CN102692183B - Measurement method of initial positions and poses of multiple cameras - Google Patents

Abstract

The invention provides a measurement method of initial positions and poses of multiple cameras. The method comprises the following steps of: setting a sighting target at a proper position, aligning an optical axis of each movable camera whose initial position is needed to be measured to the sighting target simultaneously, and measuring a rotation angle between the optical axis and the initial position and a distance from the camera to the sighting target. The above process is repeated more than 4 times for sighting targets at different positions, by utilizing the measured optical rotation angle and the distance from the camera to the sighting target, a relation between initial coordinate systems of movable cameras is deduced, and by utilizing the relation, a coordinate of a specially arbitrary point in an initial coordinate system of a camera can be converted into a coordinate in an initial coordinate system of other cameras.

Description

The initial position of multiple cameras and the metering method of posture

Technical field

The present invention is a kind of initial position of multiple cameras and the metering method of posture.Specifically, be a kind of in order to obtain the relative position of many active camera or fixed cameras, and the method that initial position and posture are measured.

Background technology

Exist now some about the method that obtains the initial position of video camera by measuring relative position between multiple video cameras.For example patent documentation 1 (JP 2009-094724 communique), the device that can transmit and receive electric wave, ultrasound wave, infrared ray etc. is installed on each video camera, between each video camera, transmit the mutual data such as distance, degree of tilt, try to achieve relative position with this.But in technology as Patent Document 1, being used for the meeting such as electric wave, ultrasound wave, infrared ray of communication is interdicted due to the impact of the installation site of video camera, thereby causes using.

For another example patent documentation 2 (JP 2008-209354 communique), utilizes the corresponding point of the image that multiple video cameras take, and obtains initial position and the inceptive direction of each video camera, then draws the relative position between video camera.But, utilize corresponding point to carry out the precision of relative position metering not high, in practical application, there will be problem,, in the time that the shooting direction of video camera differs greatly, be particularly the not ipsilateral of sighting target due to what photograph, be difficult to find corresponding point.

Summary of the invention

The object of the present invention is to provide a kind of initial position of multiple cameras and the metering method of posture, simple and precision is high.

To achieve the above object, the invention provides a kind of initial position of many active camera and the metering method of posture, comprise the following steps: the process that sighting target is provided at diverse location; Aim at provided same sighting target the process of making a video recording in many tested active camera that require position to install simultaneously; The process that the optical axis of each active camera is aimed at for each sighting target; Initial position based on active camera and initial optical axis angle are set up the initial coordinate system of each active camera, measure the optical axis of each active camera from the process of the angle of initial position rotation; Measure the position of each active camera to the process of the distance of each sighting target; Utilize the anglec of rotation of optical axis of above-mentioned active camera and active camera to the distance between sighting target, calculate the computation process of the mutual relationship of the initial coordinate system of each active camera; Utilize the mutual relationship between the initial coordinate system of above-mentioned each active camera, calculate the process of the coordinate in the initial coordinate system that the coordinate conversion of each sighting target in the initial coordinate of some active camera become other active camera.

The initial position of above-mentioned many active camera and the metering method of posture, wherein, above-mentionedly provide in the process of sighting target at diverse location, and at least the diverse location more than 3 provides sighting target.

The initial position of above-mentioned many active camera and the metering method of posture, wherein, determinant is changed in the utilization of above-mentioned coordinate conversion process below: ^l0t _r0= ^lop ^rop ^-1, wherein, ^l0p refers to the coordinate of each sighting target in the initial coordinate system of some active camera, ^r0p refers to the coordinate of each sighting target in the initial coordinate system of other active camera, ^lot _rorefer to coordinate in the initial coordinate system of the some active camera conversion determinant to the initial coordinate system conversion of other active camera.

The initial position of above-mentioned many active camera and the metering method of posture, wherein, each active camera is with zoom lens, in the shooting process of above-mentioned sighting target, first under the wide-angle state of zoom lens, identify sighting target, by sighting target identified optical axis alignment, more again identify sighting target under the state of looking in the distance of zoom lens, again, by sighting target identified optical axis alignment, finally measure the rotation corner of active camera by rotary angle transmitter.

The initial position of above-mentioned many active camera and the metering method of posture wherein, are measured the deviation of optical axis on different zoom positions with each active camera of zoom lens.

