CN102104791B - Video camera calibration system and coordinate data generation system, and method thereof - Google Patents
Video camera calibration system and coordinate data generation system, and method thereof Download PDFInfo
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- CN102104791B CN102104791B CN2009102610449A CN200910261044A CN102104791B CN 102104791 B CN102104791 B CN 102104791B CN 2009102610449 A CN2009102610449 A CN 2009102610449A CN 200910261044 A CN200910261044 A CN 200910261044A CN 102104791 B CN102104791 B CN 102104791B
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Abstract
The invention discloses a video camera calibration system, a video camera calibration method, a coordinate data generation system and a coordinate data generation method. The video camera calibration system comprises a coordinate data generation device and a coordinate data identification device, wherein the coordinate data generation device is used for generating a plurality of pieces of map coordinate data of a plurality of actual positions in an actual scene; and the coordinate data identification device is used for receiving an image plane of the actual scene from a video camera to be calibrated, and receiving the map coordinate data from the coordinate data generation device. Moreover, the coordinate data identification device identifies image positions, corresponding to each actual position, in the image plane, and calculates the image coordinate data of each image position. In addition, the coordinate data identification device calculates a coordinate conversion matrix corresponding to the video camera to be calibrated according to the calculated image coordinate data and the received map coordinate data. Therefore, the video camera calibration system can rapidly finish calibrating the video camera.
Description
Technical field
The present invention relates to a kind of video camera corrective system and coordinate data and produce system and video camera bearing calibration and coordinate data production method.
Background technology
Along with the progress of image technology, video monitoring system has been widely used in the position of grasping monitored personnel.In present supervisory control system, the monitor staff keeps watch on image frame via direct viewing to confirm the residing position of monitored personnel.Yet; Owing to keep watch on the direction and the size of image frame; Directly be subject to the decorating position of video camera; Therefore the monitor staff is difficult to correctly judge immediately monitored personnel position and trend, even has exceeded the scope that single video camera contains and when striding the situation of video camera, the monitor staff is difficult to judge that monitored personnel will appearance once again in the picture of which platform video camera when moving of monitored personnel.For head it off, on map, can another kind of complete monitoring visual field be provided for the monitor staff with the location mark of monitoring the moving target thing in the image frame.
In order to obtain the position of the taken moving target thing of monitoring camera with respect to map; Mode commonly used at present is for to proofread and correct (Calibration) to all monitoring cameras; With the image plane that obtains video camera and the corresponding relation of actual scene ground (Ground Plane), as follows to its principle explanation.
Actual moving target thing can form a pin point on the ground, and (Ground Point, GP), and this pin point can correspond to a subpoint on the captured image plane of video camera.As far as specific video camera, there is a coordinate conversion matrix between subpoint coordinate and the pin point coordinates.And for different video cameras, each video camera all can corresponding coordinate conversion matrix.That is to say, can the image coordinate of the moving target thing in the video camera be converted to unique actual ground position coordinates through this coordinate conversion matrix.In case after obtaining the ground location coordinate, information such as the engineer's scale through map and actual scene and orientation just can be easily marks the position of moving target thing on map.
Use homography matrix (Homography) extensively to be used as the method that coordinate conversion matrix carries out the conversion of coordinate.The method is first at the corresponding points coordinate figure that finds between two objective planes more than 4 groups, and uses the simultaneous equations solving method and obtain coordinate conversion matrix H.This technology is applied to the video camera timing, and above-mentioned two planes promptly refer to the image plane and the actual ground level of video camera.The way of the coordinate conversion matrix of the existing image plane of asking for video camera and actual ground level; Be in the video camera image, to choose 4 groups of characteristic points that obviously are prone to differentiation corresponding to ground with manual type; Calculate the coordinate figure of characteristic point on video camera image plane and ground level respectively, and then solve the homography matrix of corresponding this video camera.
Yet when using the method, it is quite very difficult finding the characteristic point that in video camera image to be corrected and on map, all can be prone to identification.Therefore, the correction of carrying out video camera often need be dependent on personnel's professional experiences.In addition; Coordinate figure need be obtained with the manual measurement mode in the position of characteristic point on the ground level; Yet the position of characteristic point can't directly be measured (that is, characteristic point and reference point are out-of-line) through regular meeting because of the restriction of terrain and its features causes on the ground level; Cause needs to be measured, increase Measuring Time through indirect metering system.For a large-scale surveillance, its monitoring camera quantity goes up the tuber of stemona usually easily, the surveillance of this scale is carried out video camera proofread and correct, and need drop into high time and human cost undoubtedly.Therefore, how can automation accomplish the video camera correction, be the target that those skilled in the art endeavour.
Summary of the invention
The present invention provides a kind of video camera corrective system, and it can automatically produce coordinate conversion matrix between the map reference data of image coordinate data and actual scene of video camera to proofread and correct video camera.
The present invention provides a kind of video camera bearing calibration, and it can automatically produce coordinate conversion matrix between the map reference data of image coordinate data and actual scene of video camera to proofread and correct video camera.
The present invention provides a kind of coordinate data to produce system, and it can automatically produce the map reference data of physical location.
The present invention provides a kind of coordinate data production method, and it can automatically produce the map reference data of physical location.
