CN111050059B - Follow shooting system with picture stabilizing function and follow shooting method with picture stabilizing function - Google Patents
Follow shooting system with picture stabilizing function and follow shooting method with picture stabilizing function Download PDFInfo
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- CN111050059B CN111050059B CN201811191835.4A CN201811191835A CN111050059B CN 111050059 B CN111050059 B CN 111050059B CN 201811191835 A CN201811191835 A CN 201811191835A CN 111050059 B CN111050059 B CN 111050059B
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
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Abstract
A follow-up shooting method with picture stabilization function is suitable for enabling the image capturing direction of a follow-up shooting base to approach an optical signal source, wherein the optical signal source is used for sending an optical positioning signal; the method comprises the following steps: receiving the optical positioning signal by an optical signal receiving array, and respectively generating receiving intensity by a plurality of optical signal receiving units of the optical signal receiving array; comparing the receiving intensities, and analyzing the position of an optical signal source of the optical positioning signal relative to the optical signal receiving array according to the receiving intensities to generate a first steering signal; and sending a first steering signal to control the follow-shooting base so that the image capturing direction approaches to the position of the optical signal source.
Description
Technical Field
The present invention relates to video recording and tracking, and more particularly to a tracking system with picture stabilization and a tracking method with picture stabilization.
Background
Although several follow-up bat technologies are developed at present, a base can drive a smart phone to follow up a bat specific target. However, when the specific target to be followed is quickly separated from the following picture, the smart phone is lack of a traceable target, and the following picture cannot be continuously followed. Although the partial tracking mechanism has a search mode, the search mode is usually a blind search, so that the probability of search failure is still high. In addition, if the tracking mechanism accelerates the tracking speed to avoid the specific target from being separated from the tracking picture, the tracking is often excessive. The excessive tracking causes the smart phone to continuously swing to track a specific target during shooting, so that the shooting picture (especially the motion video stream) obviously swings, and thus, the need for improving the tracking mode still remains.
Disclosure of Invention
In view of the above problems, the present invention provides a tracking system with a picture stabilizing function, which includes a remote control device and a tracking base. The remote control device is provided with a coding circuit; the optical signal source is electrically connected with the coding circuit and used for sending an optical positioning signal; and the key group is electrically connected with the coding circuit and used for being pressed to trigger the coding circuit to drive the optical signal source to send out an optical positioning signal. The follow-shooting base comprises a control chip; the steering module is electrically connected with the control chip, the image capturing direction is defined on the steering module, and the control chip is used for controlling the steering module to steer so as to change the image capturing direction; and an optical signal receiving array which is provided with a plurality of optical signal receiving units, wherein the optical signal receiving units are used for receiving the optical positioning signals and generating different receiving intensities to transmit to the control chip.
The control chip compares the receiving intensities, analyzes the angle of the image capturing direction to be changed according to the distribution of the receiving intensities, generates a first steering signal, and sends the first steering signal to control the steering module to enable the image capturing direction to approach the position of the optical signal source.
In at least one embodiment, the image-following system with image-stabilizing function further comprises a handheld mobile device carried by the steering module, the handheld mobile device comprising a microprocessor; the camera is electrically connected with the microprocessor and used for shooting a camera shooting picture along the image capturing direction and transmitting the camera shooting picture to the microprocessor; the microprocessor defines a plurality of sampling frames with different sizes in the shooting picture and preloads one of the sampling frames; and the microprocessor changes the loaded sampling frame according to the selection instruction; the memory unit is electrically connected with the microprocessor and used for storing the shooting picture and the set values of the sampling frames; and the touch display panel is electrically connected with the microprocessor and used for displaying the shooting picture and can accept a touch operation as a selection instruction to feed back to the microprocessor. The microprocessor identifies the characteristic object in the shooting picture, and when the characteristic object exceeds the loaded sampling frame, the microprocessor sends a second steering signal to drive the steering module to change the image capturing direction so as to return the characteristic object to the sampling frame.
In at least one embodiment, the microprocessor maintains the feature objects in the sample frame when a plurality of feature objects are identified.
In at least one embodiment, when a plurality of feature objects are identified, the microprocessor maintains the selected feature objects in the sample frame according to the selection instruction.
