CN101448088B - Initial location system in virtual studio - Google Patents

Initial location system in virtual studio Download PDF

Info

Publication number
CN101448088B
CN101448088B CN2007101780528A CN200710178052A CN101448088B CN 101448088 B CN101448088 B CN 101448088B CN 2007101780528 A CN2007101780528 A CN 2007101780528A CN 200710178052 A CN200710178052 A CN 200710178052A CN 101448088 B CN101448088 B CN 101448088B
Authority
CN
China
Prior art keywords
coordinate system
matrix
index point
video camera
subelement
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.)
Expired - Fee Related
Application number
CN2007101780528A
Other languages
Chinese (zh)
Other versions
CN101448088A (en
Inventor
刘伟
李涛
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
China Digital Video Beijing Ltd
Original Assignee
China Digital Video Beijing Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by China Digital Video Beijing Ltd filed Critical China Digital Video Beijing Ltd
Priority to CN2007101780528A priority Critical patent/CN101448088B/en
Publication of CN101448088A publication Critical patent/CN101448088A/en
Application granted granted Critical
Publication of CN101448088B publication Critical patent/CN101448088B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Landscapes

  • Studio Devices (AREA)

Abstract

The invention discloses an initial location system in a virtual studio. The system comprises a location adjustment unit for aligning a video camera with a mark point; an image search unit for acquiring and searching information of the mark point; an iterative computation unit for performing iterative computation according to an acquisition and search result to obtain an initial posture of a video camera relative to a self coordinate system of the mark point; and a coordinate system conversion unit for converting the initial posture of the self coordinate system of the mark point to obtain an initial posture of the video camera relative to a blue box coordinate system. In the initial location technology of the invention, the initial posture of the video camera which includes location, orientation and the like of the video camera is determined by utilizing an image search method and an iterative computation method, thus providing initial information of the video camera for the virtual studio which is tracked by a mechanical sensor. During the whole location process, a user only needs to click one button without manually adjusting location of the video camera, thus the operation is simple and convenient.

