EP1936583A1 - Airport traffic information display system - Google Patents
Airport traffic information display system Download PDFInfo
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- EP1936583A1 EP1936583A1 EP07024748A EP07024748A EP1936583A1 EP 1936583 A1 EP1936583 A1 EP 1936583A1 EP 07024748 A EP07024748 A EP 07024748A EP 07024748 A EP07024748 A EP 07024748A EP 1936583 A1 EP1936583 A1 EP 1936583A1
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- airport
- image processing
- panoramic
- foveal
- segment
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0073—Surveillance aids
- G08G5/0082—Surveillance aids for monitoring traffic from a ground station
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0017—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information
- G08G5/0026—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information located on the ground
Definitions
- the invention relates to an airport traffic information display system having at least one camera alignable to an observable airport area, an image processing unit connected to the at least one camera and at least one display unit in communication with the image processing unit.
- DE 10 2005 005 879 discloses a method of reconstructing a real tower exterior view by means of a high resolution panoramic projection on monitors or by means of a wide angle projection to display the images of at least four high resolution digital video cameras for a 180 ° panorama.
- the digitized signals are provided in a four segment panorama by one computer per segment by decompressing the compressed image data.
- One camera and one projection or one screen per panoramic segment are provided per segment.
- Wide-angle projections suitable for high-resolution viewing of a video panorama are known in the virtual reality field. These are tiled projection systems with a high-resolution digital projector pro Tile or two-digital projectors for stereo projections.
- the simulators for the (virtual) airport tower exterior view are so far more than four high-resolution fields by pixel-precise overlaying on the vertical edges (stitching) in a cylindrical or hollow spherical segment projection to a virtual panoramic view (200 to 300 °) Airport surface put together. For a single workstation in the tower environment they are not suitable because of the size.
- a spherical projection can also be used.
- the maximum available resolution of 1600 x 1200 pixels does not meet the requirements for a 180 ° panorama, which can replace the direct outside view of the surgeon from the tower.
- the object of the present invention is therefore to provide an improved airport traffic information display system which enables a high-resolution viewing of the relevant airport areas with reduced technical complexity and simultaneously provides the surgeon with the necessary overview information.
- the object is achieved with the airport traffic information system of the type mentioned in that the image processing unit for selecting and displaying a foveal panoramic segment corresponding to the attention focus of a selected line of sight on the observed airport area and for simultaneous display of information about moving objects in peripheral, extra-foveal Panoramasegment is set up.
- a remotely controllable pan-tilt-zoom camera is provided, which is adapted to select a zoom section of the panoramic segment, to display the zoom section on one of the display units.
- a pan-tilt-zoom camera is a pan-tilt camera with zoom capability.
- the zoom camera is mounted on a pan-tilt panoramic head, which allows a pivot around the Nodalddling and tilting.
- the nodal point describes the location of the main planes of a lens of the zoom camera.
- the image processing unit is either directly or preferably indirectly, for example via the in the DE 10 2005 005 879 described transmission system connected to at least one camera.
- the number of high-resolution panoramic cameras can optionally be minimized to a panoramic camera, which is optionally arranged pivotable via a remote control and thereby can cover the entire panorama.
- the 180 ° panoramic segment of an observable airport area is thus divided into four 45 ° segments, each of which is observed through a panoramic camera. Only the current foveal observation range of a section of one of the 45 ° segments in high-resolution and correspondingly reproduced in detail.
- At least one sensor connected to the panoramic projection system automatically selects the segment to be observed (foveal attention area) on the basis of object recognition and / or position determination (by means of eg automatic image processing, approach radar, multilateration system or satellite navigation with ADS).
- the image processing unit is then set up to automatically select the foveal panoramic segment depending on the foveal attention sector, thereby allowing attention to be reduced to non-foveal sectors for essential motion information within the visualized foveal sector of the surgeon, ie his foveal information recording, with the speed corresponding to a head rotation of the surgeon automatically on areas of interest of the most complete to direct ndigen Panoramos.
- a manual selection of the highly resolved foveal attention sector in detail by the surgeon is not required.
- the foveal panoramic segment is preferably less than 45 ° of a 180 ° panorama detectable by the cameras.
- the image processing unit is set up for the simultaneous permanent display of the selected panorama segment (corresponding to the current viewing direction). This ensures that the surgeon retains orientation.
- the image processing unit is furthermore preferably for automatically selecting the foveal panoramic segment as a function of characteristic movements detected in the recorded panorama, flight movement information from an approach radar, position information from a multilateral device via aircraft and / or vehicles in the observed airport area and / or satellite navigation position information transmitted by aircraft set up.
- the surgeon's attention can be automatically directed to the detected moving objects as a function of said sensed movements in the observed airport area.
- the approach of an aircraft is detected by means of the approach radar or satellite navigation position information transmitted by the aircraft, and the high-resolution representation of the foveal panoramic segment is directed at the approaching aircraft.
- they can then manually select another foveal panoramic segment or a new foveal panoramic section can be automatically selected by coupling the automatic, sensor-based object recognition and position determination to the video panorama reconstruction.
- the image processing unit is preferably equipped with a touch-sensitive input device, in particular a touch-sensitive monitor, in order to select a panorama segment as a function of a finger movement on the input device.
- a touch-sensitive input device in particular a touch-sensitive monitor
- Such a "touch-screen” monitor has the advantage of quick and easy command input by the operator.
- the information about moving objects outside the selected panoramic segment is preferably displayed in horizontal and vertical image bars adjoining the representation of the foveal panoramic segment.
- the further representation of the movement information should then depend on the spatial position of the objects belonging to the movement information. This allows the operator to keep track of the objects in the vicinity of the foveal panorama, which have yet to be taken into account in his piloting.
- the image processing unit is preferably connected to a further display unit for displaying the panorama captured by the cameras.
- the entire example 180 ° panoramic view is then presented (not high resolution) on the other display unit.
- a virtual panorama in an image memory is generated by a computer from a real-time video data stream by seamless sequencing of the frames from the individual panoramic cameras with selection and representation of an arbitrary region by shifting an image section by selecting a virtual viewing position.