Example embodiment of the present invention proposes a kind of video camera corrective system.This video camera corrective system comprises at least one a coordinate data generation device and a coordinate data device for identifying.The coordinate data generation device is to be configured in the actual scene, and produces a plurality of map reference data of a plurality of physical locations different on the ground of corresponding actual scene respectively in order to coordinate system according to the map.The coordinate data device for identifying is to be electrically connected to video camera, and in order to from video camera to be corrected, to receive image plane and from the coordinate data generation device, to receive these map reference data respectively.And the coordinate data device for identifying is the image position of identification corresponding each physical location in image plane respectively, and calculates the image coordinate data of each image position according to the image coordinate system of image plane.In addition, the coordinate data device for identifying calculates the coordinate conversion matrix of corresponding this video camera according to image coordinate data of being calculated and the map reference data that received.
Example embodiment of the present invention proposes a kind of video camera bearing calibration.The bearing calibration of this video camera is included at least one coordinate data generation device of configuration in the actual scene, and uses video camera to be corrected to obtain the image plane of corresponding this actual scene.The bearing calibration of this video camera also comprise use the coordinate generation device according to the map coordinate system automatically produce a plurality of map reference data of a plurality of physical locations different on the ground of corresponding this actual scene; And use the coordinate generation device to send the map reference data of corresponding physical location.The bearing calibration of this video camera also comprises the image position of identification corresponding each physical location in image plane; Calculate the image coordinate data of each image position according to the image coordinate system of image plane; Receive the map reference data of corresponding these physical locations; And foundation image coordinate data of being calculated and the map reference data that received are calculated the coordinate conversion matrix of corresponding this video camera.
Example embodiment of the present invention proposes a kind of coordinate data and produces system.This coordinate data generation system comprises physical message collecting unit and controller.The physical message collecting unit is in order to gather the reference point physical message between the physical location in the actual scene therewith in the actual scene.Controller is to be electrically connected to the physical message collecting unit, and in order to be created in the map reference data of corresponding this physical location in the earth-fixed co-ordinate system according to what gather in reference point and the physical message between the physical location.
Example embodiment of the present invention proposes a kind of coordinate data production method.This coordinate data production method is included in configuration coordinate data generation device in the actual scene.In addition, this coordinate data production method also comprises and uses this coordinate generation device automatically to be captured in the map reference data that physical message that physical message and foundation between the physical location in reference point and the actual scene in the actual scene gathered is created in corresponding this physical location in the earth-fixed co-ordinate system.
Based on foregoing description, the present invention can produce coordinate conversion matrix between the map reference data of image coordinate data and actual scene of video camera apace to proofread and correct video camera.
For making the above-mentioned feature and advantage of the present invention can be more obviously understandable, hereinafter will combine accompanying drawing to describe the particular embodiment of the present invention in detail.
Description of drawings
Fig. 1 is the summary calcspar of the video camera corrective system that illustrated of first example embodiment according to the present invention.
Fig. 2 is the image plane that illustrated of first example embodiment according to the present invention and the conversion sketch map on actual scene ground.
Fig. 3 is the summary calcspar of the coordinate data generation device that illustrated of first example embodiment according to the present invention.
Fig. 4 is the sketch map that the coordinate data generation device that illustrated of first example embodiment according to the present invention is measured the map reference data of physical location.
Fig. 5 is the flow chart of the coordinate data production method that illustrated of first example embodiment according to the present invention.
Fig. 6 is the summary calcspar of the coordinate data device for identifying that illustrated of first example embodiment according to the present invention.
Fig. 7 is the sketch map that the coordinate data device for identifying that illustrated of first example embodiment according to the present invention calculates the image coordinate data of image position.
Fig. 8 is the flow chart of the video camera bearing calibration that illustrated of first example embodiment according to the present invention.
Fig. 9 is the summary calcspar of the video camera corrective system that illustrated of second example embodiment according to the present invention.
Figure 10 is the summary calcspar of the coordinate data generation device that illustrated of second example embodiment according to the present invention.
Figure 11 is the summary calcspar of the positioning feature point unit that illustrated of second example embodiment according to the present invention.
Figure 12 is the sketch map of the map reference data of the measurement physical location that illustrated of second example embodiment according to the present invention.
Figure 13 is the flow chart of the coordinate data production method that illustrated of second example embodiment according to the present invention.
[main element symbol description]
100: the video camera corrective system
102: video camera
104: the first coordinate data generation devices
106: the second coordinate data generation devices
108: the three-dimensional data generating apparatus
110: the 4-coordinate data generating apparatus
112: the coordinate data device for identifying
202: image plane
204: actual scene ground
A, B, C, D: physical location
A ', B ', C ', D ': image position
302: the physical message collecting unit
304: controller
306: luminescence unit
312: quicken rule
R: reference point
602: the light source positioning unit
604: the luminous signal decoding unit
606: the Coordinate Conversion computing unit
O: image coordinate initial point
S501, S503, S505: coordinate data produces step
S801, S803, S805, S807, S809, S811, S813: video camera aligning step
900: the video camera corrective system
902: the five coordinate data generation devices
904: the positioning feature point unit
1002: the physical message collecting unit
1004: controller
1006: luminescence unit
1012: the laser pick-off unit
1014: wireless transmission unit
1102: laser emission element
1104: the distance sensing unit
1106: angle sensing unit
1108: wireless transmission unit
θ: relative angle
L: relative distance
S1301, S1303, S1305, S1307, S1309, S1311: coordinate data produces step
Embodiment
[first example embodiment]
Fig. 1 is the summary calcspar of the video camera corrective system that illustrated of first example embodiment according to the present invention, and Fig. 2 is the image plane that illustrated of first example embodiment according to the present invention and the conversion sketch map on actual scene ground.