Another technical scheme provided by the invention is, a kind of initial position of many fixed cameras and the metering method of posture, and the method comprises the following steps: the process that sighting target is provided at diverse location; Shooting process at many tested fixed cameras that require position to install to same sighting target; The image of taking by each fixed cameras, the process of the position of identification sighting target on image; Measure respectively the process of each sighting target to the distance of each fixed cameras; The sighting target that utilizes the sighting target position on image and measure is to the distance of video camera, in the coordinate system that the position by fixed cameras and sight angle are set up, measures the process of angle between the sight line of each sighting target and each fixed cameras; The angle that utilization obtains and the distance from sighting target to fixed cameras, calculate the process of the relation between the initial coordinate system of each fixed cameras; Utilize the relation between each initial coordinate system, the coordinate each sighting target in the initial coordinate system of some fixed cameras, converts the process of the coordinate in the initial coordinate system of other fixed cameras to.

Another technical scheme provided by the invention is, a kind of many active camera and the initial position of fixed cameras and the metering method of posture, and the method comprises the following steps: the process that sighting target is provided at diverse location; In many active camera that require position to install and the shooting process of fixed cameras to same sighting target; Relevant with active camera, the alignment procedures of each movable video camera capable of rotating to each sighting target; Relevant with each active camera, set up initial coordinate system by initial position and the initial optical axis angle of each active camera, in this coordinate system, the process of the anglec of rotation of the optical axis of each active camera after sighting target is aimed in metering; To turn video camera relevant with activity, the process of metering respectively of the distance from each sighting target to each active camera; Relevant with each fixed cameras, the image of taking from each fixed cameras is identified the process of sighting target position; Relevant with each fixed cameras, measure respectively the process of each sighting target to the distance of each fixed cameras; Relevant with each fixed cameras, the sighting target that utilizes the sighting target position on image and measure is to the distance of video camera, in the coordinate system that the position by fixed cameras and sight angle are set up, measure the process of angle between the sight line of each sighting target and each fixed cameras; The angle that utilization obtains and the distance from sighting target to each active camera and fixed cameras, calculate the process of the relation between the initial coordinate system of each active camera and the initial coordinate of fixed cameras system; Utilize the relation between each initial coordinate system, the coordinate each sighting target in the initial coordinate system of some active camera or fixed cameras, converts the process of the coordinate in the initial coordinate system of other active camera or fixed cameras to.

The initial position of multiple cameras that the present invention proposes and the metering method of posture can be simply and also precision ground measure relative position between multiple video cameras.

Brief description of the drawings

The initial position of multiple cameras of the present invention and the metering method of posture are provided by following embodiment and accompanying drawing.

Fig. 1 is the schematic diagram of the initial coordinate system of two active camera in the initial position of multiple cameras of the present invention and the metering method of posture.

Fig. 2 be in the initial position of multiple cameras of the present invention and the metering method of posture by the Z axis of the initial coordinate system of two active camera as optical axis, and the schematic diagram of coordinate system when Z axis is aimed to sighting target.

Embodiment

Initial position below with reference to Fig. 1～Fig. 2 to multiple cameras of the present invention and the metering method of posture are described in further detail.

The initial position of multiple cameras of the present invention and the metering method of posture comprise the following steps:

Requiring many active camera of position installation, allow these video cameras take the sighting target of diverse location, wherein, sighting target can be that multiple arbitrary objects are placed in to diverse location, also can be that any one object is successively placed on to diverse location, or the object having existed is used as to sighting target, in addition, measure the relative position of active camera, same sighting target is arranged on the position that each video camera can photograph;

The optical axis of each active camera will be aimed at respectively each sighting target, and the optical axis of saying here generally refers to and the optical centre axle of camera lens conventionally overlaps with the revolution axis of symmetry of camera lens;

Initial position based on active camera and initial optical axis angle are set up initial coordinate system, in this coordinate system, the optical axis angle of each active camera of sighting target has been aimed in metering, wherein, so-called initial position and initial optical axis angle refer to, in the time that assigned address is installed active camera, the reference position coordinate of every video camera and the just right direction of video camera, determine that the initial coordinate of active camera is (indivedual coordinate system) on this basis;

Measure respectively the distance of each sighting target to each active camera, wherein, when metering, can use the stadimeter of common laser type or ultrasonic type, or phase differential and the contrast of the focus adjusting mechanism by measuring active camera are asked distance, the so-called distance to active camera, the specifically distance of the optical centre from sighting target to each active camera;

Each optical axis angle that utilization measures and sighting target, to the distance of each active camera, calculate the relation between each active camera initial coordinate system, and the relation between each initial coordinate system can describe in detail in the back;

Utilize the relation between each initial coordinate system, coordinate each sighting target in the initial coordinate system of some active camera, convert the coordinate in the initial coordinate system of other active camera to, like this, even if do not know the distance between active camera, also can obtain the mutual alignment (coordinate system is converted to other coordinate systems) between active camera.