- Data reduction is accomplished by the exclusive transmission of portions (attention focus) of the compressed video data streams to an image processing computer.
- the transmission capacity gained for this purpose is used for dynamically adapting the compression parameters to optimize the image quality. For example, this can automatically reduce the compression if the image quality deteriorates in the dark.
- FIG. 12 shows a block diagram of an airport traffic information display system 1 having at least one camera 2 which can be oriented to an area of the airport to be observed. Illustrated by way of example are four cameras, which are each connected to an image processing computer 3a, 3b, 3c, 3d.
- the image processing computers 3a, 3b, 3c, 3d are provided for image data compression and real-time image processing.
- the panoramic cameras 2 are connected to the image processing computers 3a, 3b, 3c, 3d via fast, broadband data lines 4a, 4b, 4c, 4d.
- the output of the image processing computers 3a, 3b, 3c, 3d is connected in each case via fast, broadband data lines 5a, 5b, 5c, 5d to a switch and transmitter / converter 6, via which the image data, for example optically via a broadband fiber optic connection 7 to a switch and receiver 8 are forwarded.
- An image processing unit in the form of another image processing computer 9 is connected to the switch and receiver 8 and for decompressing the video signals of the panoramic cameras 2 according to the set up by an operator 10 selected panoramic segment.
- the image processing unit 9 is further configured to display the moving object information detected and transmitted by the image processing computers 3a, 3b, 3c, 3d through real-time image processing.
- the display of at least the foveal panoramic segment corresponding to the attention focus of a selected viewing direction on the observed airport area and the information about moving objects in peripheral, extra-foveal panaromasegment, not shown, takes place, for example, with the two display units 11a, 11b shown.
- another pan-tilt zoom camera 12 is connected via a fast, broadband data line 4e with another image processing computer 3e, which also for real-time image processing and extraction of information about moving objects from the recorded zoom video of a section of the observed airport area.
- the pan-tilt zoom camera 12 is remotely controllable with control signals which are sent via the image processing unit 9 and a control data line 13 to the pan-tilt-zoom camera 12 via the image processing computer 3e.
- the control of the airport traffic information display system is carried out by the operator 10 by means of keyboard 14, mouse, touch pad 15, etc., which can be routed via the image processing unit 9 and the data links to the image processing computers 3a to 3d.
- camera parameters such as aperture, focal length, orientation of the pan-tilt-zoom camera, etc. can be changed.
- control signals automatically by means of real-time processing of image and ASMGCS information by the image processing unit.
- the illustrated airport traffic information display system 1 is thus a panorama system with a plurality of high-resolution cameras 2 which simultaneously display the area normally monitored by direct view from the tower depict.
- the separation of the cognitive processing (foveal, peripheral) is exploited by only one of the attention focus of the selected (virtual) viewing direction of the complete high-resolution panorama (for example, 180 ° covered angle range with approximately 1600 x 1200 pixels) the surgeon 10 to the far airport corresponding segment of the panorama ( ⁇ 45 ° at 180 ° panorama with more than four cameras 2) with maximum resolution (eg 1600 x 1200 pixels per camera) is displayed.
- the currently active portion is aligned to the peripheral segment and simultaneously the orientation angle (azimuth, vertical angle) and focus (focal length) of the pan-tilt Zoom camera 12 automatically aligned to the fixed approach area.
- the region selected in the panorama segment and enlarged by means of the separate, remote-controllable pan-tilt-zoom camera 12 is displayed in the panorama with a suitable rectangular marking box and displayed as a zoom image on an adjacent monitor 11 b, as in FIG FIG. 2 outlined.
- Fig. 3 has the two monitors 11a, 11b of the workplace of the surgeon 10 with the selected panoramic segment on the left monitor 11a and zoom zoom on the right monitor 11 b recognize.
- a narrow information image bar 16 below, which contains information on the position of the selected segment and on moving objects in the panoramic areas (periphery), not shown. Markings in the lower bar indicate the segmentation of the entire panorama in equal sections corresponding orientation of z.
- the position of the selected segment is marked by a (eg red) colored bar.
- the selected segment is generally composed of shares of two adjacent panoramic cameras. A small lighter (eg, yellow) rectangle in this mark indicates the zoom range shown on the right monitor 11b.
- the zoom range can also be moved independently in peripheral panoramic segments that are not currently visualized.
- a marker in the example shown the rectangle in the lower information image bar, indicates the position in the overall panorama.
- z. B. coupled to the segment position symbols for the different phases of the landing or the start are selected (starting / landing on runways, rolling over a taxiway, crossing of taxiways, entering the apron area, etc.).
- the information about the detected moving object can be from different sources such as real-time motion detection image processing implemented in parallel to the decompression algorithms in the image processing computers 3a to 3e. Also conceivable is the extraction of such information about detected moving objects by multilateral systems or satellite navigation with on-board ground (or vehicle control center) data links. Also, passive, immobile objects, the image processing z. If, for example, new obstacles have been detected, they can be indicated by another icon.
- similar narrow information image bars 17a, 17b can be displayed in the vertical display margins. This is possible when using high resolution displays with HDTV format (1920 x 1080 pixels) without significantly reducing the resolution set by the cameras 2 (1,600 x 1,200 pixels).
- the simultaneous representation of a detected, moving object in the peripheral area on one of the vertical information image strips 17a, 17b can then be used to represent the height above the airport surface and, where appropriate, the identification of the flying object (call sign).
- the knowledge of the distance of the object in the direction of the respective panoramic segment is required, which is taken from any available satellite navigation data (transmitted via ADS-B) or multilateration data (transit time measurement).
- the graphical altitude display then requires the insertion of a reference line in the side bar, which corresponds to the base of the vertical under the aircraft.
- Arrows in the vertical information bars assigned to the symbols indicate descending or ascending flight in a downward or upward direction of the arrow. Arrows are again speeds. If the latter are not known, this is indicated on the arrow by a marking (eg dash).