Please with reference to Fig. 1, video camera corrective system 100 comprises the first coordinate data generation device 104, the second coordinate data generation device 106, three-dimensional data generating apparatus 108,4-coordinate data generating apparatus 110 and coordinate data device for identifying 112.Video camera corrective system 100 is in order to correction video camera 102, and wherein video camera 102 is the image planes 202 in order to the actual scene of taking the desire monitoring.
The first coordinate data generation device 104, the second coordinate data generation device 106, three-dimensional data generating apparatus 108,4-coordinate data generating apparatus 110 are in order to produce the map reference data of corresponding physical location in the actual scene.Specifically; The first coordinate data generation device 104, the second coordinate data generation device 106, three-dimensional data generating apparatus 108 are 4 different physical location A, B, C and the D (as shown in Figure 2) that are positioned over respectively in the actual scene ground 204 with 4-coordinate data generating apparatus 110, and the first coordinate data generation device 104, the second coordinate data generation device 106, three-dimensional data generating apparatus 108 and 4-coordinate data generating apparatus 110 can be created in the map reference data of present position in the earth-fixed co-ordinate system on actual scene ground 204 own respectively.For example, the earth-fixed co-ordinate system on actual scene ground 204 is that latitude and longitude coordinates, two degree divide band coordinate or user from position fixing.
It must be appreciated; In this example embodiment; Video camera corrective system 100 comprises that 4 coordinate data generation devices (that is, the first coordinate data generation device 104, the second coordinate data generation device 106, three-dimensional data generating apparatus 108 and 4-coordinate data generating apparatus 110) are created in the map reference data of corresponding 4 different physical locations in the actual scene.Yet; The invention is not restricted to this; In another example embodiment of the present invention, also can only dispose 1 coordinate data generation device and move or automatically move to the map reference data that 4 different physical locations are created in corresponding 4 different physical locations in the actual scene through manual work.In addition, in another example embodiment of the present invention, also can dispose the map reference data that more a plurality of coordinate data generation devices produce corresponding more a plurality of different physical locations.
What deserves to be mentioned is; In this example embodiment, the first coordinate data generation device 104, the second coordinate data generation device 106, three-dimensional data generating apparatus 108 and 4-coordinate data generating apparatus 110 respectively can transmitting illuminant and the emission state through light source transmit the map reference data that produced.
Coordinate data device for identifying 112 is to be electrically connected to video camera 102.Coordinate data device for identifying 112 can receive the image plane 202 of the captured actual scene of video camera 102 from video camera 102.Particularly, coordinate data device for identifying 112 can identifications the image plane 202 of captured actual scene identifies the light source that each coordinate data generation device is launched with resolving video camera 102; Obtain the image coordinate data of each coordinate data generation device in the image coordinate system of image plane 202 according to the light source of being discerned; Receive the map reference data that each coordinate data generation device is transmitted; And the coordinate conversion matrix that calculates corresponding video camera 102 according to the map reference data of each coordinate data generation device in image coordinate data and the earth-fixed co-ordinate system of each coordinate data generation device in the image coordinate system of image plane 202 at actual scene.
Specifically; Coordinate data device for identifying 112 can identifications the light source in the image plane 202 of captured actual scene identifies the image position D ' of image position C ' and 4-coordinate data of image position B ', the three-dimensional data generating apparatus 108 of image position A ', the second coordinate data generation device 106 of the first coordinate data generation device 104 in image plane 202 with resolving video camera 102, and calculate the image coordinate data of image position A ', B ', C ' and D '.In addition, coordinate data device for identifying 112 can be respectively according to the map reference data of reception physical location A, B, C and D the light source of being launched from the first coordinate data generation device 104, the second coordinate data generation device 106, three-dimensional data generating apparatus 108 and 4-coordinate data generating apparatus 110.Then; Coordinate data device for identifying 112 can produce the coordinate conversion matrix of corresponding video camera 102 according to the image position A ' that is calculated, B ', C ' and the image coordinate data of D ' and the physical location A that is received, B, C and the map reference data of D, can accomplish the correction of video camera 102 thus.For example, the coordinate conversion matrix that calculated of coordinate data device for identifying 112 is homography matrix (Homography).Below will cooperate the graphic running of more describing coordinate generation device and coordinate data device for identifying in detail.
Fig. 3 is the summary calcspar of the coordinate data generation device that illustrated of first example embodiment according to the present invention, and Fig. 4 is the sketch map that coordinate data generation device that first example embodiment according to the present invention is illustrated is measured the map reference data of physical location.
The first coordinate data generation device 104, the second coordinate data generation device 106, three-dimensional data generating apparatus 108 are identical with the structure and the function of 4-coordinate data generating apparatus 110, will be that example describes with the first coordinate data generation device 104 below.
Please with reference to Fig. 3, the first coordinate data generation device 104 comprises physical message collecting unit 302, controller 304 and luminescence unit 306.