Description

Initial location system in the virtual studio
Technical field
The present invention relates to communication technical field, relate in particular to initial location system in a kind of virtual studio.
Background technology
In illusory studio, virtual performer is set also photographs with virtual video camera, the technology that produces TV shows in this way is called Virtual Studio Technology.In Virtual Studio Technology, the performer acts in a play in having no the studio of stage property, with video camera it is photographed, and is synthetic with the stage property picture of making in addition then, can produce such picture of acting in a play in the studio with stage property like the performer.So-called virtual actor is not the effect that will get rid of the performer, but the performer's that will take in advance camera lens reproduces in the virtual studio of particular design in needs; Perhaps utilize performer's artistic skills data, go out the performer with the computer graphics fabrication techniques.So-called virtual video camera is exactly when synthetic virtual studio and virtual actor's image, utilizes video camera to carry out the technology that processing and fabricating goes out final image.
The performer replaces " blue case " lining of real background to carry out the live show making at one in virtual studio; Virtual Studio System is then by following program work: the location parameter of video camera, the zoom, the focusing parameter that move horizontally parameter, vertical pitching parameter and camera lens have constituted the viewpoint parameter that scene generates and the vision signal parameter of camera acquisition prospect; Deliver to these supplemental characteristics in the real-time graphic computer, realize the real-time scene generation of field frequency level according to the parameter of camera motion.The image of taking for background in order to " blue case " again carries out work with the virtual background that is selected from computer graphical with identical time-code after time-delay.The vision signal that the key signals that generates through the chroma key device was handled scene and chroma key is delivered to blender and " is synthesized ", produces the image of a combination in real time.
A key technology is exactly the video camera tracking technique in the Virtual Studio System, and tracking technique comprises the image tracking, and mechanical sensing is followed the tracks of, technology such as electromagnetism tracking.Wherein mechanical sensing tracking stability is good, realizes easily, and also be present the most widely used tracking technique therefore.Very important in this a technology technology is exactly an initial alignment, and initial alignment is the basis of mechanically tracking technology, and its quality can directly have influence on the accuracy of later stage tracking.Follow the tracks of the Overlay that whether accurately directly has influence on virtual scene and real scene (such as the host); If follow the tracks of inaccurate; The phenomenon that then can occur misplacing from the virtual scene of the video image of video camera and picture and text workstation rendering; Cause virtual scene to give the people a kind of false sensation, make virtual studio lose meaning.
A kind of video camera initial location technology of the prior art is as shown in Figure 1, establishes the back plane that plane a representes blue case, and the purpose of initial alignment promptly is to calculate the photocentre O of camera lens cThe distance of world coordinates initial point O to the blue case, and camera coordinate system O c-X cY cZ cAnd the rotation relationship between the world coordinate system O-XYZ.Traditional method comprises the direct method of measurement and bow and beam bearings.
Wherein, the direct method of measurement is directly to measure O cDistance to O.Yet, because video camera photocentre O cParticular location and therefore do not know that directly the measurement difficulty is very big, and can measure also have only O cTo the distance of O, one-tenth O beyond expression of words is at O cIn coordinate.In addition, the rotation relationship of two coordinate systems also can't be measured, and can only think and not have rotation relatively, and therefore, this measurement scheme exists than mistake, operates also dumb.
Bow and beam bearings is in advance fixing four reference points of blue case, and is as shown in Figure 2, measures the distance of 4 of ABCD in advance; After the video camera initialization, aim at this four points successively, simultaneously record sensing data at that time; List Nonlinear System of Equations, calculate the video camera initial attitude.Such as the coordinate of 4 of known ABCD, use P respectively AP BP CP DExpression, when video camera is aimed at respectively at these 4, corresponding yawing anglec of rotation α and pitching anglec of rotation θ that the record transducer returns, structure spin matrix Δ R i, i representes ABCD respectively.
Δ R i = 1 0 0 0 cos θ sin θ 0 - sin θ cos θ · cos α 0 - sin α 0 1 0 sin α 0 cos α - - - ( 1 )
Projection equation is shown in (2)
u v 1 = K · ( R · P + T ) / z c - - - ( 2 )
Wherein, spin matrix R is the matrix of 3*3, and coordinate points P and translation matrix T are the matrix of 3*1.Therefore RP+T representes the matrix of a 3*1.z cIt then is last number of this matrix.Suppose that the video camera initial attitude is R 0, T 0(all unknown), the R in (2) formula then, T is respectively
R＝ΔR i·R 0 (3)
T＝ΔR i·T 0
Four points of ABCD, each point can both be listed an equation according to (2) formula.Therefore one have four such equations formation equation group, separate this equation group and can obtain initial attitude R 0, T 0This system is very high compared with direct method of measurement precision, can implement to act charitably.But this system's weak point is: in the time of need reinitializing at every turn; Video camera all will be aimed at four reference points successively; Promptly each point is carried out all needing artificial adjustment camera to another point after the data acquisition; Operation is complicated slightly, and being not suitable for being applied in camera position needs in the frequent system that moves.In addition, the distance in this system between four points of ABCD needs bigger, generally wants 2 to 3 meters at interval, therefore, will take a whole face wall.
