by the described device of claim 4, wherein, impel from the tandem signal at the watch-dog station of guided photography machine or this guided photography machine, in the duration of described tandem signal, replace according to described boot parameter but determine datum mark according to interpolate value.
6. by one of above claim described device, wherein, described tracking camera additionally is equipped with tracker function, this tracker function is by determining additional tracking parameter to the graphical analysis of visible object in image, described additional tracking parameter utilization compensates according to the determined tracking parameter of datum mark.
7. by the described device of claim 5, wherein, determine the value of the confidence, and use tracking parameter with higher the value of the confidence for described tracking parameter and additional tracking parameter.
8. by one of above claim described device, wherein, with the focal length of the camera lens of target video camera the degree of freedom as other, constitute reference sphere according to this other the degree of freedom at described datum mark, and calculate the value of magnification of described tracking camera like this, make the size of image of this reference sphere keep identical.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102004034663.1 | 2004-07-17 | ||
| DE102004034663A DE102004034663A1 (en) | 2004-07-17 | 2004-07-17 | Follow camera control |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101023669A true CN101023669A (en) | 2007-08-22 |
Family
ID=35426113
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2005800311353A Pending CN101023669A (en) | 2004-07-17 | 2005-07-15 | Tracking camera control |
Country Status (4)
| Country | Link |
|---|---|
| EP (1) | EP1769638A1 (en) |
| CN (1) | CN101023669A (en) |
| DE (1) | DE102004034663A1 (en) |
| WO (1) | WO2006032552A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108776334A (en) * | 2018-05-03 | 2018-11-09 | 中国船舶重工集团公司第七�三研究所 | A kind of novel airfield runway exotic auxiliary locator and localization method |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8384780B1 (en) | 2007-11-28 | 2013-02-26 | Flir Systems, Inc. | Infrared camera systems and methods for maritime applications |
| DE102009007639B4 (en) * | 2009-02-05 | 2011-05-26 | Kurt Wallerstorfer | Device for recording an athlete on a race track |
| WO2012142049A1 (en) | 2011-04-11 | 2012-10-18 | Flir Systems, Inc. | Infrared camera systems and methods |
| CN102915043B (en) * | 2012-10-17 | 2015-02-11 | 天津市亚安科技股份有限公司 | Method for increasing location accuracy of cloud platform |
| CN114928721B (en) * | 2022-05-20 | 2023-03-24 | 沈阳体育学院 | Switching method and system of football shooting lens, computer equipment and storage medium |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4566036A (en) * | 1983-06-07 | 1986-01-21 | Canon Kabushiki Kaisha | Remote control apparatus |
| US5164827A (en) * | 1991-08-22 | 1992-11-17 | Sensormatic Electronics Corporation | Surveillance system with master camera control of slave cameras |
| FR2757002B1 (en) * | 1996-12-06 | 1999-01-22 | David Antoine | REAL-TIME MOBILE TRACKING SYSTEM ON A SPORTS FIELD |
| DE60138330D1 (en) * | 2000-02-28 | 2009-05-28 | Hitachi Int Electric Inc | Device and system for monitoring of penetrated objects |
| DE10261146A1 (en) * | 2002-12-22 | 2004-07-01 | Funkwerk Plettac Electronic Gmbh | Control of a multi-camera system |
-
2004
- 2004-07-17 DE DE102004034663A patent/DE102004034663A1/en not_active Withdrawn
-
2005
- 2005-07-15 WO PCT/EP2005/053401 patent/WO2006032552A1/en not_active Application Discontinuation
- 2005-07-15 EP EP05820630A patent/EP1769638A1/en not_active Withdrawn
- 2005-07-15 CN CNA2005800311353A patent/CN101023669A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108776334A (en) * | 2018-05-03 | 2018-11-09 | 中国船舶重工集团公司第七�三研究所 | A kind of novel airfield runway exotic auxiliary locator and localization method |
Also Published As
| Publication number | Publication date |
|---|---|
| EP1769638A1 (en) | 2007-04-04 |
| DE102004034663A1 (en) | 2006-02-09 |
| WO2006032552A1 (en) | 2006-03-30 |
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| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
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