FR2636742A1 - Method and device making it possible to locate and track a moving object - Google Patents
Method and device making it possible to locate and track a moving object Download PDFInfo
- Publication number
- FR2636742A1 FR2636742A1 FR8812390A FR8812390A FR2636742A1 FR 2636742 A1 FR2636742 A1 FR 2636742A1 FR 8812390 A FR8812390 A FR 8812390A FR 8812390 A FR8812390 A FR 8812390A FR 2636742 A1 FR2636742 A1 FR 2636742A1
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- FR
- France
- Prior art keywords
- mobile
- trajectory
- moving
- data
- locating
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
- G01S3/782—Systems for determining direction or deviation from predetermined direction
- G01S3/785—Systems for determining direction or deviation from predetermined direction using adjustment of orientation of directivity characteristics of a detector or detector system to give a desired condition of signal derived from that detector or detector system
- G01S3/786—Systems for determining direction or deviation from predetermined direction using adjustment of orientation of directivity characteristics of a detector or detector system to give a desired condition of signal derived from that detector or detector system the desired condition being maintained automatically
- G01S3/7864—T.V. type tracking systems
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- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Studio Devices (AREA)
- Image Analysis (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
Description
La présente invention est relative à un procédé ainsi qu'à un dispositif permettant de suivre un nubile en déplacenent. Elle se propose plus particulièrerent d'apporter un système pernettant de suivre un objet mobile notamment en vue d'en reconstituer la trajectoire et/ou pour permettre de piloter autonatiquerent un appareil de prise de vue tel que notamment une canera de télévision (cinéma, vidéo) qui suit cet objet mobile. The present invention relates to a method and a device for tracking a nubile moving. It is more particularly intended to provide a system permitting to follow a mobile object in particular with a view to reconstructing the trajectory thereof and / or to allow autonatic control of a camera such as in particular a television canera (cinema, video ) that follows this moving object.
Lors de la retransmission par images de télévision d'objets mobiles se déplaçant à grande vitesse, il est pratiquerent impossible à la caméra de suivre les objets en question sur leur trajectoire : c'est le cas en particulier des retransmissions de conpétitions de golf, durant lesquelles on ne peut suivre la balle que lors de son frappe et lors de son arrivée. Le même problème se pose lorsque le mobile est masqué sur une partie importante de Sa trajectoire. ce qui est le cas notamment des retransmissions de conpétitions automobiles. During the retransmission by television images of mobile objects moving at high speed, it is practically impossible for the camera to follow the objects in question on their trajectory: this is particularly the case for retransmissions of golf competitions, during which you can only follow the ball when it hits and when it arrives. The same problem arises when the mobile is hidden over a large part of its trajectory. which is the case in particular for retransmissions of automobile competitions.
La présente invention se propose donc d'apporter les moyons permettant de résoudre ce problène. The present invention therefore proposes to provide the means for solving this problem.
A cet effet, elle concerne en premier lieu un procédé permettant de suivre un mobile en déplacerent, caractérisé en ce qu'il consiste
a) à reperer le mobile en déplacerent sur sa trajectoire dans l'espace, en vue d'obtenir les coordonnées en temps réel de ce mobile
b) à traiter les données ainsi obtenues soit pour obtenir une reconstitution de la trajectoire de ce mobile par production d'images de synthèse soit pour asservir automatiquement un ou plusieurs appareils de prise de vue qui sont ainsi pilotés automatiquement pour suivre l'objet mobile sur sa trajectoire.To this end, it relates first of all to a method making it possible to follow a moving mobile, characterized in that it consists
a) to identify the moving object on its trajectory in space, in order to obtain the coordinates in real time of this moving object
b) to process the data thus obtained either to obtain a reconstruction of the trajectory of this mobile by production of synthetic images or to automatically slave one or more cameras which are thus automatically controlled to follow the mobile object on its trajectory.