In sum, also there are not a kind of can realize reducing artificial participation, the system of video camera initialization accurate positioning in the prior art.
Summary of the invention
The embodiment of the invention provides initial location system in a kind of virtual studio, utilizes graphical analysis, interative computation to calculate the initial attitude of video camera, fundamentally replaces the system that traditional method obtains the video camera initial information.
The embodiment of the invention provides initial location system in a kind of virtual studio, comprising:
Position adjustment unit is used to make the camera index point;
The picture search unit is connected with said position adjustment unit, is used for said index point information is gathered search;
Said picture search unit specifically comprises:
The binaryzation subelement is used for beginning to line by line scan to the lower right corner from the upper left corner of video camera view-finder, obtains the data of each pixel, in scanning element point, adopts pre-set threshold that each pixel is carried out binary conversion treatment;
Subelement is confirmed in the zone, is connected with said binaryzation subelement, is used for seeking the zone that the index point black and white is had a common boundary according to the binaryzation data of above-mentioned acquisition, confirms the housing of index point, and the boundary point of record housing;
Analyzing subelement, confirm that with said zone subelement is connected, be used for each regional integration of index point is analyzed, judge whether to form quadrangle, is not then to delete this regional integration;
The coordinate Calculation subelement is connected with said analysis subelement, so be used for fitting a straight line is carried out on tetragonal overall region border, calculates the coordinate that obtains four summits;
The iterative computation unit is connected with said picture search unit, is used for carrying out iterative computation according to said acquisition and search result, obtains the video camera initial attitude with respect to the coordinate system of said index point own;
The coordinate system converting unit is connected with said iterative computation unit, and the initial attitude of the coordinate system of said index point own is changed, and obtains the video camera initial attitude with respect to blue case coordinate system.
Also comprise the mark point recognition unit, be connected, when being used for optional index point and comprising at least two, confirm the index point numbering of aiming at according to the sign of the counting in the index point of gathering with said picture search unit.
Said iterative computation unit specifically comprises:
The translation matrix computation subunit is used to obtain translation matrix T;
The spin matrix computation subunit is used to obtain spin matrix R;
Relative coordinate system is confirmed subelement, is used for calculating the initial position of acquisition video camera with respect to the index point coordinate system according to said spin matrix R and translation matrix T.
The said translation matrix T that obtains specifically comprises:
Figure DEST_PATH_GSB00000626516700021
Wherein, n is a quadrangle summit number 4, and I is a unit matrix, p iBe the horizontal range of summit to the coordinate system emphasis,
Figure DEST_PATH_GSB00000626516700022
V wherein iThis is at which row in the representative image.
The said spin matrix R that obtains specifically comprises:
Initialization spin matrix R;
Calculate the pixel coordinate v that was processed according to translation matrix T i=V i(Rp i+ T)
Calculate the horizontal range difference of summit to the coordinate system mid point p i ′ = p i - 1 n Σ p i , v i ′ = v i - 1 n Σ v i , M=∑ v ' iP ' i
With SVD decomposition method split-matrix M, M=U Λ V T, carry out singular value decomposition and obtain V and U.
Calculate acquisition spin matrix R, R=VU according to said V and U T
Said coordinate system converting unit specifically comprises:
The transform matrix calculations subelement is used for the transition matrix M between the coordinate system of coordinate system and blue case of calculation flag point itself;
The index point coordinate system obtains subelement, and the attitude matrix that is used for obtaining according to index point coordinate system iterative computation is M0;
Blue case coordinate system computation subunit; Obtain subelement with said transform matrix calculations subelement with the index point coordinate system respectively and be connected, the attitude that is used for obtaining final video camera according to the transition matrix M between the coordinate system of the coordinate system of said index point itself and blue case and attitude matrix M0 with matrix M '=M*M0.
Said index point is a quadrangle.
The shape of said counting sign includes but not limited to rectangle, circle, triangle and trapezoidal.
It is outside that said index point is positioned at blue case.
Initial location technology in the embodiments of the invention; Utilize the method for picture search, interative computation to confirm the initial attitude of video camera; Comprise video camera the position and towards etc., the initial information of video camera is provided for the virtual studio that uses mechanical pick-up device to follow the tracks of.Whole position fixing process, the user only need click a button and get final product, and does not need manual work that camera position is adjusted, and is simple to operation.
In addition, the present invention can be applied to the virtual studio of multiple cameras work better through using a plurality of index points, makes different cameras aim at the unlike signal point and carries out initial alignment, has avoided blocking because of other video cameras the situation of camera.
Description of drawings
Fig. 1 is through directly measuring the sketch map that obtains the video camera initial alignment in the prior art;