Next the relation between initial coordinate system is carried out to more specific description:

In the position of specifying, two active camera are installed, when the position of sighting target or target metering according to principle of triangulation, the precision of the distance (baseline) between active camera can produce larger impact to the metering of sighting target position.If several video cameras are not far from one another, can measure the distance between video camera completely, also can not produce too large problem.But when video camera wide apart, again such as at the back side of buildings, accurately when measuring distance, use principle of triangulation based on baseline to measure the method for sighting target position just unworkable.The method adopting in the present invention is, determines the relation between initial coordinate system by installation site and the setting angle of active camera, carries out coordinate conversion.

First, the transition matrix of each coordinate system is described: shown in Fig. 1 is the coordinate system of two active camera, in Fig. 1, the left side is the coordinate system of the first video camera, and the right is the coordinate system of the second video camera, and the initial coordinate of establishing the first video camera is ∑ _lo, the initial coordinate of the second video camera is ∑ _ro, establish the coordinate system ∑ of sighting target P at the first video camera _loin coordinate figure be ^l0p, the coordinate figure in the coordinate system of the second video camera is ^r0p, like this, the position vector of sighting target P just can represent as follows:

[formula 1]

^l0P＝[ ^l0x _p ^l0y _p ^l0z _p 1] ^T

^r0P＝[ ^r0x _p ^r0y _p ^r0z _p 1] ^T

Wherein, the transposition of the T representing matrix in above formula;

In addition, coordinate system ∑ _loinitial point O _roat coordinate system ∑ _loon be expressed as follows:

For allowing coordinate system ∑ _roinitial point O _rowith coordinate system ∑ _loinitial point O _lounanimously, ∑ _rothe new coordinate system obtaining after translation be made as ∑ ' _ro, now, ∑ ' _rowith respect to ∑ _loeulerian angle be made as (α, beta, gamma), ^l0p and ^r0p has following relation:

[formula 2]

^l0P＝ ^l0T _r0· ^r0Pz

Wherein, transition matrix ^lot _robe expressed as follows:

$T_{r0}^{l0}$

$=\left[\begin{array}{cccc}\cos \mathrm{\α}\cos \mathrm{\β}\cos \mathrm{\γ}-\sin \mathrm{\α}\sin \mathrm{\γ}& -\sin \mathrm{\α}\cos \mathrm{\γ}-\cos \mathrm{\α}\cos \mathrm{\β}\sin \mathrm{\γ}& \cos \mathrm{\α}\sin \mathrm{\γ}& x_{\mathrm{Or}0}^l\\ \sin \mathrm{\α}\cos \mathrm{\β}\cos \mathrm{\γ}+\cos \mathrm{\α}\sin \mathrm{\γ}& \cos \mathrm{\α}\cos \mathrm{\γ}-\sin \mathrm{\α}\cos \mathrm{\β}\sin \mathrm{\γ}& \sin \mathrm{\α}\sin \mathrm{\γ}& y_{\mathrm{Or}0}^l\\ -\sin \mathrm{\β}\cos \mathrm{\γ}& \sin \mathrm{\β}\sin \mathrm{\γ}& \cos \mathrm{\β}& z_{\mathrm{Or}0}^l\\ 0& 0& 0& 1\end{array}\right]$

Use this transition matrix ^lot _rojust a coordinate system can be converted to other coordinate systems, therefore, the initial position of each active camera and attitude also can have been measured.