Physical message collecting unit 302 is in order to be captured in reference point and the physical message between the physical location (for example, physical location A) in the actual scene ground 204.In this example embodiment, physical message collecting unit 302 comprises acceleration rule 312.Specifically; When the user desires to carry out the correction of video camera 102 and the first coordinate data generation device 104 is positioned over the physical location A on actual scene plane 204; The user need move to physical location A from reference point R with 302 replacements (that is, making zero) of physical message collecting unit and with the first coordinate data generation device 104.At this moment, physical message collecting unit 302 can be gathered out the first coordinate data generation device 104 moves to physical location A from reference point R accekeration.
Fig. 5 is the flow chart of the coordinate data production method that illustrated of first example embodiment according to the present invention.
Please with reference to Fig. 5, at first, in step S501, use the coordinate generation device to be captured in reference point and the physical message between the physical location in the actual scene.For example, in this example embodiment, the first coordinate generation device 104 is acceleration that the reference point R of measurement from actual scene moves to physical location A.Then, in step S503, calculate reference point and the displacement between the physical location in the actual scene according to the physical message of being gathered.At last, in step S505, produce the map reference data of corresponding physical location according to the reference point of the actual scene that calculates and the displacement of physical location.
Except producing the map reference data, controller 304 can be encoded to be sent by luminescence unit 306 to the map reference data that produced.
At this, the map reference data of physical location B, C and D also are to produce and send through the second coordinate data generation device 106, three-dimensional data generating apparatus 108 and 4-coordinate data generating apparatus 110 in the above described manner, are not repeated in this description at this.
Fig. 6 is the summary calcspar of the coordinate data device for identifying that illustrated of first example embodiment according to the present invention, and Fig. 7 is the sketch map that coordinate data device for identifying that first example embodiment according to the present invention is illustrated calculates the image coordinate data of image position.
Please with reference to Fig. 6, coordinate data device for identifying 112 comprises light source positioning unit 602, luminous signal decoding unit 604 and Coordinate Conversion computing unit 606.
Light source positioning unit 602 is that the image plane 202 in order to the identification actual scene captured with resolving video camera 102 identifies the light source that the luminescence unit of the first coordinate data generation device 104, the second coordinate data generation device 106, three-dimensional data generating apparatus 108 and 4-coordinate data generating apparatus 110 is launched; And obtain the image coordinate data of the first coordinate data generation device 104, the second coordinate data generation device 106, three-dimensional data generating apparatus 108 and 4-coordinate data generating apparatus 110 (that is, image position A ', B ', C ' and D ') in the image coordinate system (shown in the X axle and Y axle of Fig. 7) of image plane 202.
With the first coordinate data generation device 104 is example; Light source positioning unit 602 can pick out the image of the light source that the first coordinate data generation device 104 is sent in the image plane 202 of the captured actual scene of video camera 102; And calculate the image coordinate data of this light source position in the image coordinate system of image plane 202 (that is image position A ') according to image initial point O.As shown in Figure 7, light source positioning unit 602 defines the image coordinate system according to the pixel of image plane 202, and calculates in image plane 202 image position A ', B ', C ' and D ' and be used as the image coordinate data with respect to the displacement of image initial point O.
Luminous signal decoding unit 604 is electrically connected to light source positioning unit 602.Can decode the respectively state of the light source that light source produced that the luminescence unit of the first coordinate data generation device 104, the second coordinate data generation device 106, three-dimensional data generating apparatus 108 and 4-coordinate data generating apparatus 110 launches of luminous signal decoding unit 604 obtains the map reference data of physical location A, B, C and D.That is to say the state of the light source that the luminescence unit that luminous signal decoding unit 604 can the coordinate identification data generating apparatus is launched, the map reference data that the controller of the coordinate data of decoding thus generation device is coded.
Coordinate Conversion computing unit 606 is electrically connected to light source positioning unit 602 and luminous signal decoding unit 604.Coordinate Conversion computing unit 606 calculates the coordinate conversion matrix of corresponding video camera 102 according to the image position A ' that from light source positioning unit 602, is received, B ', C ' and the image coordinate data of D ' and the physical location A that from luminous signal decoding unit 604, is received, B, C and the map reference data of D.
In this example embodiment, light source positioning unit 602, luminous signal decoding unit 604 are to be implemented by hardware with Coordinate Conversion computing unit 606.Yet, the invention is not restricted to this, for example, coordinate data device for identifying 112 is that PC and light source positioning unit 602, luminous signal decoding unit 604 and Coordinate Conversion computing unit 606 are to be configured in the coordinate data device for identifying 112 with form of software.
Fig. 8 is the flow chart of the video camera bearing calibration that illustrated of first example embodiment according to the present invention.
Please with reference to Fig. 8, at first, in step S801 in actual scene the configuration first coordinate data generation device 104, the second coordinate data generation device 106, three-dimensional data generating apparatus 108 and 4-coordinate data generating apparatus 110.Then, in step S803, use video camera 102 to obtain the image plane 202 of (or shooting) corresponding actual scene.
In step S805 by the first coordinate data generation device 104, the second coordinate data generation device 106, three-dimensional data generating apparatus 108 and 4-coordinate data generating apparatus 110 according to the map coordinate system produce the map reference data of corresponding physical location A, B, C and D respectively and automatically.
Afterwards, the map reference data that the first coordinate data generation device 104, the second coordinate data generation device 106, three-dimensional data generating apparatus 108 and 4-coordinate data generating apparatus 110 send corresponding physical location A, B, C and D respectively in step S807.Specifically; Map reference data that the first coordinate data generation device 104, the second coordinate data generation device 106, three-dimensional data generating apparatus 108 and 4-coordinate data generating apparatus 110 can coding be produced and produce light source according to coded map reference data, the state of the light source that passes through thus to be produced transmits the map reference data of physical location A, B, C and D.