In at least one embodiment, the optical signal receiving array is in a form selected from the group consisting of a rectangular array, a circular array, a trapezoidal array, a cross array, and combinations thereof.
The invention also provides a following shooting method with the picture stabilizing function, which is suitable for enabling the image capturing direction of a following shooting base to approach an optical signal source, wherein the optical signal source is used for sending out an optical positioning signal; the method comprises the following steps: receiving the optical positioning signal by an optical signal receiving array, and respectively generating receiving intensity by a plurality of optical signal receiving units of the optical signal receiving array; comparing the received intensities, and analyzing the position of an optical signal source of the optical positioning signal relative to the optical signal receiving array according to the received intensities to generate a first steering signal; and sending a first steering signal to control the follow-shooting base so that the image capturing direction approaches to the position of the optical signal source.
In at least one embodiment, the method for tracking still further comprises establishing a communication link with a handheld mobile device; the handheld mobile device shoots a shooting picture along an image capturing direction by using the camera and generates a second steering signal to the following shooting base, and the following shooting base is used for bearing the handheld mobile device and receiving the first steering signal or the second steering signal to change the image capturing direction; defining a plurality of sampling frames with different sizes in a shooting picture by using a handheld mobile device, and preloading one of the sampling frames; and identifying the characteristic object in the shooting picture by using the handheld mobile device, and when the characteristic object exceeds the loaded sampling frame, sending a second steering signal by using the handheld mobile device to drive the follow shooting base to change the image capturing direction so as to return the characteristic object to the sampling frame.
In at least one embodiment, the tracking method with the frame stabilizing function further includes inputting a selection instruction, so that the handheld mobile device changes the loaded sampling frame according to the selection instruction.
In at least one embodiment, when a plurality of feature objects are identified, the feature objects are maintained in a sample frame.
In at least one embodiment, when a plurality of feature objects are identified, the microprocessor maintains the selected feature objects in the sample frame according to the selection instruction.
The invention receives the optical positioning signal through the optical coding receiving array, can effectively increase the receiving visual angle, avoids the search failure and can ensure that the characteristic objects needing to be followed up are maintained in the shooting picture. In addition, in at least one embodiment, the sampling frame can be set quickly, so that excessive follow-up shooting can be avoided, and the problem that the shooting picture is unstable and shakes is solved.
Drawings
Fig. 1 is a system diagram of a follow-up system with a picture stabilizing function according to an embodiment of the present invention.
FIG. 2 is a block diagram of a remote control device and a slap base according to an embodiment of the present invention.
Fig. 3 is a diagram illustrating a threshold group of a plurality of optical signal receiving units of an optical signal receiving array according to an embodiment of the present invention.
Fig. 4 to 9 show optical signal receiving arrays with different array forms according to the embodiment of the present invention.
FIG. 10 is a block diagram of a handheld mobile device and a slap base according to an embodiment of the invention.
FIG. 11 is a diagram illustrating a plurality of sample frames and a selection list in a sample frame according to an embodiment of the present invention.
Fig. 12 and 13 are schematic diagrams illustrating tracking of an optical signal source according to an embodiment of the invention.
Fig. 14 and 15 are schematic diagrams of maintaining feature objects in a sample frame according to an embodiment of the invention.
FIG. 16 is a schematic diagram of tracking a plurality of feature objects according to an embodiment of the present invention.
FIG. 17 is a flowchart illustrating a tracking method with frame stabilizing function according to the present invention.
FIG. 18 is another flowchart of a follow-up method with frame stabilization according to the present invention.
Wherein the reference numerals are:
100 handheld mobile device 110 microprocessor
120 camera 130 memory cell
140 touch display panel 150 first communication interface
Control chip of 200 heel-beating base 210
220 second communication interface 230 steering module
232 clamp 240 optical signal receiving array
241 threshold group 300 remote control device
310 coding circuit 320 key group
330 optical signal source M image pick-up picture
F sampling frame for A-feature object
L-select list S optical positioning signal
S110-S130, S210-S260
Detailed Description
Referring to fig. 1, a follow-up photographing system with a picture stabilizing function is disclosed in an embodiment of the present invention for executing a follow-up photographing method with a picture stabilizing function. The photo-following system with picture stabilization function comprises a photo-following base 200 and a remote control device 300. The follow-shot base 200 has a variable image capturing direction. The handheld mobile device 100 is carried on the follow-up base 200 for capturing the image M along the image capturing direction, and the handheld mobile device 100 can control the follow-up base 200 to rotate, so as to change the image capturing direction of the handheld mobile device 100 and continuously perform follow-up capturing on the feature object a. The following photographing base 200 can automatically change the image capturing direction to approach the remote control device 300. That is, the follow-up base 200 can search the remote control device 300 by itself, so that the image capturing direction of the handheld mobile device 300 approaches the remote control device 300, and the handheld mobile device 300 can recognize the feature object a, and further control the follow-up base 200 to maintain the feature object a within the designated range of the camera frame M.