Below describe transition matrix in detail:

Sighting target is made as P _n(n=1,2,3...), two active camera are to same sighting target P _nwhile shooting, the optical axis of each active camera will be aimed at respectively sighting target.The Z axis of the coordinate system of each active camera is made as to optical axis, rotates the first video camera, make the Z axis of the first video camera aim at sighting target P _ntime, this coordinate system is made as ∑ _it, rotate the second video camera, make the Z axis of the second video camera aim at sighting target P _ntime, this coordinate system is made as ∑ _rt, as shown in Figure 2, in Fig. 2, initial coordinate is ∑ to coordinate system now _lo, ∑ _rorepresent Z axis and sighting target P with solid line _ncoordinate system ∑ after aligning _it, ∑ _rtrepresent with dot-and-dash line;

Like this, sighting target P _nposition vector just can be expressed as following form:

[formula 3]

^ltP＝[0 0 ^ltz _p 1] ^T

^rtP＝[0 0 ^rtz _p 1] ^T

It is the same with above-mentioned formula 2, ^ltp and ^rtp with ^lop and ^rop has following relation:

[formula 4]

^l0P＝ ^l0T _lt· ^ltP

^r0P＝ ^r0T _rt· ^rtP

Here ^lot _ltwith ^rot _rtit is transition matrix;

Formula 4 substitution formula 2, with after formula 3 distortion, obtain following formula:

[formula 5]

$T_{\mathrm{lt}}^{l0}\left[\begin{array}{c}0\\ 0\\ z_{\mathrm{lt}}\\ 1\end{array}\right]=T_{r0}^{l0}\·T_{\mathrm{rt}}^{r0}\left[\begin{array}{c}0\\ 0\\ z_{\mathrm{rt}}\\ 1\end{array}\right]$

Here ^lot _lt, ^rot _rt, ^rot _robe defined as follows respectively:

[formula 5]

$T_{\mathrm{lt}}^{l0}=\left[\begin{array}{cccc}t_{\mathrm{lt}-11}^{l0}& t_{\mathrm{lt}-12}^{l0}& t_{\mathrm{lt}-13}^{l0}& 0\\ t_{\mathrm{lt}-21}^{l0}& t_{\mathrm{lt}-22}^{l0}& t_{\mathrm{lt}-23}^{l0}& 0\\ t_{\mathrm{lt}-31}^{l0}& t_{\mathrm{lt}-32}^{l0}& t_{\mathrm{lt}-33}^{l0}& 0\\ 0& 0& 0& 1\end{array}\right]$

$T_{\mathrm{rt}}^{r0}=\left[\begin{array}{cccc}t_{\mathrm{rt}-11}^{r0}& t_{\mathrm{rt}-12}^{r0}& t_{\mathrm{rt}-13}^{r0}& 0\\ t_{\mathrm{rt}-21}^{r0}& t_{\mathrm{rt}-22}^{r0}& t_{\mathrm{rt}-23}^{r0}& 0\\ t_{\mathrm{rt}-31}^{r0}& t_{\mathrm{rt}-32}^{r0}& t_{\mathrm{rt}-33}^{r0}& 0\\ 0& 0& 0& 1\end{array}\right]$

$T_{r0}^{l0}=\left[\begin{array}{cccc}t_{r0-11}^{l0}& t_{r0-12}^{l0}& t_{r0-13}^{l0}& t_{r0-14}^{l0}\\ t_{r0-21}^{l0}& t_{r0-22}^{l0}& t_{r0-23}^{l0}& t_{r0-24}^{l0}\\ t_{r0-31}^{l0}& t_{r0-32}^{l0}& t_{r0-33}^{l0}& t_{r0-34}^{l0}\\ 0& 0& 0& 1\end{array}\right]$

At this moment, formula 5 can become following form:

[formula 7]

$\left[\begin{array}{c}t_{\mathrm{lt}-13}^{l0}{Z}_{\mathrm{lt}}\\ t_{\mathrm{lt}-23}^{l0}{Z}_{\mathrm{lt}}\\ t_{\mathrm{lt}-33}^{l0}{Z}_{\mathrm{lt}}\\ 1\end{array}\right]=\left[\begin{array}{cccc}t_{r0-11}^{l0}& t_{r0-12}^{l0}& t_{r0-13}^{l0}& t_{r0-14}^{l0}\\ t_{r0-21}^{l0}& t_{r0-22}^{l0}& t_{r0-23}^{l0}& t_{r0-24}^{l0}\\ t_{r0-31}^{l0}& t_{r0-32}^{l0}& t_{r0-33}^{l0}& t_{r0-34}^{l0}\\ 0& 0& 0& 1\end{array}\right]\left[\begin{array}{c}t_{\mathrm{rt}-13}^{l0}{Z}_{\mathrm{rt}}\\ t_{\mathrm{rt}-23}^{l0}{Z}_{\mathrm{rt}}\\ t_{\mathrm{rt}-33}^{l0}{Z}_{\mathrm{rt}}\\ 1\end{array}\right]$

Can obtain three equations from 7, one sighting targets of formula, from formula 2, the unknown number of requirement has six, α, β, γ, thus, in theory, two sighting targets are taken, the relation between the initial coordinate system of two active camera just can be in the hope of.