- This variant is in the Fig. 2 shown.
- the call signs of the aircraft are displayed, which are supplied together with the position information of ASMGCS sensors (secondary, multilateration system, satellite navigation system).
- ASMGCS sensors secondary, multilateration system, satellite navigation system
- the segment selection of the panorama may be based on the signals of a brain-computer interface, which by means of evaluation of EEG signals, the mental image "right” / “left arm” / “move left arm” in a corresponding shift of the red segment bar in the lower information image bar 16 and thus converted into the visualized area.
- a segment control by means of eye movement registration is possible. Focussing on a specific point on the segment display bar will cause the center of the displayed panorama section to fall to that point.
- the current segment position may move to the right or to the left if the line of sight (direction of attention) is oriented to the right or left accordingly.
- pan-tilt zoom camera 12 instead of the complete panoramic camera system consisting of several cameras 2 only a single high-resolution, mounted on a turntable camera 2 is used, which is aligned in each case to the attention focus corresponding panoramic segment .
- the manual or automatic Selection of the segment to be displayed in this case controls the horizontal camera position (azimuth angle about the vertical axis of rotation) about an orientation of the turntable.
- the rotational speed should correspond to that of the head of an operator 10 when he turns his attention in the real tower to a new segment.
- This airport traffic information display system 1 can be further extended by the addition of inexpensive standard video cameras to provide a complete panorama with only a normal resolution (eg 768 x 576 pixels).
- the standard video cameras are not for visualization, but only for automatic motion detection using real-time image processing according to the FIG. 1 described embodiment.
- the high-resolution camera 2 for visualization together with the non-visualized, low-resolution background images corresponds to the human visual system with high-resolution fovea and low-resolution peripheral retinal area.
- the Reals ist is also conceivable with only a standard camera for the peripheral information, which with a fisheye lens for a shooting angle of z. B. 180 ° must be equipped.
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Abstract
Description
Die Erfindung betrifft ein Flughafenverkehrsinformations-Anzeigesystem mit mindestens einer auf einen zu beobachtenden Flughafenbereich ausrichtbaren Kamera, einer mit der mindestens einen Kamera verbundenen Bildverarbeitungseinheit und mindestens einer mit der Bildverarbeitungseinheit in Verbindung stehenden Anzeigeeinheit.The invention relates to an airport traffic information display system having at least one camera alignable to an observable airport area, an image processing unit connected to the at least one camera and at least one display unit in communication with the image processing unit.
Es besteht ein Bedarf, den Flugverkehr im Flughafenbereich ohne eine direkte Außensicht mit Mitteln für eine reine sensorbasierten Leitzentrale zu kontrollieren. Dies hat den Vorteil, dass in großräumigen Flughafenanlagen Tower zur Überwachung von Außenbereichen, die von dem Haupttower nicht einsehbar sind, nicht mehr personell besetzt werden müssen. Die Kontrolle des gesamten Flughafens kann vielmehr im Haupttower durchgeführt werden. Der Aufwand für die Erstellung von Turmbauwerken (Tower) zur Überwachung der Außenbereiche wird zudem erheblich reduziert.There is a need to control air traffic in the airport area without a direct outside view with means for a pure sensor-based control center. This has the advantage that in large-scale airport facilities tower for monitoring of outdoor areas that are not visible from the main tower, no longer have to be staffed. The control of the entire airport can rather be carried out in the main tower. The effort for the construction of tower structures (tower) to monitor the outdoor areas is also significantly reduced.
Weiterhin besteht ein Bedarf, den Aufwand zur Kontrolle wenig frequentierter Flughäfen zu reduzieren, indem die Kontrollfunktionen auf die Lotsen eines (anderen) stärker frequentierten Flughafens verlagert werden. Hierzu ist eine sensorbasierte Überwachung des Flughafenbereichs mit einer Übertragung der Bilddaten zu einer Anzeigeeinheit für die Lotsen, die die Kontrolle durchführen, erforderlich.There is also a need to reduce the burden of controlling low-traffic airports by relocating the control functions to the pilots of a (more) more frequented airport. For this purpose, a sensor-based monitoring of the airport area with a transfer of the image data to a display unit for the pilots who carry out the control is required.
Die Arbeitsbedingungen fordern vom Lotsen neben der Kommunikation per Funk und Telefon einen häufigen Wechsel der Aufmerksamkeit zwischen Außensicht, die hin und wieder durch den Griff zum Fernglas verstärkt wird, und verschiedenen Monitoren und Radar-Displays. Bei schlechter Sicht reduziert sich die Möglichkeit der visuellen Verkehrsüberwachung durch Blick aus den Fenstern der Leitzentralen naturgemäß deutlich und der Verkehr muss aus Sicherheitsgründen entsprechend reduziert werden.The working conditions demand from the pilot in addition to the communication by radio and telephone a frequent change of attention between outside view, which is reinforced now and then by the handle to the binoculars, and various monitors and radar displays. In the case of poor visibility, the possibility of visual traffic monitoring by looking out of the windows of the control centers naturally clearly reduces and the traffic must be correspondingly reduced for safety reasons.
In
Aus
Weitwinkelprojektionen, die sich zur hochauflösenden Darstellung eines Videopanoramas eignen, sind aus dem Virtual Reality-Bereich bekannt. Dies sind gekachelte Projektionssysteme mit einem hochauflösenden Digitalprojektor pro Kachel bzw. Zwei-Digitalprojektoren bei Stereoprojektionen. Den Simulatoren für die (virtuelle) Flughafen-Tower-Aussensicht werden bislang mehr als vier hochauflösende Teilbilder durch pixelgenaue Überlagerung an den vertikalen Kanten (stitching) in einer Zylinder- oder Hohlkugel-Segment-Projektion zu einer virtuellen Panoramasicht (200 bis 300°) der Flughafenoberfläche zusammengefügt. Für einen Einzelarbeitsplatz in der Tower-Umgebung sind sie aufgrund der Größe nicht geeignet.Wide-angle projections suitable for high-resolution viewing of a video panorama are known in the virtual reality field. These are tiled projection systems with a high-resolution digital projector pro Tile or two-digital projectors for stereo projections. The simulators for the (virtual) airport tower exterior view are so far more than four high-resolution fields by pixel-precise overlaying on the vertical edges (stitching) in a cylindrical or hollow spherical segment projection to a virtual panoramic view (200 to 300 °) Airport surface put together. For a single workstation in the tower environment they are not suitable because of the size.
