CN1205429A - Apparatus for estimating 3-dimensional position of moving target and method therefor - Google Patents

Apparatus for estimating 3-dimensional position of moving target and method therefor Download PDF

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Publication number
CN1205429A
CN1205429A CN98106287A CN98106287A CN1205429A CN 1205429 A CN1205429 A CN 1205429A CN 98106287 A CN98106287 A CN 98106287A CN 98106287 A CN98106287 A CN 98106287A CN 1205429 A CN1205429 A CN 1205429A
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China
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mark
moving target
dimensional position
images
image
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CN98106287A
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CN1056689C (en
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姜豪奭
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Samsung Electronics Co Ltd
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Samsung Electronics Co Ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T19/00—Manipulating 3D models or images for computer graphics
    • G06T19/006—Mixed reality
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30204—Marker

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  • Engineering & Computer Science (AREA)
  • Computer Graphics (AREA)
  • Computer Hardware Design (AREA)
  • General Engineering & Computer Science (AREA)
  • Software Systems (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Measurement Of Optical Distance (AREA)

Abstract

The instrument which measures the three-dimensional position of the moving object by using markers fitted at many positions of the moving object includes the markers which are stuck on the moving object and radiate or reflect lights of mutually different colors, at least two color cameras which pick up images of the object with the markers, and an image process part which discriminates markers of mutually different colors from at least two images picked up by the color cameras at the same time and calculates the three-dimensional position of the moving object from the image position of the marker having the same color between at least two images. Consequently, the respective markers are discriminated according to the colors of the markers stuck on respective objects by using the color images, so the same marker in mutually different images can easily and speedily be discriminated.