Fig. 2 passes through the sketch map that four point measurements obtain the video camera initial alignment in the prior art;
Fig. 3 is a camera initial positioning system structure chart in the virtual studio among the present invention;
Fig. 4 is that a kind of blue case of the present invention and index point are provided with sketch map;
Fig. 5 a, Fig. 5 b, Fig. 5 c are the sketch mapes that there are a plurality of index point situation in the present invention;
Fig. 6 is that another kind of blue case of the present invention and index point are provided with sketch map.
Embodiment
The present invention utilizes graphical analysis to obtain index point information; Calculate the initial attitude of video camera through interative computation then with respect to coordinate system under the index point; Be converted into the initial attitude of video camera at last with respect to coordinate system under the blue case, camera initial positioning system in the virtual studio in the embodiment of the invention one, structure is as shown in Figure 3; Comprise: position adjustment unit 100 is used to make the camera index point; Picture search unit 200 is connected with said position adjustment unit 100, is used for said index point information is gathered search; Iterative computation unit 300 is connected with said picture search unit 200, is used for carrying out iterative computation according to said acquisition and search result, obtains the video camera initial attitude with respect to the coordinate system of said index point own; Coordinate system converting unit 400 is connected with said iterative computation unit 300, and the initial attitude of the coordinate system of said index point own is changed, and obtains the video camera initial attitude with respect to blue case coordinate system.
When using native system, need carry out the initialization setting of virtual studio.Blue case and index point are set, and as shown in Figure 4, F, G, H zone are three faces of blue case, are blueness.Part beyond these three zones then is other colors (can be white) like straight line CD left part.Index point then can be attached to the part beyond the blue case, position as shown in Figure 4, and four drift angles of index point are respectively: A1, A2, A3 and A4.
Wherein, Said picture search unit 200 specifically comprises: binaryzation subelement 210; Be used for beginning to line by line scan to the lower right corner from the upper left corner of video camera view-finder; Obtain the data of each pixel, in scanning element point, adopt pre-set threshold that each pixel is carried out binary conversion treatment; Subelement 220 is confirmed in the zone, is connected with said binaryzation subelement 210, is used for seeking the zone that the index point black and white is had a common boundary according to the binaryzation data of above-mentioned acquisition, confirms the housing of index point, and the boundary point of record housing; Analyzing subelement 230, confirm that with said zone subelement 220 is connected, be used for each regional integration of index point is analyzed, judge whether to form quadrangle, is not then to delete this regional integration; Coordinate Calculation subelement 240 is connected with said analysis subelement 230, so be used for fitting a straight line is carried out on tetragonal overall region border, calculates the coordinate that obtains four summits.
Said iterative computation unit 300 specifically comprises: translation matrix computation subunit 310 is used to obtain translation matrix T; Spin matrix computation subunit 320 is used to obtain translation matrix R; Relative coordinate system is confirmed subelement 330, is used for calculating the initial position of acquisition video camera with respect to the index point coordinate system according to said spin matrix R and translation matrix T.
Said coordinate system converting unit 400 specifically comprises: transform matrix calculations subelement 410 is used for the transition matrix M between the coordinate system of coordinate system and blue case of calculation flag point itself; The index point coordinate system obtains subelement 420, and the attitude matrix that is used for obtaining according to index point coordinate system iterative computation is M0; Blue case coordinate system computation subunit 430; Obtain subelement 420 with said transform matrix calculations subelement 410 and index point coordinate system respectively and be connected, the attitude that is used for obtaining final video camera according to the transition matrix M between the coordinate system of the coordinate system of said index point itself and blue case and attitude matrix M0 with matrix M '=M*M0.
The concrete course of work of said picture search unit comprises:
S3031 begins to line by line scan to the lower right corner from the upper left corner of video camera view-finder, obtains the data of each pixel, in scanning element point, adopts pre-set threshold that each pixel is carried out binary conversion treatment.
S3032, video camera is sought the zone that the index point black and white is had a common boundary according to the binaryzation data of above-mentioned acquisition, confirms the housing of index point, and the boundary point (generally writing down four fixed-point datas) of record housing.Concrete searching process is: pixel eight connected regions of seeking all boundary points of index point are (because comprise other 8 pixels around a pixel; If this pixel is a black; And in other 8 pixels a point is arranged is black; Then this point is called eight connections with former pixel, and all set according to the point that eight mode of communicating couple together then are called eight connected regions), with all eight connections o'clock as a regional integration.
S3033 analyzes each regional integration of index point, judges whether to form quadrangle, is not then to delete this regional integration.This is because video camera when finding a view; May collect some other interference pixel; Generally, these disturb primitive shapes can identical with the index point shape (be quadrangle, and the black graphics with certain shape must not contained in inside); Therefore, can get rid of disturbing factor through this kind filtration means.