As shown in fig. 1 and 2, the remote control device 300 has an encoding circuit 310, an optical signal source 330, and a key set 320.
The optical signal source 330 is electrically connected to the encoding circuit 310, and is configured to emit an optical positioning signal S; in one embodiment, the optical signal source 330 may be a single optical code emitting unit or an optical code emitting array. The key set 320 is electrically connected to the encoding circuit 310, and is used for being pressed to trigger the encoding circuit 310 to drive the optical signal source 330 to emit the optical positioning signal S for tracking with the photographing base 200.
As shown in fig. 1 and fig. 2, the following photographing base 200 includes a control chip 210, a second communication interface 220, a steering module 230, and an optical signal receiving array 240.
As shown in fig. 1 and fig. 2, the second communication interface 220 is electrically connected to the control chip 210 and establishes a communication link with the first communication interface 150 of the handheld mobile device 100, so that the control chip 210 of the photographing base 200 establishes a communication link with the handheld mobile device 100, receives the second steering signal sent by the handheld mobile device 100, and sends the second steering signal to the control chip 210.
As shown in fig. 1 and 2, the turning module 230 is electrically connected to the control chip 210, and the turning module 230 defines an image capturing direction. Meanwhile, the turning module 230 is used for carrying the handheld mobile device 100, so that the handheld mobile device 100 can shoot the camera shooting image M along the image capturing direction. The control chip 210 drives the turning module 230 to turn according to the second turning signal or the first turning signal to change the image capturing direction, so as to change the range covered by the shooting picture M.
The steering module 230 generally includes one or more motors, a necessary gearbox, and a clamp 232, wherein the clamp 232 is used to clamp the handheld mobile device 100 to carry the handheld mobile device 100 on the steering module 230.
As shown in fig. 1, 2 and 3, the optical signal receiving array 240 is electrically connected to the control chip 210 and rotates synchronously with the steering module 230, particularly the clamp 232. The optical signal receiving array 240 has a plurality of optical signal receiving units for receiving the optical positioning signal S, and forms different receiving intensities according to different receiving distances and angles, so as to generate a receiving intensity distribution, and transmit the receiving intensity distribution to the control chip 210. Generally, the stronger the optical locating signal S approaches the direct optical signal receiving unit, the stronger the received intensity. The control chip 210 analyzes the angle of the image capturing direction to be changed according to the received intensity distribution by comparing the received intensity distribution, and generates a first steering signal, and sends the first steering signal to control the steering module 230, so that the image capturing direction approaches the position of the optical signal source 330. Therefore, the user can take the image of the object with the remote control device 300 into the mirror on the image pickup screen M of the handheld mobile device 100.
As shown in fig. 3, the manner of analyzing the angle of the image capturing direction to be changed according to the received intensity distribution is as follows.
The middle region of the optical signal receiving array 240 may define a threshold group 241, and the receiving intensity of the optical signal receiving units in the threshold group 241 is set to exceed a threshold value, so that the desired receiving intensity distribution, i.e. the image capturing direction defined by the steering module 230 at this time, is close to the optical signal source 330 of the remote control device 300. If at least one of the receiving intensities of the optical signal receiving units in the threshold group 241 does not reach the threshold value, the optical signal receiving array 240 is turned (i.e., the turning module 230 is turned) to the direction with the higher receiving intensity according to the position of the optical signal receiving unit in the optical signal receiving array 240 and the receiving intensities of the other optical signal receiving units until all the receiving intensities of the optical signal receiving units in the threshold group 241 reach the threshold value. The range of the threshold 241 is related to the sensitivity, and the smaller the range of the threshold 241, the higher the sensitivity, i.e. the closer the image capturing direction is to the optical signal source 330.