Als Einzelarbeitsplatz mit einer Weitwinkelprojektion (z. B. 180°) kann auch eine sphärische Projektion genutzt werden. Allerdings entspricht die bislang maximal erhältliche Auflösung 1600 x 1200 Pixel nicht den Anforderungen für ein 180° Panorama, das die direkte Aussensicht des Operateurs aus dem Tower ersetzen kann.As a single workstation with a wide-angle projection (eg 180 °), a spherical projection can also be used. However, the maximum available resolution of 1600 x 1200 pixels does not meet the requirements for a 180 ° panorama, which can replace the direct outside view of the surgeon from the tower.
Aufgabe der vorliegenden Erfindung ist es daher, ein verbessertes Flughafenverkehrsinformations-Anzeigesystem zu schaffen, das mit reduziertem technischen Aufwand eine hochaufgelöste Betrachtung der relevanten Flughafenbereiche ermöglicht und dem Operateur gleichzeitig die notwendigen Übersichtsinformationen bietet.The object of the present invention is therefore to provide an improved airport traffic information display system which enables a high-resolution viewing of the relevant airport areas with reduced technical complexity and simultaneously provides the surgeon with the necessary overview information.
Die Aufgabe wird mit dem Flughafenverkehrsinformations-System der eingangs genannten Art dadurch gelöst, dass die Bildverarbeitungseinheit zur Auswahl und Darstellung eines dem Aufmerksamkeitsfokus einer gewählten Blickrichtung auf den beobachteten Flughafenbereich entsprechenden fovealen Panoramasegments und zur gleichzeitigen Darstellung von Informationen über bewegte Objekte im nicht dargestellten peripheren, außerfovealen Panoramasegment eingerichtet ist.The object is achieved with the airport traffic information system of the type mentioned in that the image processing unit for selecting and displaying a foveal panoramic segment corresponding to the attention focus of a selected line of sight on the observed airport area and for simultaneous display of information about moving objects in peripheral, extra-foveal Panoramasegment is set up.
Es wird die Tatsache ausgenutzt, dass sich im Bereich der bewussten Aufmerksamkeit und visuellen Verarbeitung bei Betrachtung mit dem Auge ohne Verstärkung durch ein Fernglas nur der in den fovealen Bereich (< 5°) der Retina abgebildete Gegenstandsbereich befindet. Dementsprechend deckt ein Segment, das typischerweise durch einen einzelnen Monitor dargestellt wird (z. B. 45°) bereits ein deutlich größeres Panoramasegment ab. Für eine Panoramaprojektion in einem Einzelarbeitsplatz ist es jedoch nicht erforderlich, den peripheren Bereich eines z. B. 180°-Panoramas gleichzeitig vollständig darzustellen, da in einer realen Aussensicht in diesen außerfovealen Sektoren ohnehin nur markante Bewegungen wahrgenommen werden. Die Darstellung dieser außerfovealen Sektoren wird erfindungsgemäß somit auf wesentliche Bewegungsinformationen reduziert, während das foveale Panoranasegment hochaufgelöst und detailgetreu angezeigt wird.It exploits the fact that in the area of conscious attention and visual processing, when viewed with the eye without amplification by binoculars, there is only the object area imaged in the foveal area (<5 °) of the retina. Accordingly, a segment that is typically represented by a single monitor (e.g., 45 °) already covers a much larger panoramic segment. For a panoramic projection in a single workstation, however, it is not necessary, the peripheral area of a z. B. 180 ° panoramas at the same time complete, since in a real external view in these extra-foveal sectors anyway only striking movements are perceived. The representation of these extra-foveal sectors according to the invention is thus reduced to essential movement information, while the foveal panoran segment is displayed in high-resolution and detailed.
Vorzugsweise ist weiterhin eine fernsteuerbare Pan-Tilt-Zoom-Kamera vorgesehen, die zur Auswahl eines Zoom-Ausschnitts des Panoramasegmentes eingerichtet ist, um den Zoom-Ausschnitt auf eine der Anzeigeeinheiten darzustellen.Preferably, a remotely controllable pan-tilt-zoom camera is provided, which is adapted to select a zoom section of the panoramic segment, to display the zoom section on one of the display units.
Mit dieser fernsteuerbaren Pan-Tilt-Zoom-Kamera ist es somit möglich, die Benutzung eines Fernglases durch den Operateur zu simulieren und eine vergrößerte Ansicht eines Ausschnittsbereichs darzustellen. Zur Orientierungserleichterung bleibt, wie in der Realität auch, die detailgetreue Darstellung der fovealen Panoramasicht erhalten.With this remote-controlled pan-tilt-zoom camera, it is thus possible to simulate the use of a binocular by the surgeon and to display an enlarged view of a cutout area. In order to facilitate orientation, as in reality, the detailed representation of the foveal panoramic view is preserved.
Eine Pan-Tilt-Zoom-Kamera ist eine durch Schwenken und Neigen ferngesteuert ausrichtbare Kamera mit Zoomfunktion. Hierzu ist die Zoom-Kamera auf einem Pan-Tilt-Panoramakopf angebracht, die eine Schwenkung um den Nodalpunkt und ein Verkippen ermöglicht. Der Nodalpunkt beschreibt die Lage der Hauptebenen eines Objektivs der Zoom-Kamera.A pan-tilt-zoom camera is a pan-tilt camera with zoom capability. For this purpose, the zoom camera is mounted on a pan-tilt panoramic head, which allows a pivot around the Nodalpunkt and tilting. The nodal point describes the location of the main planes of a lens of the zoom camera.