L'invention vise également les dispositifs pour la mise en oeuvre de ce procédé. The invention also relates to the devices for implementing this method.
Comme on le comprend, le procédé selon la présente invention conporte essentielleinnt deux étapes distinctes. Sur la figure unique du dessin annexé, on a représenté de façon schématique. par blocs, les étapes de ce procédé, selon plusieurs rodes de mise en oeuvre. As will be understood, the method according to the present invention essentially involves two separate steps. In the single figure of the accompanying drawing, there is shown schematically. by blocks, the stages of this process, according to several implementation methods.
La première étape consiste donc en un repérage de l'objet mobile. The first step therefore consists in locating the mobile object.
Selon l'invention, on peut prévoir par exemple les modes de repérage non limitatifs de ce noble mentionnés ci-après
1 - Le mobile peut etre pourvu de noyens permettant l'émission d'un signal par exemple d'une onde radio a haute fréquence. Dans ce cas, ce mobile est pourvu d'une balise émettrice dérivée des balises du type ARGOS
Dans ce cas, le mobile en déplacement peut etre repéré sur sa trajectoire à l'aide d'un récepteur approprié, par exemple un récepteur radio ou par un système de réception par satellite.According to the invention, it is possible, for example, to provide the non-limiting methods of locating this noble mentioned below.
1 - The mobile can be provided with cores allowing the emission of a signal for example of a radio wave at high frequency. In this case, this mobile is provided with an emitting beacon derived from ARGOS type beacons
In this case, the moving mobile can be spotted on its trajectory using an appropriate receiver, for example a radio receiver or by a satellite reception system.
2 - Le mobile peut hêtre pourvu de Doyens qui en permettent le repérage par faisceaux radar. Dans cet exemple de réalisation, le mobile peut présenter une forme appropriée à la réflexion des ondes radar ou bien il peut être pourvu d'un revetement permettant cette réflexion. A titre d'exemple, on peut mentionner une inclusion de particules, notmment de particules de silicate d'aluliniua. 2 - The mobile can be equipped with Deans which allow the location by radar beams. In this exemplary embodiment, the mobile can have a shape suitable for the reflection of radar waves or it can be provided with a coating allowing this reflection. By way of example, mention may be made of an inclusion of particles, in particular particles of aluminum silicate.
Dans ce cas, le mobile en déplacement est repéré à l'aide d'un systène optique couplé å un émetteur-récepteur de faisceaux radar. A cet ensemble peut etr asservie une caméra. In this case, the moving mobile is identified using an optical system coupled to a transceiver of radar beams. A camera can be linked to this set.
3 - Le nubile peut etre reperé optiquement à l'aide d'un casera grand angle
4 - Le mobile en déplacement peut etre repéré sur sa trajectoire à l'aide d'un faisceau laser.3 - The nubile can be optically located using a wide angle casera
4 - The moving mobile can be spotted on its trajectory using a laser beam.
On comprend que dans le cas d'un déplacement de l'obje mobile dans un plan, cet objet sur sa trajectoire est reconnu et repéré par l'un des systèmes décrits ci-dessus, les coordonnées angulaires de ce mobile étant alors fournies par traitement d'images comme on l'indiquera ci-après. On obtient donc ainsi les coordonnées angulaires (longitude et latitude) de 11 objet. It is understood that in the case of a displacement of the mobile object in a plane, this object on its trajectory is recognized and identified by one of the systems described above, the angular coordinates of this mobile being then provided by processing of images as will be indicated below. The angular coordinates (longitude and latitude) of the object are thus obtained in this way.
Lorsqu'il s'agit d'un objet mobile suivant un déplacement en trois dimensions, l'objet est alors reconnu et repéré à l'aide d'un système optique permettant d'obtenir des coordonnées sphériques angulaires, un télémètre radar couplé au système optique peut alors se positionner et donner le rayon vecteur de l'objet. When it is a moving object following a three-dimensional movement, the object is then recognized and located using an optical system making it possible to obtain angular spherical coordinates, a radar range finder coupled to the system optics can then be positioned and give the vector radius of the object.