S3034 so fitting a straight line is carried out on tetragonal overall region border, calculates the coordinate that obtains four summit A1, A2, A3 and A4.
Represent (2) formula equal sign left side expression formula with q, the pixel of different points is then used q iExpression.Promptly
q i = u i v i 1 - - - ( 4 )
Wherein, u iWhich this point be listed as in the representative image; v iThis is at which row in the representative image.
Make column vector v then i=K -1Q i, (5)
Obtain a 3*3 matrix according to formula (5) simultaneously V i = v i V i T | v i | 2 - - - ( 6 )
The concrete course of work in said iterative computation unit comprises:
S3041, initialization spin matrix R (3*3 matrix) can be not too accurate.
S3042 calculates the translation matrix T according to formula (6) and initialization spin matrix R,
T = 1 n ( I - 1 n Σ V i ) - 1 Σ ( V i - I ) R · p i - - - ( 7 )
Wherein, n is a quadrangle summit number 4, and I is a unit matrix, p iBe the horizontal range of summit to the coordinate system mid point.
S3043 calculates the pixel coordinate v that was processed i=V i(Rp i+ T) (8)
S3044 calculates the horizontal range difference of summit to the coordinate system mid point
p i ′ = p i - 1 n Σ p i , v i ′ = v i - 1 n Σ v i , M = Σ v i ′ · p i ′ - - - ( 9 )
S3045 is with SVD decomposition method split-matrix M, M=U Λ V T, carry out singular value decomposition and obtain V and U.
S3046 calculates acquisition spin matrix R according to said V and U,
R＝V·U T (10)
The concrete course of work of said coordinate system converting unit comprises:
According to the translation matrix T of formula (7) and the spin matrix R of formula (10) initial attitude of the coordinate system of said index point own is changed, obtained video camera initial attitude with respect to blue case coordinate system.Iterative computation has obtained the initial attitude of video camera, but that is for the coordinate system of index point oneself, is not the coordinate system with respect to blue case, therefore also needs a conversion could get correct result to the end.As shown in Figure 4, the coordinate system of index point own is: B1B4 is the x axle, and B1B2 is the y axle, and vertically this plane vector to the right is the z axle.This coordinate system has the relation of a translation and rotation with respect to the coordinate system on the blue case.Therefore this translation and rotation relationship need be at first calculated, final video camera attitude could be calculated.
Measure A1-A4, the coordinate of B1-B4 under blue case coordinate system put the coordinate under self coordinate system in conjunction with each, lists equation group and finds the solution the transition matrix M that can obtain between these two coordinate systems.If the attitude matrix of iterative computation gained is M0, then the attitude of final video camera uses matrix description then to be:
M′＝M*M0 (11)
Wherein, M = R T 0 1 - - - ( 12 )
Bring formula (7) and formula (10) into formula (12), obtain M.
In the foregoing description; In initial set-up procedure, need be ready for the index point that carries out graphical analysis is one, but can support a plurality of index points in the practical application, and the index point pattern is shown in Fig. 5 a, Fig. 5 b and Fig. 5 c; Three index points have been shown respectively; The structure of each index point all is the outer black rectangle frame (also can adopt parallelogram, trapezoidal or other quadrangles in the practical application) that is with, and inside has the index point sign (for example to represent with the black blockage, can certainly adopt the black entity of other shapes to represent; For example circle, triangle, trapezoidal etc.; Among the present invention this is not limited, if can play distinguish number purpose all within protection range of the present invention), the quantity of middle black is used for different index points is distinguished.Wherein, the embodiment of the invention once in used the index point of Fig. 5 a.
In the embodiment of the invention two, provide and utilized a plurality of index points (is example with two) in virtual studio, to carry out camera initial positioning system.Blue case and index point are set, also comprise the mark point recognition unit in the system, be connected, when being used for optional index point and comprising at least two, confirm the index point numbering of aiming at based on the sign of the counting in the index point of gathering with the picture search unit.As shown in Figure 6, four drift angles of top index point are respectively: A1, A2, A3 and A4; Following four drift angles of index point are respectively: B1, B2, B3 and B4.Video camera can select to aim at top index point, also can select to aim at following index point.The existence of a plurality of index points makes that this location technology is flexible, and when not having the multimachine position, one of them video camera shelters from index point, makes another video camera to position.To a plurality of index point situation, video camera can be aimed at any index point, but need to guarantee at least can be complete the index point that photographs.
Through the description of above execution mode, those skilled in the art can be well understood to the present invention and can realize by the mode that software adds essential general hardware platform, can certainly pass through hardware, but the former is better execution mode under a lot of situation.Based on such understanding; The part that technical scheme of the present invention contributes to prior art in essence in other words can be come out with the embodied of software product; This computer software product is stored in the storage medium; Comprise some instructions with so that computer equipment (can be personal computer, server, the perhaps network equipment etc.) carry out the described system of each embodiment of the present invention.
More than disclosedly be merely several specific embodiment of the present invention, still, the present invention is not limited thereto, any those skilled in the art can think variation all should fall into protection scope of the present invention.