Die Bildverarbeitungseinheit ist entweder direkt oder bevorzugt indirekt beispielsweise über das in der
Bevorzugt sind vier Kameras zur Aufnahme eines hochaufgelösten 180°-Panoramas vorgesehen. Zur Kostenminimierung kann die Anzahl der hochauflösenden Panorama-Kameras gegebenenfalls auf eine Panorama-Kamera minimiert werden, die gegebenenfalls über eine Fernsteuerung schwenkbar angeordnet ist und dadurch das komplette Panorama abdecken kann. Das 180°-Panoramasegment eines beobachtbaren Flughafenbereichs wird somit in vier 45°-Segmente eingeteilt, die jeweils durch eine Panorama-Kamera beobachtet werden. Dabei wird nur der aktuelle foveale Beobachtungsbereich eines Ausschnitts eines der 45°-Segmente hochauflösend und entsprechend detailgetreu wiedergegeben.Preferably, four cameras are provided for receiving a high-resolution 180 ° panorama. To minimize costs, the number of high-resolution panoramic cameras can optionally be minimized to a panoramic camera, which is optionally arranged pivotable via a remote control and thereby can cover the entire panorama. The 180 ° panoramic segment of an observable airport area is thus divided into four 45 ° segments, each of which is observed through a panoramic camera. Only the current foveal observation range of a section of one of the 45 ° segments in high-resolution and correspondingly reproduced in detail.
Besonders vorteilhaft ist es, wenn mindestens ein mit dem Panoramaprojektionssystem verbundener Sensor zur automatischen Auswahl des zu beobachtenden, hochaufgelöst darzustellenden Segments (fovealer Aufmerksamkeitsbereich) auf der Basis von Objekterkennung und/oder Positionsbestimmung (mittels z.B. automatischer Bildverarbeitung, Anflugradar, Multilaterationssystem oder Satellitennavigation mit ADS-B (Automatic Dependent Surveillance Broadcast) vorgesehen ist. Die Bildverarbeitungseinheit ist dann zur automatischen Auswahl des fovealen Panoramasegments in Abhängigkeit von dem fovealen Aufmerksamkeitssektor eingerichtet. Damit ist es möglich, eine für die außerfoveale Sektoren auf wesentliche Bewegungsinformationen reduzierte Darstellung innerhalb des visualisierten fovealen Sektors die Aufmerksamkeit des Operateurs, d. h. seine foveale Informationsaufnahme, mit der einer Kopfdrehung des Operateurs entsprechenden Geschwindigkeit automatisch auf interessierende Bereiche des vollständigen Panoramos zu lenken. Eine manuelle Auswahl des im Detail hochaufgelöst dargestellten fovealen Aufmerksamkeitssektors durch den Operateur ist damit nicht erforderlich.It is particularly advantageous if at least one sensor connected to the panoramic projection system automatically selects the segment to be observed (foveal attention area) on the basis of object recognition and / or position determination (by means of eg automatic image processing, approach radar, multilateration system or satellite navigation with ADS). The image processing unit is then set up to automatically select the foveal panoramic segment depending on the foveal attention sector, thereby allowing attention to be reduced to non-foveal sectors for essential motion information within the visualized foveal sector of the surgeon, ie his foveal information recording, with the speed corresponding to a head rotation of the surgeon automatically on areas of interest of the most complete to direct ndigen Panoramos. A manual selection of the highly resolved foveal attention sector in detail by the surgeon is not required.
Das foveale Panoramasegment ist vorzugsweise kleiner als 45° eines mit den Kameras erfassbaren 180°-Panoramas.The foveal panoramic segment is preferably less than 45 ° of a 180 ° panorama detectable by the cameras.
Weiterhin ist es vorteilhaft, wenn die Bildverarbeitungseinheit zur gleichzeitigen permanenten Darstellung des gewählten Panoramasegmentes (entsprechend der aktuellen Blickrichtung) eingerichtet ist. Auf diese Weise wird sichergestellt, dass der Operateur die Orientierung behält.Furthermore, it is advantageous if the image processing unit is set up for the simultaneous permanent display of the selected panorama segment (corresponding to the current viewing direction). This ensures that the surgeon retains orientation.
Die Bildverarbeitungseinheit ist weiterhin vorzugsweise zur automatischen Auswahl des fovealen Panoramasegments in Abhängigkeit von im aufgenommenen Panorama detektierten charakteristischen Bewegungen, Flugbewegungsinformationen von einem Anflugradar, Positionsinformationen von einer Multilateral-Einrichtung über Flugzeuge und/oder Fahrzeuge im beobachteten Flughafenbereich und/oder von Flugzeugen übermittelte Satellitennavigations-Positionsinformationen eingerichtet. Auf diese Weise kann die Aufmerksamkeit des Operateurs automatisch in Abhängigkeit der genannten sensierten Bewegungen im beobachteten Flughafenbereich auf die detektierten bewegten Objekte gerichtet werden. Beispielsweise bei Anflug eines Flugzeugs wird mit Hilfe des Anflugradars oder Satellitennavigations-Positionsinformationen, die vom Flugzeug übermittelt werden, die Annäherung eines Flugzeugs erkannt und die hochaufgelöste Darstellung des fovealen Panoramasegments auf das anfliegende Flugzeug gerichtet. Nach Erfassung der Situation durch den Operateur können diese dann manuell ein anderes foveales Panoramasegment auswählen oder es kann automatisch ein neuer fovealer Panoramaausschnitt ausgewählt werden durch Kopplung der automatischen, sensorbasierten Objekterkennung und Positionsbestimmung an die Videopanorama-Rekonstruktion.The image processing unit is furthermore preferably for automatically selecting the foveal panoramic segment as a function of characteristic movements detected in the recorded panorama, flight movement information from an approach radar, position information from a multilateral device via aircraft and / or vehicles in the observed airport area and / or satellite navigation position information transmitted by aircraft set up. In this way, the surgeon's attention can be automatically directed to the detected moving objects as a function of said sensed movements in the observed airport area. For example, when approaching an aircraft, the approach of an aircraft is detected by means of the approach radar or satellite navigation position information transmitted by the aircraft, and the high-resolution representation of the foveal panoramic segment is directed at the approaching aircraft. After the situation has been detected by the surgeon, they can then manually select another foveal panoramic segment or a new foveal panoramic section can be automatically selected by coupling the automatic, sensor-based object recognition and position determination to the video panorama reconstruction.