Then; In step S809,, and obtain the image coordinate data of in the image coordinate system of image plane 202 image position A ', B ', C ' and D ' by image position A ', B ', the C ' and D ' of the coordinate data device for identifying 112 identifications first coordinate data generation device 104, the second coordinate data generation device 106, three-dimensional data generating apparatus 108 and 4-coordinate data generating apparatus 110 in image plane 202.Specifically; Coordinate data device for identifying 112 can identifications the first coordinate data generation device 104, the second coordinate data generation device 106, three-dimensional data generating apparatus 108 and 4-coordinate data generating apparatus 110 are produced in the captured image plane 202 of video camera 102 light source, and the light source position that picked out of foundation calculates the image coordinate data of image position A ', B ', C ' and D '.
In step S811 by 112 identifications of coordinate data device for identifying and receive the map reference data of corresponding physical location A, B, C and D.For example, coordinate data device for identifying 112 can identifications light source and the decoding light signal that light source transmitted in the captured image plane 202 of the video camera 102 map reference data that obtain corresponding physical location A, B, C and D.
At last; In step S813, calculate the coordinate conversion matrix of corresponding video camera 102 according to the image coordinate data of image position A ', B ', C ' and D ' and physical location A, B, C and the map reference data of D, accomplish the correction of video camera 102 thus by coordinate data device for identifying 112.
[second example embodiment]
The coordinate data generation device is through measuring the map reference data that the acceleration that moves to physical location from reference point calculates physical location in the video camera corrective system of first example embodiment, and the coordinate data generation device is map reference data of measuring physical location through laser in the video camera corrective system of second example embodiment.Below will describe to the difference part of second example embodiment and first example embodiment.
Fig. 9 is the summary calcspar of the video camera corrective system that illustrated of second example embodiment according to the present invention.
Please with reference to Fig. 9, video camera corrective system 900 comprise the 5th coordinate data generation device 902, positioning feature point unit 904, with coordinate data device for identifying 112.At this, video camera corrective system 900 will be proofreaied and correct video camera 102, and wherein the function of coordinate data device for identifying 112 and structure have been described as above, are not repeated in this description at this.
Positioning feature point unit 904 is to be configured on the reference point R of actual scene, and in order to relative distance and the relative angle of emission laser to measure the 5th coordinate data generation device 902.The 5th coordinate data generation device 902 can receive measured relative distance and relative angle and calculating corresponding map coordinate data from positioning feature point unit 904.
Figure 10 is the summary calcspar of the coordinate data generation device that illustrated of second example embodiment according to the present invention.
Please with reference to Figure 10, the 5th coordinate data generation device 902 comprises physical message collecting unit 1002, controller 1004 and luminescence unit 1006.
Physical message collecting unit 1002 comprises laser pick-off unit 1012 and wireless transmission unit 1014.Laser pick-off unit 1012 is in order to 904 emitted laser in reception positioning feature point unit, and wireless transmission unit 1014 is in order to transmit confirmation and to receive relative distance and the relative angle that positioning feature point unit 904 is transmitted.
Figure 11 is the summary calcspar of the positioning feature point unit that illustrated of second example embodiment according to the present invention.
Please with reference to Figure 11, positioning feature point unit 904 comprises laser emission element 1102, distance sensing unit 1104, angle sensing unit 1106 and wireless transmission unit 1108.
Laser emission element 1102 can rotate and launches laser with 360 degree.Distance sensing unit 1104 is in order to the relative distance between sensed characteristic point location unit 904 and the 5th coordinate data generation device 902.Angle sensing unit 1106 is in order to the relative angle between sensed characteristic point location unit 904 and the 5th coordinate data generation device 902.Wireless transmission unit 1108 is in order to transmit relative distance and the relative angle between sensed characteristic point location unit 904 and the 5th coordinate data generation device 902.
Figure 12 is the sketch map of the map reference data of the measurement physical location that illustrated of second example embodiment according to the present invention.
Please with reference to Figure 12; When desire produces the map reference data of physical location A; The 5th coordinate data generation device 902 can be placed on the physical location A of actual scene, and is positioned over the laser emission element 1102 of the positioning feature point unit 904 on the reference point R of actual scene and can beginning rotates with 360 degree and continue emission laser.During this time; When the laser pick-off unit 1012 of the 5th coordinate data generation device 902 received 1102 emitted laser of laser emission element, the wireless transmission unit 1014 of the 5th coordinate data generation device 902 can be sent the wireless transmission unit 1108 that confirmation is given positioning feature point unit 904.At this moment, laser emission element 1102 can stop the rotation at once, and the relative distance L between 1104 meeting measurement features point location unit 904, distance sensing unit and the 5th coordinate data generation device 902.In addition, angle sensing unit 1106 can calculate the relative angle θ between measurement features point location unit 904 and the 5th coordinate data generation device 902 according to the anglec of rotation of laser emission element 1102.Then, wireless transmission unit 1108 meetings of positioning feature point unit 904 send measured relative distance L and relative angle θ to the wireless transmission unit 1014 of the 5th coordinate data generation device 902.At last; The relative distance L that controller 1004 can be gathered according to physical message collecting unit 1002 and relative angle θ calculate the 5th coordinate data generation device 902 with respect to reference point R in displacement on the X axle and the displacement on the Y axle; And produce the map reference data of the 5th coordinate data generation device 902 present positions (that is physical location A) thus.