As shown in fig. 4 to 9, the square rectangular array in fig. 3 and the planar configuration are only examples, and the optical signal receiving array 240 may be in the form of a long rectangular array, a circular array (including circular and polygonal frames), a trapezoidal array (including triangles), a cross array, or a combination of the foregoing arrays, and may be disposed on a curved surface to increase the angle that can be received. The fixture 232 of fig. 3, in which the optical signal receiving array 240 is fixed to the steering module 230, is also illustrated, as long as the receiving surface of the optical signal receiving array 240 can rotate synchronously with the image capturing direction defined by the steering module 230.
Referring to fig. 1 and 10, the handheld mobile device 100 of the present invention may be an electronic device such as a smart phone, a tablet computer, etc. having a camera function and a video recording function and capable of establishing a communication link with the camera base 200.
As shown in fig. 1 and 10, the handheld mobile device 100 is carried by the steering module 230, and the handheld mobile device 100 includes a microprocessor 110, a camera 120, a memory unit 130, a touch display panel 140, and a first communication interface 150.
As shown in fig. 1 and 10, the camera 120, the memory unit 130 and the touch display panel 140 are electrically connected to the microprocessor 110. The camera 120 is used for capturing a camera frame M along an image capturing direction and transmitting the camera frame M to the microprocessor 110, so as to transmit the camera frame M to the memory unit 130 for storage.
As shown in fig. 10 and 11, the microprocessor 110 defines a plurality of sampling frames F with different sizes in the image M, and preloads one of the sampling frames F.
As shown in fig. 10, the memory unit 130 is used for storing an operating system and necessary shooting applications in addition to the shooting frame M, and the memory unit 130 stores the setting values of the sampling frame F for the microprocessor 110 to load and execute for the follow-up shooting mode.
As shown in fig. 10 and 11, the touch display panel 140 is electrically connected to the microprocessor 110 for displaying the image capturing frame M, and can receive the touch operation as a selection instruction to be fed back to the microprocessor 110.
As shown in FIGS. 10 and 11, the microprocessor 110 can change the sample frame F of the load according to the select instruction. As shown in fig. 11, a selection list L that is displayed independently or in a pop-up manner in the image M is displayed, and options of sampling frames F with different sizes are displayed from small to large for the user to select from the touch display panel 140.
As shown in fig. 1 and 10, the first communication interface 150 is electrically connected to the microprocessor 110 for establishing a communication link. The first communication interface 150 may be a wired communication interface, such as a USB interface, or a wireless communication interface, such as bluetooth, RF communication interface, or Wi-Fi interface (supporting Wi-Fi Direct).
As shown in fig. 1, fig. 2 and fig. 10, different keys of the key set 320 are used for triggering the encoding circuit 310 to send out other optical encoding signals, such as start and end of a shooting function, start and stop of a follow-up shooting mode, a shutter for capturing a single photo, etc., which are received by the follow-up shooting base 200 and transmitted to the handheld mobile device 100 through the first communication interface 150 and the second communication interface 220, so as to operate related functions of the handheld mobile device 100 through the remote control device 300. In addition, the selection instruction is not necessarily generated by the touch display panel 140, the encoding circuit 310 may pre-store a plurality of numbers, each number corresponds to one sampling frame F, and the selection instruction or the number of different sampling frames F may be sent out in a cyclic manner by continuously pressing the keys of the key group 320, so that the handheld mobile device 100 loads the corresponding sampling frame F.
As shown in fig. 12 and 13, the optical signal source 330 is disposed along with the feature object a, so that the feature object a usually enters the camera frame M when the image capturing direction approaches the optical signal source 330.
As shown in fig. 13 and 14, if the handheld mobile device 100 is enabled to perform the follow-up shooting mode, the microprocessor 110 preloads one of the sample frames F and continuously identifies the feature object a. When the feature object a exceeds the loaded sampling frame F, the microprocessor 110 sends a second turning signal to drive the turning module 230 to change the image capturing direction, so that the feature object a returns to the sampling frame F.