Description

Estimate the devices and methods therefor of 3-dimensional position of moving target
The present invention relates to estimate the devices and methods therefor of three-dimensional position, particularly estimate the devices and methods therefor of 3-dimensional position of moving target, wherein to the additional colour-coded of this moving target.
Virtual reality is a kind of computing application by using advanced computer graphical and emulation technology that true effect is provided.For example, use the virtual reality program, when design one building, before building building, just can predict variety of issue.
In virtual reality program as above, when a people or object (after, the motion object will be called target) motion, the three-dimensional position that must come estimating target by the motion that follows the trail of the objective is so that the motion of level and smooth target.For estimating the three-dimensional position of moving target, must obtain two images of same target simultaneously.Utilize traditional method, these two following acquisitions of image.
At first, can catoptrical black and white mark be attached to the various piece of target, and target image is taken continuously with 0.01 second interval by a plurality of video cameras.Be connected to the whole pixel values of the computing machine inspection of video camera from video camera output.Here, because each mark only provides light and shade information, therefore whether the part that only can determine image corresponding to a sign, and can not distinguish different marks.Thereby the identification of mark is by utilizing each camera pickuping image sequence, observing the motion of the mark in each sequence and carry out according to motion matched indicia between each camera sequence of being observed.Only in this way could calculate the three-dimensional position of each mark.
Yet, in the superincumbent classic method, utilize light and shade information only can determine whether a part of image represents a mark.Simultaneously two width of cloth images of Huo Deing mark whether identically also only can under handling, just can be determined after the set of diagrams picture.Thereby need take a long time calculating location information.
For addressing the above problem, the object of the present invention is to provide a kind of devices and methods therefor of estimating 3-dimensional position of moving target, wherein, a plurality of different colored marks are affixed on the target, thus each mark is identified in coloured image easily.
An aspect according to this purpose, provide mark on a plurality of parts that a kind of utilization appends to moving target to estimate the device of 3-dimensional position of moving target, this device comprises: append to a plurality of marks on the moving target, and each mark emission or reflect different colours; At least two colour TV cameras that the moving target with mark is made a video recording; Calculate the image processor of the three-dimensional position of moving target with each mark of identification at least two different images that a plurality of colour TV cameras are taken simultaneously and the position that from captured a plurality of images, has a mark of same color.
According to this purpose on the other hand, provide a kind of method of estimating 3-dimensional position of moving target, this method may further comprise the steps: (a) each emission or the different colored a plurality of marks of reflection are appended on the moving target; (b) utilize at least two video cameras, shooting simultaneously has the target of a plurality of marks; (c) image of extraction mark from a plurality of coloured images of picked-up simultaneously; (d) colour by these images comes identification marking, and calculates the position of same mark at least two images; (e) utilize the mark position of calculating in the step (d) to calculate the Three-dimension Target position.
Describe a preferred embodiment of the present invention in conjunction with the drawings in detail, it is more obvious that above-mentioned purpose of the present invention and advantage will become, wherein,
Fig. 1 is according to moving target of the present invention and a schematic representation of apparatus of estimating 3-dimensional position of moving target;
Fig. 2 explains the process flow diagram of estimating the method for 3-dimensional position of moving target according to the present invention; With
Fig. 3 is the synoptic diagram of the step of the calculating of key drawing 2 three-dimensional position that is generally comprised within a plurality of marks in two different images of same target.
In Fig. 1, estimate that according to the present invention the device of 3-dimensional position of moving target comprises: a labeling section 102; A video camera portion that comprises first video camera 104, second video camera 106 and the 3rd video camera 108; With an image processor 110.Here, label 100 is represented moving target.
Labeling section 102 comprises a plurality of colour-codeds.Here, these marks append to the frequent part of motion of moving target 100, as people's head, arm, hand and leg.Colour-coded is a light emitting diode (LED) or can catoptrical color body.Use the video camera 104,106 and 108 of video camera part, the additional a plurality of images that the moving target of a plurality of colour-codeds is arranged of picked-up.Need more than a video camera be because, at first, need two images to obtain three-dimensional position at least, secondly, only the image from a direction is not enough to catch whole marks.
Image processor 110 extracts marking image from the image of at least two inputs of first, second and the 3rd video camera 104,106 and 108, the colour of identification marking and calculate the three-dimensional position of each mark.
Below with reference to Fig. 2 and 3 operation of the present invention and effect are described.
At first, a plurality of colour-coded 120 appends to the various piece (part 200) of moving target 100.Then, target image is input to image processor 110 (step 202) by video camera 104,106 and 108.
Image processor 110 is checked each pixel value (step 204) of two input pictures.Then, determine that whether each pixel in the image is corresponding to a mark (step 206).Here, if pixel value greater than 100, that in the image just is confirmed as mark.Otherwise this point in the image is confirmed as background and checks next pixel value.If that in the image is confirmed as mark, check that then colored (red, green, blue) is to select same mark from different images.Here, the marking image with same color is confirmed as representing identical mark, and calculates the position (step 208) of the marking image of a plurality of couplings on screen coordinate.Then, calculate the three-dimensional position (step 210) of mark by the position of the marking image of coupling by the solid coupling.Here, when an impact point in space is projected to two picture point, use three-dimensional coupling with 2 couplings on a plurality of planes for a bit, so that from the two-dimensional position acquisition three-dimensional position of target.Fig. 3 explains the step of calculating the three-dimensional position of same mark by three-dimensional coupling in two different images of same object.In Fig. 3, suppose the position and the focal distance f of first and second video cameras 1And f 2Be known.
With reference to Fig. 3, the position (x from first image 304 of the target W of first video camera 300 picked-up 1, y 1) and by the position (x in second image 306 of the target W of second video camera 302 picked-up 2, y 2), three-dimensional position W that can following calculating target W (x, y, z).
Position (x 1, y 1) calculate by following formula (1), and pass W (x, y, line L z) by the position of first video camera 300 1Equation calculate thus. x 1 = f 1 x f 1 - z , y 1 = f 1 y f 1 - z - - - - - - - - ( 1 )
Position (x 2, y 2), calculate by following formula (2), and pass w (x, y, line L z) by the position of second video camera 302 2Formula calculate thus. x 2 = f 2 x f 2 - z , y 2 = f 2 y f 2 - z - - - - - - - - - - ( 2 )
Here two line L 1And L 2Intersection point satisfy L 1=L 2Relation, this intersection point corresponding to the three-dimensional position W of target W (x, y, z).
As mentioned above, in estimating the devices and methods therefor of 3-dimensional position of moving target, picked-up coloured image and the colour-codeds that will reflect different colours append on the moving target according to the present invention.Each mark can be discerned by its colour from coloured image.Thereby the same mark in the different images of same target can be discerned easily and apace.