Figure 13 is the flow chart of the coordinate data production method that illustrated of second example embodiment according to the present invention.
Please with reference to Figure 13, at first, in step S1301, positioning feature point unit 904 is positioned on the reference point R of actual scene and with the 5th coordinate data generation device 902 and is positioned over (for example, physical location A) on the physical location.
Then, positioning feature point unit 904 continues rotation and emission laser in step S1303.Then, judge in step S1305 whether the 5th coordinate data generation device 902 receives 904 emitted laser in positioning feature point unit.
If when the 5th coordinate data generation device 902 does not receive institute's emitted laser, positioning feature point unit 904 continues rotation and emission laser (that is step S1303).If when the 5th coordinate data generation device 902 received institute's emitted laser, then positioning feature point unit 904 stopped the rotation in step S1307.As stated, can send confirmation to positioning feature point unit 904 when the 5th coordinate data generation device 902 receives institute's emitted laser, and positioning feature point unit 904 can stop the rotation according to this confirmation.
Afterwards, in step S1309, calculate relative distances and relative velocity and send relative distance of being calculated and relative velocity to the 5th coordinate data generation device 902 by positioning feature point unit 904.
At last, the map reference data that in step S1311, produce physical location according to relative distance that is received and relative velocity by the 5th coordinate data generation device 902.
In this example embodiment; When desire produced the map reference data of physical location B, C and D, user only need moved to the map reference data that the 5th coordinate data generation device 902 behind physical location B, C and the D can automatically produce physical location B, C and D with the 5th coordinate data generation device 902.
Be similar to first example embodiment; Take the image plane of actual scenes when video camera 102 after, coordinate data device for identifying 112 can be resolved the light source of being launched with identification the 5th coordinate data generation device 902 and calculated the image coordinate data of image position A ', B ', C ' and D '; The light source that the 5th coordinate data generation device 902 of decoding is launched to be receiving the map reference data of physical location A, B, C and D, and calculates the coordinate conversion matrix of corresponding video camera 102 according to the image coordinate data of image position A ', B ', C ' and D ' and physical location A, B, C and the map reference data of D.
In sum, the coordinate data generation device of example embodiment of the present invention can automatically produce the map reference data of position and the map reference data that produced via the light source transmission.In addition, the coordinate data device for identifying of example embodiment of the present invention can identification in the captured image plane of video camera the coordinate data generation device and calculate the image coordinate data of the coordinate data generation device of institute's identification.Moreover the coordinate data device for identifying of example embodiment of the present invention can obtain the map reference data that the coordinate data generation device is produced according to the light source that the coordinate data generation device is launched.Thus, the coordinate data of example embodiment of the present invention can come automatic real estate to give birth to the correction of the coordinate conversion matrix of corresponding video camera with the completion video camera according to image coordinate data of being calculated and the map reference data that received.
Though disclosed the above embodiment of the present invention hereinbefore; Yet it is not in order to limit the present invention; Person skilled under any; Under the situation that does not break away from the spirit and scope of the present invention, should carry out a little change and retouching, so protection scope of the present invention should be as the criterion with claim institute restricted portion.
Claims (31)
1. a video camera corrective system is characterized in that, this video camera corrective system comprises:
At least one coordinate data generation device is configured in the actual scene, produces a plurality of map reference data to a plurality of physical locations different on should the ground of actual scene respectively in order to coordinate system according to the map; And
The coordinate data device for identifying is electrically connected to video camera, in order to the image plane that from this video camera, receives this actual scene and from said at least one coordinate data generation device, receive said map reference data respectively,
This coordinate data device for identifying image position of identification corresponding each said physical location in this image plane respectively wherein, and calculate the image coordinate data of each said image position according to the image coordinate system of this image plane,
Wherein this coordinate data device for identifying calculates coordinate conversion matrix that should video camera according to said image coordinate data and said map reference data.
2. video camera corrective system according to claim 1 is characterized in that, said at least one coordinate data generation device comprises:
The physical message collecting unit is in order to gather reference point and the physical message between the said physical location in this actual scene;
Controller is electrically connected to this physical message collecting unit, in order to according to this reference point in this actual scene of being gathered and the physical message between the said physical location produces said map reference data and the said map reference data of encoding; And
Luminescence unit is electrically connected to this controller, and in order to produce light source and to send the said map reference data of having encoded.
3. video camera corrective system according to claim 2 is characterized in that, this coordinate data device for identifying comprises:
The light source positioning unit, the light source that is produced in order to this luminescence unit of identification is to obtain said image coordinate data;
The luminous signal decoding unit is electrically connected to this light source positioning unit, in order to the said map reference data of decoding according to the light source that this luminescence unit produced and having encoded; And
The Coordinate Conversion computing unit is electrically connected to this light source positioning unit and this luminous signal decoding unit, in order to calculate according to said image coordinate data and said map reference data this coordinate conversion matrix that should video camera.
4. video camera corrective system according to claim 2 is characterized in that, this physical message collecting unit comprises and quicken rule, in order to measuring the acceleration that this reference point from this actual scene moves to said physical location,
Wherein this controller acceleration of moving to said physical location according to measured this reference point from this actual scene of this acceleration rule calculates the displacement of said physical location and produces the said map reference data of corresponding said physical location according to the displacement of said physical location.