La seconde étape consiste en un traitement et une analyse des donnees de la trajectoire de l'objet nobile et en une transformation de ces données soit pour la production d'images de synthèse, soit pour un pilotage autonatique d'uns camera (voir la figure unique du dessin annexé). The second step consists in processing and analyzing the data of the trajectory of the mobile object and in transforming this data either for the production of computer generated images, or for an autonatic piloting of a camera (see figure single of the attached drawing).
Le reperage de l'objet sur Sa trajectoire selon les modalités indiquées ci-dessus peraet
i - la production d' images de synthèse, c'est a dire d' singes artificielles obtenues a partir de la numérisation d'une image réelle existante ou créée par le logiciel du système, qui restitue l'objet mobile dans son environnement, gracie à la mise en oeuvre d'une unité de traitement et de logiciels appropriés remplissant les fonctions ci-après
- reconstitution de la trajectoire
- pour certaines applications, reconstitution de la projection horizontale de la trajectoire, la courbure de cette dernière étant indicative d'effets voulus ou aléatoires
- restitution de données dynamiques telles que, notamment, vitesse, distance, etc.The tracking of the object on its trajectory according to the methods indicated above peraet
i - the production of synthetic images, that is to say of artificial monkeys obtained from the digitization of an actual image existing or created by the system software, which restores the mobile object in its environment, free of charge the implementation of a processing unit and appropriate software fulfilling the following functions
- reconstruction of the trajectory
- for certain applications, reconstruction of the horizontal projection of the trajectory, the curvature of the latter being indicative of desired or random effects
- restitution of dynamic data such as, in particular, speed, distance, etc.
- positionnement relatif de un ou de plusieurs objets mobiles dans le cas de saisies nultiples
Bien entendu, la liste des fonctions mentionnées ci-dessus n'est pas limitative.- relative positioning of one or more moving objects in the case of multiple seizures
Of course, the list of functions mentioned above is not exhaustive.
2 - l'asservissement, par l'intermÉdiaire d'autonates, d'une ou de plusieurs camÉras pernettant d'obtenir les résultats suivants
- meilleur suivi de l'objet
- meilleure vision de cette objet
- meilleure compréhension des phénomènes qui régissent son conportement sur sa trajectoire.2 - the enslavement, through autonates, of one or more cameras allowing to obtain the following results
- better tracking of the object
- better vision of this object
- better understanding of the phenomena that govern its behavior on its trajectory.
Comme on le comprend, l'invention apporte un perfectionnement extrêmement important par rapport aux solutions actuelles permettant notamnrent à une caméra de suivre un objet mobile en déplacement, étant donné que le procédé et le dispositif objets de l'invention et décrits ci-dessus, permettent de suivre les trajectoires d'objets mobiles très rapides, quelle que soit la nature de ces trajectoires et la vitesse de ces mobiles, ainsi que les conditions de l'environnement. As can be understood, the invention provides an extremely important improvement compared to current solutions allowing in particular a camera to follow a moving object in movement, given that the method and the device which are the subject of the invention and described above, allow to follow the trajectories of very fast moving objects, whatever the nature of these trajectories and the speed of these mobiles, as well as the environmental conditions.
Il demeure bien entendu que la présente invention n'est pas limitée aux exemples de lise en oeuvre et de réalisation mentionnes ci-dessus rais qu'elle en englobe toutes les variantes. It remains to be understood that the present invention is not limited to the examples of implementation and of embodiment mentioned above because it encompasses all the variants thereof.