Claims (9)

1. initial location system in the virtual studio is characterized in that, comprising:
Position adjustment unit is used to make the camera index point;
The picture search unit is connected with said position adjustment unit, is used for said index point information is gathered search;
Said picture search unit specifically comprises:
The binaryzation subelement is used for beginning to line by line scan to the lower right corner from the upper left corner of video camera view-finder, obtains the data of each pixel, in scanning element point, adopts pre-set threshold that each pixel is carried out binary conversion treatment;
Subelement is confirmed in the zone, is connected with said binaryzation subelement, is used for seeking the zone that the index point black and white is had a common boundary according to the binaryzation data of above-mentioned acquisition, confirms the housing of index point, and the boundary point of record housing;
Analyzing subelement, confirm that with said zone subelement is connected, be used for each regional integration of index point is analyzed, judge whether to form quadrangle, is not then to delete this regional integration;
The coordinate Calculation subelement is connected with said analysis subelement, so be used for fitting a straight line is carried out on tetragonal overall region border, calculates the coordinate that obtains four summits;
The iterative computation unit is connected with said picture search unit, is used for carrying out iterative computation according to said acquisition and search result, obtains the video camera initial attitude with respect to the coordinate system of said index point own;
The coordinate system converting unit is connected with said iterative computation unit, and the initial attitude of the coordinate system of said index point own is changed, and obtains the video camera initial attitude with respect to blue case coordinate system.
2. initial location system in the virtual studio according to claim 1; It is characterized in that, also comprise the mark point recognition unit, be connected with said picture search unit; When being used for optional index point and comprising at least two, confirm the index point numbering of aiming at according to the sign of the counting in the index point of gathering.
3. initial location system in the virtual studio according to claim 1 is characterized in that said iterative computation unit specifically comprises:
The translation matrix computation subunit is used to obtain translation matrix T;
The spin matrix computation subunit is used to obtain spin matrix R;
Relative coordinate system is confirmed subelement, is used for calculating the initial position of acquisition video camera with respect to the index point coordinate system according to said spin matrix R and translation matrix T.
4. like initial location system in the said virtual studio of claim 3, it is characterized in that the said translation matrix T that obtains specifically comprises:
Figure FSB00000626516600021
Wherein, n is a quadrangle summit number 4, and I is a unit matrix, p iBe the horizontal range of summit to the coordinate system mid point, V wherein iThis is at which row in the representative image.
5. like initial location system in the said virtual studio of claim 3, it is characterized in that the said spin matrix R that obtains specifically comprises:
Initialization spin matrix R;
Calculate the pixel coordinate vi=V that was processed according to translation matrix T i(Rp i+ T)
Calculate the horizontal range difference of summit to the coordinate system mid point p i ′ = p i - 1 n Σ p i , v i ′ = v i - 1 n Σ v i , M=∑ v ' iP ' i
With SVD decomposition method split-matrix M, M=U Λ V T, carry out singular value decomposition and obtain V and U.
Calculate acquisition spin matrix R, R=VU according to said V and U T
6. initial location system in the virtual studio according to claim 1 is characterized in that said coordinate system converting unit specifically comprises:
The transform matrix calculations subelement is used for the transition matrix M between the coordinate system of coordinate system and blue case of calculation flag point itself;
The index point coordinate system obtains subelement, and the attitude matrix that is used for obtaining according to index point coordinate system iterative computation is M 0
Blue case coordinate system computation subunit is obtained subelement with said transform matrix calculations subelement with the index point coordinate system respectively and is connected, and is used for according to transition matrix M and attitude matrix M between the coordinate system of the coordinate system of said index point itself and blue case 0The attitude that obtains final video camera with matrix M '=M*M 0
7. initial location system in the virtual studio according to claim 1 is characterized in that said index point is a quadrangle.
8. like initial location system in the said virtual studio of claim 2, it is characterized in that the shape of said counting sign includes but not limited to rectangle, circle, triangle and trapezoidal.
9. initial location system in the virtual studio according to claim 1 is characterized in that it is outside that said index point is positioned at blue case.
CN2007101780528A 2007-11-26 2007-11-26 Initial location system in virtual studio Expired - Fee Related CN101448088B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2007101780528A CN101448088B (en) 2007-11-26 2007-11-26 Initial location system in virtual studio