5. video camera corrective system according to claim 2 is characterized in that, this video camera corrective system also comprises the positioning feature point unit, be configured on this reference point,
Wherein this positioning feature point unit is in order to emission laser; Relative distance and relative angle via the said physical location of this laser measurement; And transmit the relative distance and the relative angle of said physical location; Said relative distance is the distance between this physical location and this reference point in the image plane of this actual scene, and said relative angle is the angle between the reference axis of the line between this physical location and this reference point and this earth-fixed co-ordinate system in the image plane of this actual scene.
6. video camera corrective system according to claim 5 is characterized in that, this physical message collecting unit comes from this laser of this positioning feature point unit and the relative distance and the relative angle of said physical location in order to reception,
Wherein this controller calculates said map reference data respectively according to the relative distance and the relative angle of said physical location.
7. video camera corrective system according to claim 5 is characterized in that, this positioning feature point unit comprises:
Laser emission element is in order to rotation and launch this laser;
The distance sensing unit is in order to the transmitting range of this laser of sensing, to measure the relative distance of said physical location;
Angle sensing unit is in order to the emission angle of this laser of sensing, to measure the relative angle of said physical location; And
Wireless transmission unit is in order to relative distance and the relative angle that transmits said physical location.
8. video camera corrective system according to claim 6 is characterized in that, this physical message collecting unit comprises:
The laser pick-off unit is in order to receive this laser; And
Wireless transmission unit is in order to relative distance and the relative angle that receives said physical location.
9. video camera corrective system according to claim 1 is characterized in that, this coordinate conversion matrix is a homography matrix.
10. video camera corrective system according to claim 1 is characterized in that, this earth-fixed co-ordinate system is that latitude and longitude coordinates or two degree divide the band coordinate.
11. a video camera bearing calibration is characterized in that, this video camera bearing calibration comprises:
At least one coordinate data generation device of configuration in an actual scene;
Use video camera to obtain to image plane that should actual scene;
Use said at least one coordinate generation device according to the map coordinate system automatically produce a plurality of map reference data to a plurality of physical locations different on should the ground of actual scene;
Use said at least one coordinate generation device to send the said map reference data of corresponding said physical location;
The image position of identification corresponding each said physical location in this image plane;
Calculate the image coordinate data of each said image position according to the image coordinate system of this image plane;
Receive the said map reference data of corresponding said physical location; And
Calculate coordinate conversion matrix that should video camera according to said image coordinate data and said map reference data.
12. video camera bearing calibration according to claim 11 is characterized in that, the step of using said at least one coordinate generation device to send the said map reference data of corresponding said physical location comprises:
The said system coordinates of encoding; And
The light source that uses said at least one coordinate generation device to be launched transmits the said map reference data of having encoded.
13. video camera bearing calibration according to claim 12 is characterized in that, the step that receives the said map reference data of corresponding said physical location comprises:
Receive the said map reference data that light source that said at least one coordinate generation device launched and decoding have been encoded.
14. video camera bearing calibration according to claim 12 is characterized in that, the step of identification image position of corresponding each said physical location in this image plane comprises:
The light source of being launched according to said at least one coordinate generation device comes the image position of identification corresponding each said physical location in this image plane.
15. video camera bearing calibration according to claim 11; It is characterized in that, use said at least one coordinate generation device to comprise according to the step that this earth-fixed co-ordinate system automatically produces the said map reference data of said physical locations different on should the ground of actual scene:
Use the reference point of said at least one coordinate generation device measurement from this actual scene to move to the acceleration of said physical location;
Calculate the displacement of this reference point to the said physical location from this actual scene according to measured acceleration; And
Produce the said map reference data of corresponding said physical location according to the displacement of calculating this reference point from this actual scene to said physical location.
16. video camera bearing calibration according to claim 11; It is characterized in that, use said at least one coordinate generation device to comprise according to the step that this earth-fixed co-ordinate system automatically produces the said map reference data of said physical locations different on should the ground of actual scene:
Configuration feature point location unit is with transmitting illuminant in the reference point in this actual scene;
Relative distance and relative angle between said physical location and this reference point are detected via this light source in use characteristic point location unit; Said relative distance is the distance between this physical location and this reference point in the image plane of this actual scene, and said relative angle is the angle between the reference axis of the line between this physical location and this reference point and this earth-fixed co-ordinate system in the image plane of this actual scene; And
According to relative distance and the relative angle between the said physical location of detecting and this reference point calculate said map reference data.
17. video camera bearing calibration according to claim 11 is characterized in that, this coordinate conversion matrix is a homography matrix.
18. video camera bearing calibration according to claim 11 is characterized in that, this earth-fixed co-ordinate system is that latitude and longitude coordinates or two degree divide the band coordinate.
19. a coordinate data produces system, comprising:
The physical message collecting unit is in order to gather reference point and the physical message between the physical location in this actual scene in the actual scene; And
Controller is electrically connected to this physical message collecting unit, in order to be created in according to the physical message between this reference point and this physical location of being gathered in the earth-fixed co-ordinate system map reference data that should physical location.