But, in order to simplify calculation process, so consider more sighting targets to take, obtain the relation between initial coordinate system.

Here suppose sighting target P _nhaving four, is respectively (P ₁, P ₂, P ₃, P ₄), the position vector of each sighting target is as follows:

[formula 8]

^rtP ₁＝[0 0 ^rtz _p1 1] ^{T lt}P ₁＝[0 0 ^ltz _p1 1] ^T

^rtP ₂＝[0 0 ^rtz _p2 1] ^{T lt}P ₂＝[0 0 ^ltz _p2 1] ^T

^rtP ₃＝[0 0 ^rtz _p3 1] ^{T lt}P ₃＝[0 0 ^ltz _p3 1] ^T

^rtP ₄＝[0 0 ^rtz _p4 1] ^{T lt}P ₄＝[0 0 ^ltz _p4 1] ^T

Formula 7 is out of shape as follows by these formulas:

[formula 9]

$\left[\begin{array}{cccc}t_{l1-13}^{l0}{Z}_{l1}& t_{l2-13}^{l0}{Z}_{l2}& t_{l3-13}^{l0}{Z}_{l3}& t_{l4-13}^{l0}{Z}_{l4}\\ t_{l1-23}^{l0}{Z}_{l2}& t_{l2-23}^{l0}{Z}_{l2}& t_{l3-23}^{l0}{Z}_{l3}& t_{l4-23}^{l0}{Z}_{l4}\\ t_{l1-33}^{l0}{Z}_{l3}& t_{l2-33}^{l0}{Z}_{l2}& t_{l3-33}^{l0}{Z}_{l3}& t_{l4-33}^{l0}{Z}_{l4}\\ 1& 1& 1& 1\end{array}\right]$

$=\left[\begin{array}{cccc}t_{r0-11}^{l0}& t_{r0-12}^{l0}& t_{r0-13}^{l0}& t_{r0-14}^{l0}\\ t_{r0-21}^{l0}& t_{r0-22}^{l0}& t_{r0-23}^{l0}& t_{r0-24}^{l0}\\ t_{r0-31}^{l0}& t_{r0-32}^{l0}& t_{r0-33}^{l0}& t_{r0-34}^{l0}\\ 0& 0& 0& 1\end{array}\right]\left[\begin{array}{cccc}t_{r1-13}^{r0}{Z}_{r1}& t_{r2-13}^{r0}{Z}_{r2}& t_{r3-13}^{r0}{Z}_{r3}& t_{r4-13}^{r0}{Z}_{r4}\\ t_{r1-23}^{r0}{Z}_{r1}& t_{r2-23}^{r0}{Z}_{r2}& t_{r3-23}^{r0}{Z}_{r3}& t_{r4-23}^{r0}{Z}_{r4}\\ t_{r1-33}^{r0}{Z}_{r1}& t_{r2-33}^{r0}{Z}_{r2}& t_{r3-33}^{r0}{Z}_{r3}& t_{r4-33}^{r0}{Z}_{r4}\\ 1& 1& 1& 1\end{array}\right]$

This formula can be deformed into following form:

$\left[\begin{array}{cccc}t_{r0-11}^{l0}& t_{r0-12}^{l0}& t_{r0-13}^{l0}& t_{r0-14}^{l0}\\ t_{r0-21}^{l0}& t_{r0-22}^{l0}& t_{r0-23}^{l0}& t_{r0-24}^{l0}\\ t_{r0-31}^{l0}& t_{r0-32}^{l0}& t_{r0-33}^{l0}& t_{r0-34}^{l0}\\ 0& 0& 0& 1\end{array}\right]$