Claims (3)

1. a utilization appends to the device that mark on a plurality of parts of moving target is estimated 3-dimensional position of moving target, and described device comprises:
Append to a plurality of marks on the moving target, each mark can be launched or reflect different colored;
At least two colour TV cameras that the moving object with described mark is made a video recording; With
The image processor of the three-dimensional position of moving target is calculated in the position that has a plurality of marks of same color at least in two different images that a plurality of colour TV cameras absorb simultaneously in each mark of identification and a plurality of images by picked-up.
2. method of estimating 3-dimensional position of moving target said method comprising the steps of:
(a) each emission or the different colored a plurality of marks of reflection are appended on the moving target;
(b) utilize at least two video cameras simultaneously the target with described mark to be made a video recording;
(c) image of extraction mark from the coloured image of taking simultaneously;
(d) colour by its image comes identification marking, and calculates the position of same mark at least two images; With
(e) use the position of the mark that in step (d), calculates to calculate the Three-dimension Target position.
3. method as claimed in claim 2 is wherein calculated the step (e) of three-dimensional position and is undertaken by two width of cloth images that the solid coupling has same tag.
CN98106287A 1997-07-15 1998-04-10 Apparatus for estimating 3-dimensional position of moving target and method therefor Expired - Fee Related CN1056689C (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
KR32939/97 1997-07-15
KR32939/1997 1997-07-15
KR1019970032939A KR100269116B1 (en) 1997-07-15 1997-07-15 Apparatus and method for tracking 3-dimensional position of moving abject

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CN1205429A true CN1205429A (en) 1999-01-20
CN1056689C CN1056689C (en) 2000-09-20

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011047505A1 (en) * 2009-10-20 2011-04-28 Hewlett-Packard Development Company, L.P. Data processing system and method
CN104159507A (en) * 2012-03-16 2014-11-19 富士通株式会社 Tremor-detecting device and tremor-detecting method
CN104887238A (en) * 2015-06-10 2015-09-09 上海大学 Hand rehabilitation training evaluation system and method based on motion capture
CN101689299B (en) * 2007-06-20 2016-04-13 汤姆逊许可证公司 For the system and method for the Stereo matching of image
CN110018741A (en) * 2019-03-28 2019-07-16 利亚德电视技术有限公司 A kind of motion capture gloves and motion capture system

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB9915880D0 (en) 1999-07-08 1999-09-08 British Aerospace Optical target and apparatus and method for automatic identification thereof
KR20030015625A (en) * 2001-08-17 2003-02-25 에이알비전 (주) Calibration-free Approach to 3D Reconstruction Using A Cube Frame
US20080170750A1 (en) * 2006-11-01 2008-07-17 Demian Gordon Segment tracking in motion picture
KR101991277B1 (en) 2017-12-18 2019-06-20 한국기술교육대학교 산학협력단 An automobile parts quality assurancing method using markers and a device thereof

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101689299B (en) * 2007-06-20 2016-04-13 汤姆逊许可证公司 For the system and method for the Stereo matching of image
WO2011047505A1 (en) * 2009-10-20 2011-04-28 Hewlett-Packard Development Company, L.P. Data processing system and method
CN104159507A (en) * 2012-03-16 2014-11-19 富士通株式会社 Tremor-detecting device and tremor-detecting method
CN104159507B (en) * 2012-03-16 2016-10-12 富士通株式会社 Device for detecting rock and rock detection method
CN104887238A (en) * 2015-06-10 2015-09-09 上海大学 Hand rehabilitation training evaluation system and method based on motion capture
CN110018741A (en) * 2019-03-28 2019-07-16 利亚德电视技术有限公司 A kind of motion capture gloves and motion capture system

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Publication number Publication date
JPH1151615A (en) 1999-02-26
KR100269116B1 (en) 2000-11-01
KR19990010241A (en) 1999-02-05
CN1056689C (en) 2000-09-20

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