20. coordinate data according to claim 19 produces system, it is characterized in that, this coordinate data produces system and also comprises:
Luminescence unit is electrically connected to this controller, and in order to the generation light source,
Wherein these map reference data of this coding of controls and this luminescence unit send these map reference data of having encoded via this light source.
21. coordinate data according to claim 19 produces system, it is characterized in that, this physical message collecting unit comprises and quickens rule, in order to measuring the acceleration that this reference point from this actual scene moves to this physical location,
Wherein this controller acceleration of moving to this physical location according to measured this reference point from this actual scene of this acceleration rule calculates the displacement of this physical location and produces these map reference data that should physical location according to the displacement of this physical location.
22. coordinate data according to claim 19 produces system, it is characterized in that, this coordinate data produces system and also comprises the positioning feature point unit, be configured on this reference point,
Wherein this positioning feature point unit is in order to emission laser; Relative distance and relative angle via this this physical location of laser measurement; And transmit the relative distance and the relative angle of this physical location; Said relative distance is the distance between this physical location and this reference point in the image plane of this actual scene, and said relative angle is the angle between the reference axis of the line between this physical location and this reference point and this earth-fixed co-ordinate system in the image plane of this actual scene.
23. coordinate data according to claim 22 produces system, it is characterized in that this physical message collecting unit comes from this laser of this positioning feature point unit and the relative distance and the relative angle of this physical location in order to reception,
Wherein this controller calculates these map reference data that should physical location according to the relative distance of this physical location and relative angle.
24. coordinate data according to claim 22 produces system, it is characterized in that this positioning feature point unit comprises:
Laser emission element is in order to rotation and launch this laser;
The distance sensing unit is in order to the transmitting range of this laser of sensing, to measure the relative distance of this physical location;
Angle sensing unit is in order to the emission angle of this laser of sensing, to measure the relative angle of this physical location; And
Wireless transmission unit is in order to relative distance and the relative angle that transmits this physical location.
25. coordinate data according to claim 23 produces system, it is characterized in that this physical message collecting unit comprises:
The laser pick-off unit is in order to receive this laser; And
Wireless transmission unit is in order to relative distance and the relative angle that receives this physical location.
26. coordinate data according to claim 19 produces system, it is characterized in that, this earth-fixed co-ordinate system is that latitude and longitude coordinates or two degree divide the band coordinate.
27. a coordinate data production method is characterized in that, this coordinate data production method comprises:
Configuration coordinate data generation device in actual scene; And
Use this coordinate generation device automatically to be captured in reference point and the physical message between the physical location in this actual scene in this actual scene and be created in the earth-fixed co-ordinate system map reference data that should physical location according to the physical message of being gathered.
28. coordinate data production method according to claim 27 is characterized in that, this coordinate data production method also comprises:
This map reference data of encoding;
These map reference data of using this coordinate generation device to produce light source and encoded via this light source transmission.
29. coordinate data production method according to claim 27; It is characterized in that, use this coordinate generation device automatically to be captured in this reference point and the physical message between this physical location in this actual scene from this actual scene and to be created in this earth-fixed co-ordinate system this map reference data step that should physical location is comprised according to the physical message of being gathered:
Measurement this reference point from this actual scene moves to the acceleration of this physical location;
The displacement that the measured acceleration of foundation calculates this physical location; And
Produce these map reference data that should physical location according to the displacement of this physical location of calculating.
30. coordinate data production method according to claim 27; It is characterized in that, use this coordinate generation device automatically to be captured in this reference point and the physical message between this physical location in this actual scene from this actual scene and to be created in this earth-fixed co-ordinate system this map reference data step that should physical location is comprised according to the physical message of being gathered:
Configuration feature point location unit is with transmitting illuminant on this reference point;
Relative distance and relative angle between this physical location and this reference point are detected via this light source in use characteristic point location unit; Said relative distance is the distance between this physical location and this reference point in the image plane of this actual scene, and said relative angle is the angle between the reference axis of the line between this physical location and this reference point and this earth-fixed co-ordinate system in the image plane of this actual scene; And
According to relative distance and the relative angle between this physical location of detecting and this reference point calculate these map reference data that should physical location.
31. coordinate data production method according to claim 27 is characterized in that, this earth-fixed co-ordinate system is that latitude and longitude coordinates or two degree divide the band coordinate.
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| TWI502982B (en) * | 2011-12-28 | 2015-10-01 | Teco Image Sys Co Ltd | Image capture device and image correction method thereof |
| CN102901948B (en) * | 2012-11-05 | 2016-08-03 | 珠海横琴华策光通信科技有限公司 | Indoor positioning Apparatus and system |
| CN102901946B (en) * | 2012-11-05 | 2017-03-15 | 珠海横琴华策光通信科技有限公司 | Alignment system and method in mine |
| CN103438904B (en) * | 2013-08-29 | 2016-12-28 | 深圳市宇恒互动科技开发有限公司 | A kind of inertial positioning method and system using vision auxiliary corrective |
| TWI489082B (en) * | 2013-12-24 | 2015-06-21 | Univ Nat Taiwan Science Tech | Method and system for calibrating laser measuring apparatus |
| GB2560190A (en) * | 2017-03-03 | 2018-09-05 | Nvtek Electronic Co Ltd | A calibration method for a camera which monitors a target board |
| CN110487264B (en) * | 2019-09-02 | 2020-08-07 | 上海图聚智能科技股份有限公司 | Map correction method, map correction device, electronic equipment and storage medium |
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