As shown in fig. 15, if the feature object a continuously moves in the shot frame M and the feature object a is still continuously located in the sampling frame F, the image capturing direction is not changed, so that the shot frame M in the embodiment of the present invention can maintain relatively stable compared to the manner of continuously shooting the feature object a, and the shooting direction is changed only when the feature object a has a large distance displacement.
As shown in fig. 16, when multiple persons enter the mirror at the same time, the face of each person is recognized as a feature object a, so that the microprocessor 110 recognizes a plurality of feature objects a at the same time. At this time, the microprocessor 110 can adjust the magnification to maintain all the feature objects a in the sampling frame F, or maintain the selected feature objects a in the sampling frame F according to the selection instruction.
As shown in fig. 17, the following photographing method with picture stabilizing function of the present invention is suitable for making the image capturing direction of the following photographing base 200 approach to the optical signal source 330, wherein the optical signal source 330 is used for sending an optical positioning signal S; the method comprises the following steps.
The optical positioning signal S is received by the optical signal receiving array 240 to generate a receiving intensity distribution, as shown in step S110.
The control chip 210 analyzes the angle of the image capturing direction to be changed according to the received intensity distribution, and generates a first steering signal, as shown in step S120.
The control chip 210 sends a first turning signal to control the photographing base 200, so that the image capturing direction approaches the position of the optical signal source 330, as shown in step S130.
As mentioned above, when the image capturing direction approaches the optical signal source 330, the feature object a usually enters the captured image M. At this time, the handheld mobile device 100 can start the follow-up mode, and the follow-up base 200 can stop tracking the optical signal source 330 by operating the remote control device 300.
As shown in fig. 18, after the handheld mobile device 100 starts the follow-up mode, the follow-up base 200 and the handheld mobile device 100 establish a communication link with each other, and the handheld mobile device 100 uses the camera 120 to capture a camera image M along the image capturing direction.
The handheld mobile device 100 defines a plurality of sampling frames F with different sizes in the image frame M, and preloads one of the sampling frames F, as shown in step S210. If a selection instruction is inputted, the loaded sample frame F is changed according to the selection instruction, as shown in steps S220 and S230.
The feature object a is identified in the shot M, as shown in step S240. When the feature object a exceeds the loaded sampling frame F, the handheld mobile device 100 sends a second steering signal to drive the steering module 230 to change the image capturing direction, so that the feature object a returns to the sampling frame F, as shown in steps S250 and S260.
Similarly, when a plurality of feature objects a are identified in step S240, the handheld mobile device 100 may adjust the magnification to maintain all the feature objects a in the sampling frame F, or maintain the selected feature objects a in the sampling frame F according to a selection instruction.
The invention receives the optical positioning signal S through the optical coding receiving array, can effectively increase the receiving visual angle, avoids the search failure and can ensure that the characteristic object A needing to be shot is maintained in the shooting picture M. And the sampling frame F that can set for fast can avoid excessively following the bat, solves the unstable problem of rocking of picture M of making a video recording.
Claims (10)
1. A follow-shot system with picture stabilization function is characterized by comprising:
a remote control device having:
an encoding circuit;
the optical signal source is electrically connected with the coding circuit and used for sending an optical positioning signal; and
a key set electrically connected to the coding circuit for being pressed to trigger the coding circuit to drive the optical signal source to send the optical positioning signal; and
a heel-clap base, comprising:
a control chip;
the steering module is electrically connected with the control chip, an image capturing direction is defined on the steering module, and the control chip is used for controlling the steering module to steer so as to change the image capturing direction; and
an optical signal receiving array, disposed on the steering module, electrically connected to the control chip, and rotating synchronously with the steering module, wherein the optical signal receiving array has a plurality of optical signal receiving units for receiving the optical positioning signal, and forming a plurality of different receiving intensities according to different receiving distances and angles, so as to transmit the optical positioning signal to the control chip;
wherein, a threshold group is defined in a middle area of the optical signal receiving array, and the control chip analyzes whether the receiving intensity of each optical signal receiving unit in the threshold group is greater than a threshold value;
when at least one of the receiving intensities of the optical signal receiving units in the threshold group does not reach the threshold value, the control chip generates a first turning signal and sends the first turning signal to control the turning module to turn to the direction with higher receiving intensity until all the receiving intensities of the optical signal receiving units in the threshold group reach the threshold value.