Die Bildverarbeitungseinheit ist vorzugsweise mit einem berührungsempfindlichen Eingabegerät ausgerüstet, insbesondere einem berührungsempfindlichen Monitor, um ein Panoramasegment in Abhängigkeit von einer Fingerbewegung auf dem Eingabegerät auszuwählen. Ein solcher "Touch-Screen"-Monitor hat den Vorteil der schnellen und einfachen Befehlseingabe durch den Operateur.The image processing unit is preferably equipped with a touch-sensitive input device, in particular a touch-sensitive monitor, in order to select a panorama segment as a function of a finger movement on the input device. Such a "touch-screen" monitor has the advantage of quick and easy command input by the operator.
Die Information über bewegte Objekte werden außerhalb des gewählten Panoramasegmentes vorzugsweise in horizontalen und vertikalen Bildleisten dargestellt, die an die Darstellung des fovealen Panoramasegments angrenzen. Die weitere Darstellung der Bewegungsinformationen sollte dann von der räumlichen Position der zu den Bewegungsinformationen gehörenden Objekte abhängen. Damit behält der Operateur den Überblick über die im Umfeld des fovealen Panoramas befindlichen bewelichen Objekte, die bei seiner Lotsentätigkeit noch zu berücksichtigen sind.The information about moving objects outside the selected panoramic segment is preferably displayed in horizontal and vertical image bars adjoining the representation of the foveal panoramic segment. The further representation of the movement information should then depend on the spatial position of the objects belonging to the movement information. This allows the operator to keep track of the objects in the vicinity of the foveal panorama, which have yet to be taken into account in his piloting.
Die Bildverarbeitungseinheit ist vorzugsweise mit einer weiteren Anzeigeeinheit zur Darstellung des mit den Kameras erfassten Panoramas verbunden. Die gesamte beispielsweise 180°-Panoramasicht wird dann (nicht hochaufgelöst) auf der weiteren Anzeigeeinheit präsentiert.The image processing unit is preferably connected to a further display unit for displaying the panorama captured by the cameras. The entire example 180 ° panoramic view is then presented (not high resolution) on the other display unit.
Die Aufgabe wird weiterhin durch das Verfahren mit den Merkmalen der Ansprüche 13 bis 15 sowie das zur Durchführung des Verfahrens eingerichtete Computerprogramm gelöst.The object is further achieved by the method having the features of
Das Verfahren sieht eine Maximierung der möglichen Frame-Rate und Minimierung der benötigten Übertragungsbandbreite bei einer gegebenen Hardwarekonstellation durch eine Darstellung des nur dem Aufmerksamkeitsfokus entsprechenden Panoramabereichs vor. Es wird ein virtuelles Panorama in einem Bildspeicher von einem Rechner aus einem Echtzeit-Videodatenstrom durch lückenlose Aneinanderreihung der Frames aus den einzelnen Panoramakameras mit Auswahl und Darstellung eines beliebigen Bereichs durch Verschieben eines Bildausschnitts mittels Wahl einer virtuellen Betrachtungsposition erzeugt.The method provides for maximizing the possible frame rate and minimizing the required transmission bandwidth for a given hardware constellation by displaying the panoramic area corresponding only to the attention focus. A virtual panorama in an image memory is generated by a computer from a real-time video data stream by seamless sequencing of the frames from the individual panoramic cameras with selection and representation of an arbitrary region by shifting an image section by selecting a virtual viewing position.
Eine Datenreduktion wird durch die ausschließliche Übersendung von anzuzeigenden Anteilen (Aufmerksamkeitsfokus) der komprimierten Videodatenströme an einen Bildverarbeitungsrechner erreicht. Die hierzu gewonnene Übertragungskapazität wird bei dynamischer Anpassung der Kompressionsparameter zur Optimierung der Bildqualität genutzt. Z.B. kann dadurch die Kompression automatisch verringert werden, falls sich die Bildqualität bei Dunkelheit verschlechtert.Data reduction is accomplished by the exclusive transmission of portions (attention focus) of the compressed video data streams to an image processing computer. The transmission capacity gained for this purpose is used for dynamically adapting the compression parameters to optimize the image quality. For example, this can automatically reduce the compression if the image quality deteriorates in the dark.
Die Erfindung wird nachfolgend anhand der beigefügten Zeichnungen mit Ausführungsbeispielen näher erläutert. Es zeigen:
- Fig. 1 -
- Blockdiagramm eines erfindungsgemäßen Flughafenverkehrs-informations-Anzeigesystems;
- Fig. 2 -
- Skizze eines Flughafenverkehrsinformations-Anzeigesystems mit einer Anzeigeeinheit zur Darstellung eines fovealen Panoramasegments sowie Informationen über bewegte Objekte im nicht dargestellten peripheren, außerfovealen Panoramasegment sowie einer zweiten Anzeigeeinheit zur Darstellung eines Zoom-Ausschnitts aus dem fovealen Panoramasegment;
- Fig. 3 -
- Skizze eines Flughafenverkehrsinformations-Anzeigesystems mit einer Anzeigeeinheit zur Darstellung des fovealen Panoramasegments und horizontalen und vertikalen Anzeigeleisten zur Darstellung von Informationen über periphere bewegte Objekte.
- Fig. 1 -
- Block diagram of an airport traffic information display system according to the invention;
- Fig. 2 -
- Sketch of an airport traffic information display system with a display unit for displaying a foveal panoramic segment and information about moving objects in the peripheral, extra-faroveal panoramic segment, not shown, and a second display unit for displaying a zoomed-out section of the foveal panoramic segment;
- Fig. 3 -
- Sketch of an airport traffic information display system with a display unit for displaying the foveal panoramic segment and horizontal and vertical display bars for displaying information about peripheral moving objects.