$=\left[\begin{array}{cccc}t_{l1-13}^{l0}{Z}_{l1}& t_{l2-13}^{l0}{Z}_{l2}& t_{l3-13}^{l0}{Z}_{l3}& t_{l4-13}^{l0}{Z}_{l4}\\ t_{t1-23}^{l0}{Z}_{l2}& t_{l2-23}^{l0}{Z}_{l2}& t_{l3-23}^{l0}{Z}_{l3}& t_{14-23}^{l0}{Z}_{l4}\\ t_{l1-33}^{l0}{Z}_{l3}& t_{l2-33}^{l0}{Z}_{l2}& t_{l3-33}^{l0}{Z}_{l3}& t_{l4-33}^{l0}{Z}_{l4}\\ 1& 1& 1& 1\end{array}\right]\left[\begin{array}{cccc}t_{r1-13}^{r0}{Z}_{r1}& t_{r2-13}^{r0}{Z}_{r2}& t_{r3-13}^{r0}{Z}_{r3}& t_{r4-13}^{r0}{Z}_{r4}\\ t_{r1-23}^{r0}{Z}_{r1}& t_{r2-23}^{r0}{Z}_{r2}& t_{r3-23}^{r0}{Z}_{r3}& t_{r4-23}^{r0}{Z}_{r4}\\ t_{r1-33}^{r0}{Z}_{r1}& t_{r2-33}^{r0}{Z}_{r2}& t_{r3-33}^{r0}{Z}_{r3}& t_{r4-33}^{r0}{Z}_{r4}\\ 1& 1& 1& 1\end{array}\right]$

If the right of formula 10 is known, the relativeness of the first video camera and the second video camera, namely transition matrix ^lot _rojust can obtain.If the first video camera and the second camera alignment sighting target P ₁, P ₂, P ₃, P ₄time optical axis angle and the distance from each sighting target to each video camera know, the right of formula 10 just can be in the hope of with formula 4, like this, the transition matrix on formula 10 left sides ^lot _roalso can obtain.This transition matrix is exactly the relation between the initial coordinate system of each active camera.

So just obtained the relation between each initial coordinate system, used this relation, the coordinate figure that sighting target can be fastened in the initial coordinate of some active camera converts the coordinate figure of fastening in the initial coordinate of other video cameras to.By such conversion, just each active camera can be operated under same coordinate system, just can measure the initial position of each active camera and attitude.

In addition, initial position of the present invention and attitude metering method have more than to be limited to four sighting targets are taken.Use method of the present invention, if can provide more sighting target, obtain optical axis angle separately and the distance to sighting target, carry out matching by least square method, just can obtain more high-precision initial position and attitude.

Here multiple active camera of using, are not limited to single-focus lens, and zoom lens also can.If use is zoom lens, when sighting target is taken, first identify sighting target by the wide-angle part of zoom lens, again optical axis alignment sighting target, then identify again sighting target by the part of looking in the distance of zoom lens, the sighting target that optical axis alignment is identified is just passable, by such operation, can make optical axis aim at more accurately sighting target.

In addition, with zoom lens time, due to the difference of zoom position, there will be optical axis situation devious, in order to compensate this deviation, measuring with the deviation of the corresponding mobile optical axis of zoom position, in the time measuring the angle of the optical axis after aiming at sighting target, if consider this deviation, just can obtain more accurate initial position and attitude.

In addition, above-mentioned example is taking active camera as object, set forth the metering method of initial position and attitude, in fact, the present invention is not limited only to this, uses the same method, can also measure initial position and the attitude of fixed cameras, that is to say, by initial position of the present invention and attitude metering method, can obtain the relative position of multiple fixed cameras.

Below the situation of the relative position of asking multiple fixed cameras is described:

Sighting target is provided, allow several fixed cameras take same sighting target, this is the same with the situation of active camera, although the optical axis of fixed cameras can not be aimed at sighting target, but with image processing method, can be in the initial coordinate system of fixed cameras, measure the angle between sight line (optical centre axle) and the sighting target of each fixed cameras, namely, initial position while setting based on fixed cameras and initial sight angle, set up initial coordinate system, obtain the sighting target position on this coordinate system on the image of shooting, then, measure each sighting target to the distance between each fixed cameras, then, utilize the position of the sighting target on image and the sighting target distance to video camera, initial coordinate in the initial position with each fixed cameras and initial sight angle foundation is fastened, measure the angle between sighting target and each fixed cameras sight line,

Ensuing processing is identical with the situation of active camera, by the angle of known sighting target with to the distance of sighting target, derive the relation between each initial coordinate system, obtain transition matrix, then, with the transition matrix that represents relation between initial coordinate system, the coordinate figure that sighting target is fastened in the initial coordinate of some video cameras converts the coordinate figure of fastening in the initial coordinate of other video cameras to, and initial position and the attitude of multiple fixed cameras also just can measure out.