2. The system of claim 1, further comprising a handheld device carried by the turning module, the handheld device comprising:
a microprocessor;
a camera electrically connected to the microprocessor for taking a picture along the image capturing direction and transmitting the picture to the microprocessor; the microprocessor defines a plurality of sampling frames with different sizes in the shooting picture, preloads one of the sampling frames, and changes the loaded sampling frame according to a selection instruction;
a memory unit electrically connected to the microprocessor for storing the set values of the image frame and the sampling frames; and
a touch control display panel which is electrically connected with the microprocessor and is used for displaying the camera shooting picture and can accept a touch control operation as the selection instruction to feed back to the microprocessor;
the microprocessor identifies a feature object in the shooting picture, and when the feature object exceeds the loaded sampling frame, the microprocessor sends a second steering signal to drive the steering module to change the image capturing direction so as to return the feature object to the sampling frame.
3. The system of claim 2, wherein the microprocessor maintains the feature objects in the sample frame when a plurality of feature objects are identified.
4. The system of claim 2, wherein when a plurality of feature objects are identified, the microprocessor maintains the selected feature object in the sample frame according to a selection instruction.
5. The system of claim 1, wherein the light signal receiving array is selected from the group consisting of rectangular array, circular array, trapezoidal array, cross array and combinations thereof.
6. A follow-up shooting method with picture stabilization function is suitable for enabling an image capturing direction of a follow-up shooting base to approach an optical signal source, and is characterized in that the optical signal source is used for sending an optical positioning signal; the method comprises the following steps:
receiving the optical positioning signal by an optical signal receiving array to generate a receiving intensity distribution; the optical signal receiving array is provided with a plurality of optical signal receiving units for receiving the optical positioning signals, and forms a plurality of different receiving intensities according to different receiving distances and angles to generate the receiving intensity distribution;
defining a threshold group in a middle area of the optical signal receiving array, and analyzing whether the receiving intensity of each optical signal receiving unit in the threshold group exceeds a threshold value; and
when at least one of the receiving intensities of the optical signal receiving units in the threshold group does not reach the threshold value, a first turning signal is generated to turn the optical signal receiving array to turn to the direction with higher receiving intensity until all the receiving intensities of the optical signal receiving units in the threshold group reach the threshold value.
7. The method as claimed in claim 6, further comprising:
establishing a communication link with a handheld mobile device; the following shooting base is used for bearing the handheld mobile device, and the handheld mobile device shoots a shooting picture along an image capturing direction by a camera;
defining a plurality of sampling frames with different sizes in the shooting picture by using the handheld mobile device, and preloading one of the sampling frames; and
and when the characteristic object exceeds the loaded sampling frame, the handheld mobile device sends a second steering signal to drive the follow shooting base to change the image capturing direction, so that the characteristic object returns to the sampling frame.
8. The method as claimed in claim 7, further comprising:
inputting a selection instruction to make the hand-held mobile device change the loaded sampling frame according to the selection instruction.
9. The method as claimed in claim 7, wherein when a plurality of the feature objects are identified, the feature objects are maintained in the sample frame.
10. The method as claimed in claim 7, wherein when a plurality of feature objects are identified, the selected feature object is maintained in the sampling frame according to a selection command.
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| JP2710450B2 (en) * | 1990-09-06 | 1998-02-10 | キヤノン株式会社 | Shooting direction changing device |
| CN102184551A (en) * | 2011-05-10 | 2011-09-14 | 东北大学 | Automatic target tracking method and system by combining multi-characteristic matching and particle filtering |
| CN104639835B (en) * | 2014-02-14 | 2018-09-28 | 小绿草股份有限公司 | Image tracing system and image tracing method |
| US9902120B2 (en) * | 2015-02-09 | 2018-02-27 | Omnivision Technologies, Inc. | Wide-angle camera using achromatic doublet prism array and method of manufacturing the same |
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| TWI475311B (en) * | 2013-05-01 | 2015-03-01 | Arec Inc | Panning camera and automatic panning cradle head |
| CN104486536A (en) * | 2014-07-18 | 2015-04-01 | 吴莉 | Automatic image shooting system and realization method thereof |
| CN106973220A (en) * | 2017-02-24 | 2017-07-21 | 小绿草股份有限公司 | Object method for tracing |
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