In dem dargestellten Ausführungsbeispiel ist eine weitere Pan-Tilt-Zoom-Kamera 12 über eine schnelle, breitbandige Datenleitung 4e mit einem weiteren Bildverarbeitungscomputer 3e verbunden, der ebenfalls zur Echtzeit-Bildverarbeitung und Extraktion von Informationen über bewegte Objekte aus dem aufgenommenen Zoom-Video eines Ausschnitts des beobachteten Flughafenbereichs eingerichtet ist. Die Pan-Tilt-Zoom-Kamera 12 ist mit Kontrollsignalen fernsteuerbar, die über die Bildverarbeitungseinheit 9 und eine Steuerdatenleitung 13 über den Bildverarbeitungscomputer 3e zur Pan-Tilt-Zoom-Kamera 12 geleitet werden.In the illustrated embodiment, another
Die Steuerung des Flughafenverkehrsinformations-Anzeigesystems erfolgt durch den Operateur 10 mittels Tastatur 14, Maus, Touch-Pad 15 etc., die über die Bildverarbeitungseinheit 9 und die Datenverbindungen zu den Bildverarbeitungscomputern 3a bis 3d geleitet werden können.The control of the airport traffic information display system is carried out by the
Auf diese Weise können beispielsweise Kameraparameter, wie Blende, Brennweite, Ausrichtung der Pan-Tilt-Zoom-Kamera etc. verändert werden.In this way, for example, camera parameters, such as aperture, focal length, orientation of the pan-tilt-zoom camera, etc. can be changed.
Optional ist auch denkbar, wahlweise mittels Echtzeitverarbeitung von Bild- und ASMGCS-Informationen durch die Bildverarbeitungseinheit automatisch Steuersignale zu generieren.Optionally, it is also conceivable to generate control signals automatically by means of real-time processing of image and ASMGCS information by the image processing unit.
Das dargestellte Flughafenverkehrsinformations-Anzeigesystem 1 ist somit ein Panorama-System mit einer Mehrzahl von hochauflösenden Kameras 2, die den üblicherweise durch direkte Sicht aus dem Tower überwachten Bereich gleichzeitig abbilden. Die Trennung der kognitiven Verarbeitung (foveal, peripher) wird ausgenutzt, indem von dem kompletten hochaufgelösten Panorama (z. B. 180° überdeckter Winkelbereich mit z. B. ca. 1600 x 1200 Bildpunkten) nur ein dem Aufmerksamkeitsfokus der gewählten (virtuellen) Blickrichtung des Operateurs 10 auf den fernen Flughafen entsprechendes Segment des Panoramas (< 45° bei 180°-Panorama mit mehr als vier Kameras 2) mit maximaler Auflösung (z. B. 1600 x 1200 Pixel pro Kamera) angezeigt wird.The illustrated airport traffic
Zweckmäßig zur manuellen Auswahl und zur Vergegenwärtigung des momentanen ausgewählten Panoramasegments ist die gleichzeitige, permanente Anzeige der Blickrichtung (aktuell visualisierte Kamerasegmente) auf einer verkleinerten Segmentsymbolleiste, z. B. am unteren Bildrand eines der beiden Monitore oder mit Hilfe einer vom Bildschirm getrennten, symbolischen Darstellung. Zur schnellen Anwahl eines interessierenden Panoramasegments ist denkbar, dass alternativ durch den Operateur 10 auswählbare manuelle oder automatische Verfahren zum Einsatz kommen können. Der aktive, manuelle Arbeitsmodus besitzt eine Überschreib-Funktion (Override) über den Automatikmodus. Der automatische Modus wählt das dargestellte Segment aufgrund der aktuellen Verkehrslage. Hierbei ist die Auswahl an die aktuelle Aufgabe gebunden und wird alternativ durch
- a) Ergebnisse einer parallelen ablaufenden automatischen Bildverarbeitung zur Bewegungsdetektion;
- b) aus in jedem Fall vorliegenden Anflugradarinformationen;
- c) aus eventuell vorhandenen Positionsdaten eines Multilaterionssystems (Laufzeitmessung) oder
- d) aus vom Flugzeug über ADS-B (automatic dependance surveillance broadcast) übermittelten Satellitennavigationsdaten
- a) results of a parallel running automatic image processing for motion detection;
- b) from in any case available approach radar information;
- c) from possibly existing position data of a multilateration system (transit time measurement) or
- (d) satellite navigation data transmitted from the aircraft via automatic dependance surveillance broadcast (ADS-B)
Zum Beispiel wird bei einem detektierten Flugzeug im Landeanflug, dessen Position über eine Bildverarbeitung in dem entsprechenden peripheren Segment ermittelt wurde, der momentan aktive Abschnitt auf das periphere Segment ausgerichtet und gleichzeitig der Ausrichtungswinkel (Azimuth, Vertikalwinkel) sowie Fokus (Brennweite) der Pan-Tilt-Zoom-Kamera 12 automatisch auf den festliegenden Anflugbereich ausgerichtet. Der in dem Panoramasegment angewählte und mittels der separaten fernsteuerbaren Pan-Tilt-Zoom-Kamera 12 vergrößerte Bereich wird im Panorama mit einem geeigneten rechtwinkligen Markierungskästchen angezeigt und als Zoombild auf einem benachbarten Monitor 11 b dargestellt, wie in der