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2007101780528A CN101448088B (en) 2007-11-26 2007-11-26 Initial location system in virtual studio

Publications (2)

Publication Number Publication Date
CN101448088A CN101448088A (en) 2009-06-03
CN101448088B true CN101448088B (en) 2012-01-18

Family

ID=40743456

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2007101780528A Expired - Fee Related CN101448088B (en) 2007-11-26 2007-11-26 Initial location system in virtual studio

Country Status (1)

Country Link
CN (1) CN101448088B (en)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102111565B (en) * 2009-12-25 2015-04-29 新奥特（北京）视频技术有限公司 Initial positioning method and device for camera in virtual studio system
CN103297692A (en) * 2013-05-14 2013-09-11 温州市凯能电子科技有限公司 Quick positioning system and quick positioning method of internet protocol camera
CN106558077A (en) * 2015-09-18 2017-04-05 中兴通讯股份有限公司 The antidote and device of site error
CN106444846A (en) * 2016-08-19 2017-02-22 杭州零智科技有限公司 Unmanned aerial vehicle and method and device for positioning and controlling mobile terminal
CN109040528B (en) * 2018-09-30 2021-07-23 深圳市励得数码科技有限公司 Method and device for determining motion state of camera in studio and studio system

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1741570A (en) * 2004-08-24 2006-03-01 西安宏源视讯设备有限责任公司 Instantaneous initialization positioning method in virtual studio system

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1741570A (en) * 2004-08-24 2006-03-01 西安宏源视讯设备有限责任公司 Instantaneous initialization positioning method in virtual studio system

Non-Patent Citations (5)

* Cited by examiner, † Cited by third party
Title
JP特开2007-25468A 2007.02.01
宋海娜，匡纲要，库锡树.虚拟环境中的彩色CCD摄像机校准.《计算机工程与应用》.2002,254-256. *
金丽.虚拟演播室的校准与定位.《现代电视技术》.2007,92-93. *
鲁敏，匡纲要，郁文贤.基于机械跟踪的虚拟演播室系统中摄像机校准和定位算法.《国防科技大学学报》.2004,第26卷(第3期),68-73. *
鲁敏,郁文贤,鲍虎军,匡纲要.基于机电跟踪的三维虚拟演播室系统.《电子学报》.2003,第31卷(第12A期),2035-2039. *

Also Published As

Publication number Publication date
CN101448088A (en) 2009-06-03

Similar Documents

Publication Publication Date Title
US7479982B2 (en) Device and method of measuring data for calibration, program for measuring data for calibration, program recording medium readable with computer, and image data processing device
US9965870B2 (en) Camera calibration method using a calibration target
CN101753818B (en) Imaging apparatus, imaging method, and program
CN105758426B (en) The combined calibrating method of the multisensor of mobile robot
CN106683173B (en) A method of Three-dimensional Gravity is improved based on neighborhood Block- matching and is laid foundations the dense degree of cloud
CA2078556C (en) Computer assisted video surveying and method therefor
CN101882313B (en) Calibration method of correlation between single line laser radar and CCD (Charge Coupled Device) camera
US5259037A (en) Automated video imagery database generation using photogrammetry
CN101753813B (en) Imaging apparatus, imaging method, and program
US20020163582A1 (en) Self-calibrating, digital, large format camera with single or mulitiple detector arrays and single or multiple optical systems
US20090154793A1 (en) Digital photogrammetric method and apparatus using intergrated modeling of different types of sensors
CN106990776B (en) Robot homing positioning method and system
CN101448088B (en) Initial location system in virtual studio
CN106127745A (en) The combined calibrating method of structure light 3 D visual system and line-scan digital camera and device
JP2009017480A (en) Camera calibration device and program thereof
JP2009177251A (en) Generation method of orthophoto image and photographing device
CN105157602A (en) Remote three-dimensional scanning system and method based on machine vision
CN106871787A (en) Large space line scanning imagery method for three-dimensional measurement
CN109559349A (en) A kind of method and apparatus for calibration
CN101998136A (en) Homography matrix acquisition method as well as image pickup equipment calibrating method and device
CN101447073A (en) Zoom lens calibration method
CN108537849A (en) The scaling method of the line-scan digital camera of three-dimensional right angle target based on donut
CN101448090B (en) Initial location method for virtual studio
CN117036300A (en) Road surface crack identification method based on point cloud-RGB heterogeneous image multistage registration mapping
CN110986888A (en) Aerial photography integrated method

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20120118

Termination date: 20161126

CF01 Termination of patent right due to non-payment of annual fee