Claims (9)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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FR8812390A FR2636742A1 (en) | 1988-09-22 | 1988-09-22 | Method and device making it possible to locate and track a moving object |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR8812390A FR2636742A1 (en) | 1988-09-22 | 1988-09-22 | Method and device making it possible to locate and track a moving object |
Publications (1)
Publication Number | Publication Date |
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FR2636742A1 true FR2636742A1 (en) | 1990-03-23 |
Family
ID=9370270
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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FR8812390A Pending FR2636742A1 (en) | 1988-09-22 | 1988-09-22 | Method and device making it possible to locate and track a moving object |
Country Status (1)
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FR (1) | FR2636742A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1997040622A1 (en) * | 1996-04-19 | 1997-10-30 | Moengen Harald K | Method and system for manipulation of objects in a television picture |
Citations (8)
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---|---|---|---|---|
US3840699A (en) * | 1972-05-25 | 1974-10-08 | W Bowerman | Television system for enhancing and tracking an object |
FR2298823A1 (en) * | 1975-01-21 | 1976-08-20 | Licentia Gmbh | DEVICE FOR THE UNIVERSAL PURSUIT OF AN OBJECTIVE PERFORMED BY AN OBSERVATION DEVICE |
WO1979000260A1 (en) * | 1977-11-02 | 1979-05-17 | Saab Scania Ab | Correlation follower for tracking an object |
US4160272A (en) * | 1978-01-05 | 1979-07-03 | Martin Marietta Corporation | Digital voltage accumulator |
US4424943A (en) * | 1981-05-04 | 1984-01-10 | Hughes Aircraft Company | Tracking system |
US4704612A (en) * | 1986-09-04 | 1987-11-03 | Boy Dan D | System for recovering a hunting arrow |
EP0264331A1 (en) * | 1986-10-15 | 1988-04-20 | Lmt Radio Professionnelle | Battle field IFF method and IFF system for carrying it out |
GB2201060A (en) * | 1986-11-21 | 1988-08-17 | Gen Electric Co Plc | Tracking system |
-
1988
- 1988-09-22 FR FR8812390A patent/FR2636742A1/en active Pending
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3840699A (en) * | 1972-05-25 | 1974-10-08 | W Bowerman | Television system for enhancing and tracking an object |
US4064528A (en) * | 1972-05-25 | 1977-12-20 | Bowerman William R | Method and apparatus for enhancing a televised object |
FR2298823A1 (en) * | 1975-01-21 | 1976-08-20 | Licentia Gmbh | DEVICE FOR THE UNIVERSAL PURSUIT OF AN OBJECTIVE PERFORMED BY AN OBSERVATION DEVICE |
WO1979000260A1 (en) * | 1977-11-02 | 1979-05-17 | Saab Scania Ab | Correlation follower for tracking an object |
US4160272A (en) * | 1978-01-05 | 1979-07-03 | Martin Marietta Corporation | Digital voltage accumulator |
US4424943A (en) * | 1981-05-04 | 1984-01-10 | Hughes Aircraft Company | Tracking system |
US4704612A (en) * | 1986-09-04 | 1987-11-03 | Boy Dan D | System for recovering a hunting arrow |
EP0264331A1 (en) * | 1986-10-15 | 1988-04-20 | Lmt Radio Professionnelle | Battle field IFF method and IFF system for carrying it out |
GB2201060A (en) * | 1986-11-21 | 1988-08-17 | Gen Electric Co Plc | Tracking system |
Non-Patent Citations (1)
Title |
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IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE, vol. PAMI-4, no. 1, janvier 1982, pages 2-10, IEEE, New York, US; R.J. SCHALKOFF et al.: "A model and tracking algorithm for a class of video targets" * |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1997040622A1 (en) * | 1996-04-19 | 1997-10-30 | Moengen Harald K | Method and system for manipulation of objects in a television picture |
AU724051B2 (en) * | 1996-04-19 | 2000-09-14 | Spot Zoom As | Method and system for manipulation of objects in a television picture |
US6373508B1 (en) | 1996-04-19 | 2002-04-16 | Spotzoom As | Method and system for manipulation of objects in a television picture |
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ER | Errata listed in the french official journal (bopi) |
Free format text: 12/90 |