Further, active camera and fixed cameras also can be used in combination, and that is to say, can obtain the relative position of multiple active camera and fixed cameras, utilize this relation, and sighting target is fastened and changed in each initial coordinate.This is the same with the situation of above-mentioned active camera and fixed cameras, utilize sighting target to the angle of optical axis or sight line and the distance of each sighting target to video camera, can obtain the relation between initial coordinate system, then use this relation, the coordinate that the initial coordinate of an active camera or fixed cameras is fastened is changed just passable.

Also be noted that, initial position and the attitude metering method of multiple video cameras that the present invention proposes, be not limited only to above-mentioned example, only otherwise exceed purport scope of the present invention, can have very diverse application, this is self-evident, for example, video camera and laser range finder can be installed on universal stage, measure initial position and the attitude of universal stage.

Claims (6)

1. the initial position of more than active camera and a metering method for posture, is characterized in that, the method comprises:

The process of sighting target is provided at diverse location;

Aim at provided same sighting target the process of making a video recording in many tested active camera that require position to install simultaneously;

The process that the optical axis of each active camera is aimed at for each sighting target;

Initial position based on active camera and initial optical axis angle are set up the initial coordinate system of each active camera, measure the optical axis of each active camera from the process of the angle of initial position rotation;

Measure the position of each active camera to the process of the distance of each sighting target;

Utilize the anglec of rotation of optical axis of above-mentioned active camera and active camera to the distance between sighting target, calculate the computation process of the mutual relationship of the initial coordinate system of each active camera;

Utilize the mutual relationship between the initial coordinate system of above-mentioned each active camera, the coordinate conversion each sighting target in the initial coordinate system of some active camera becomes the process of the coordinate in the initial coordinate system of other active camera.

2. the initial position of many active camera according to claim 1 and the metering method of posture, is characterized in that, above-mentionedly provides in the process of sighting target at diverse location, and at least the diverse location more than 3 provides sighting target.

3. the initial position of many active camera according to claim 1 and the metering method of posture, is characterized in that, determinant is changed in the utilization of above-mentioned coordinate conversion process below:

^l0T _r0＝ ^loP· ^roP-1

Wherein, ^l0p refers to the coordinate of each sighting target in the initial coordinate system of some active camera, ^r0p refers to the coordinate of each sighting target in the initial coordinate system of other active camera, ^lot _rorefer to coordinate in the initial coordinate system of the some active camera transition matrix to the initial coordinate system conversion of other active camera.

4. the initial position of many active camera according to claim 1 and the metering method of posture, it is characterized in that, each active camera is with zoom lens, in the shooting process of above-mentioned sighting target, first under the wide-angle state of zoom lens, identify sighting target, by sighting target identified optical axis alignment, more again identify sighting target under the state of looking in the distance of zoom lens, again, by sighting target identified optical axis alignment, finally measure the rotation corner of active camera by rotary angle transmitter.

5. the initial position of many active camera according to claim 1 and the metering method of posture, is characterized in that, measures the deviation of optical axis with each active camera of zoom lens on different zoom positions.

6. more than active camera and the initial position of fixed cameras and a metering method for posture, is characterized in that, the method comprises:

The process of sighting target is provided at diverse location;

In many active camera that require position to install and the shooting process of fixed cameras to same sighting target;

Relevant with active camera, the alignment procedures of each movable video camera capable of rotating to each sighting target;

Relevant with each active camera, set up initial coordinate system by initial position and the initial optical axis angle of each active camera, in this coordinate system, the process of the anglec of rotation of the optical axis of each active camera after sighting target is aimed in metering;

To turn video camera relevant with activity, the process of metering respectively of the distance from each sighting target to each active camera;

Relevant with each fixed cameras, the image of taking from each fixed cameras is identified the process of sighting target position;

Relevant with each fixed cameras, measure respectively the process of each sighting target to the distance of each fixed cameras;

Relevant with each fixed cameras, the sighting target that utilizes the sighting target position on image and measure is to the distance of video camera, in the coordinate system that the position by fixed cameras and sight angle are set up, measure the process of angle between the sight line of each sighting target and each fixed cameras;

The angle that utilization obtains and the distance from sighting target to each active camera and fixed cameras, calculate the process of the relation between the initial coordinate system of each active camera and the initial coordinate of fixed cameras system;

Utilize the relation between each initial coordinate system, the coordinate each sighting target in the initial coordinate system of some active camera or fixed cameras, converts the process of the coordinate in the initial coordinate system of other active camera or fixed cameras to.