Alternativ und in Ergänzung zur Darstellung der peripheren Information auf der unteren Informationsbildleiste 16 können im vertikalen Display-Rändern ähnliche schmale Informationsbildleisten 17a, 17b eingeblendet werden. Dies ist bei Verwendung von hochauflösenden Displays mit HDTV-Format (1920 x 1080 Pixel) ohne wesentliche Reduzierung der durch die Kameras 2 vorgegebenen Auflösung (1.600 x 1.200 Pixel) möglich. Die gleichzeitige Darstellung eines erkannten, bewegten Objekts im Peripheriebereich auf einer der senkrechten Informationsbildleisten 17a, 17b kann dann zur Darstellung der Höhe über der Flughafenoberfläche und gegebenenfalls des Kennzeichens des Flugobjektes (Call sign) genutzt werden. Zur quantitativ grafischen Anzeige der Höhe ist die Kenntnis der Entfernung des Objektes in Richtung des jeweiligen Panoramasegments erforderlich, die aus gegebenenfalls vorliegenden (über ADS-B übermittelten) Satellitennavigationsdaten oder Multilaterationsdaten (Laufzeitmessung) entnommen werden. Die grafische Höhenanzeige erfordert dann die Einblendung einer Referenzlinie im seitlichen Balken, die dem Fußpunkt der Vertikalen unter dem Flugzeug entspricht. Den Symbolen (z.B. Kreuz für Landung oder Stern für Start) zugeordnete Pfeile in den vertikalen Informationsleisten deuten Sink- oder Steigflug entsprechend abwärts oder aufwärts weisender Pfeilrichtung an. Pfeillängen entsprechen wieder Geschwindigkeiten. Falls letztere nicht bekannt sind, wird dies am Pfeil durch eine Markeierung (z.B. Querstrich) gekennzeichnet. Diese Variante ist in der
Ein alternatives Eingabegerät basiert auf einem Touch-Pad 15 oder Touch-Screen. Das ausgewählte Panoramasegment wird durch Fingerbewegung auf dem Touch-Pad/Touch-Screen verschoben und entsprechend angezeigt. Das Zoom-Steuerkommando wird mit drei Fingern wie folgt vorgenommen:
- gemeinsames Verschieben in einer Richtung bewegte Zoom-Kamera in eine neue Position;
- Auseinanderziehen bzw. Zusammenrücken der Fingerspitzen steuert die Vergrößerung bzw. Verkleinerung des Zoomausschnitts, dessen sich entsprechend verschiebende Markierungselemente gleichzeitig im Panorama-Display angezeigt werden.
- moving together in one direction moving zoom camera to a new position;
- Pulling apart or moving together of the fingertips controls the enlargement or reduction of the zoom section whose correspondingly shifting marking elements are displayed simultaneously in the panoramic display.
In einer optionalen Realisierung kann die Segmentauswahl des Panoramas auf den Signalen eines Brain-Computer-Interface basieren, das mittels Auswertung von EEG-Signalen die mentale Vorstellung "rechts"/"links" oder "rechten Arm bewegen"/"linken Arm bewegen" in eine entsprechende Verschiebung des roten Segmentbalkens in der unteren Informationsbildleiste 16 und damit in den visualisierten Bereich umsetzt. Weiterhin ist eine Segmentsteuerung mittels Blickbewegungsregistrierung möglich. Die Fokussierung auf einen bestimmten Punkt der Segmentanzeigeleiste fällt dabei die Mitte des angezeigten Panoramaauschnitts auf diesen Punkt. Alternativ kann sich die momentane Segmentposition nach rechts oder links bewegen, wenn die Blickrichtung (Aufmerksamkeitsrichtung) entsprechend nach rechts oder links orientiert wird.In an optional implementation, the segment selection of the panorama may be based on the signals of a brain-computer interface, which by means of evaluation of EEG signals, the mental image "right" / "left arm" / "move left arm" in a corresponding shift of the red segment bar in the lower
In einer optionalen, nicht dargestellten Ausführungsform wird neben der Pan-Tilt-Zoom-Kamera 12 anstelle des vollständigen Panoramakamerasystems bestehend aus mehreren Kameras 2 nur eine einzige hochauflösende, auf einem Drehtisch montierte Kamera 2 eingesetzt, die jeweils auf das dem Aufmerksamkeitsfokus entsprechende Panoramasegment ausgerichtet ist. Die manuelle oder automatische Auswahl des darzustellenden Segments steuert in diesem Fall die horizontale Kameraposition (Azimuthwinkel um die vertikale Drehachse) über eine Ausrichtung des Drehtisches. Die Drehgeschwindigkeit sollte derjenigen des Kopfes eines Operateurs 10 entsprechen, wenn dieser seine Aufmerksamkeit im realen Tower einem neuen Segment zuwendet. Die getrennt steuerbare Pan-Tilt-Zoom-Kamera 12, die im Unterschied zur Panorama-Kamera 2 auch vertikal um eine horizontale Drehachse kippbar ist, kann bezüglich der horizontalen Grobausrichtung wahlweise an die Panoramakamera 2 gekoppelt sein. Da eine parallele Bewegungsdetektion mittels Echtzeit-Bildverarbeitung für periphere Bereiche außerhalb der einzigen Panorama-Kamera entfällt, können Informationen über periphere bewegte Objekte nur über ASMGCS-Sensoren auf Bodenradar, Multilateration, Satellitennavigation mit (ADS-B) Bord-Boden-Datenverbindung geliefert und in den Informationsleisten 16, 17 am Bildschirmmonitorrand angezeigt werden.In an optional, not shown embodiment, in addition to the
Dieses Flughafenverkehrsinformations-Anzeigesystem 1 kann durch das Hinzufügen von kostengünstigen Standard-Videokameras noch so erweitert werden, dass diese ein komplettes Panorama mit nur einer normalen Auflösung (z. B. 768 x 576 Pixel) liefern. Die Standard-Videokameras dienen nicht der Visualisierung, sondern nur der automatischen Bewegungserkennung mittels Echtzeit-Bildverarbeitung entsprechend der mit der
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EP3832624A1 (en) * | 2019-12-03 | 2021-06-09 | Rohde & Schwarz GmbH & Co. KG | Aviation control system for flight safety and method for transmitting video and / or image data |
CN113766093A (en) * | 2020-06-02 | 2021-12-07 | 璞洛泰珂(上海)智能科技有限公司 | Panoramic high-definition multi-focus camera device and system |
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ES2379644T3 (en) | 2012-04-30 |
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