JP6983837B2 - 複数のカメラからのビューを組み合わせる方法及びカメラシステム - Google Patents
複数のカメラからのビューを組み合わせる方法及びカメラシステム Download PDFInfo
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Description
Claims (13)
- あるシーンの重なり合っているカメラビュー(110)のビデオデータをそれぞれが取得するよう配置された2つのイメージセンサ(510)からのビデオデータをつなぎ合わせる方法であって、
2つのイメージセンサ(510)を使用して前記シーンの重なり合っているカメラビュー(110)のビデオデータを取得すること(802)であって、それぞれのイメージセンサ(510)は、三次元座標系内の、該三次元座標系の原点に対する相対位置を有する、ビデオデータを取得すること(802)と、
前記重なり合っているカメラビュー(110)に対応する、カメラビュー内のエリア内のモーションを検出すること(804)と、
前記三次元座標系の前記原点に対応する位置から、検出した前記モーションを含むアクティビティ位置までの距離である、アクティビティ距離(z)を判定すること(806)であって、所定の期間中又は所定のモーションの検出数に対して、重なり合っているイメージデータ内のモーションデータを蓄積することと、続いて、最も多くのモーションを蓄積した位置を前記アクティビティ位置として選択することと、を含む前記アクティビティ距離(z)を判定すること(806)と、
前記三次元座標系内にて、判定した前記アクティビティ距離(z)に対応する、前記三次元座標系の前記原点からの距離を有する位置に、所定の形状の投影面(516)を位置決めすること(808)であって、前記投影面(516)が、前記アクティビティ位置に対応する前記三次元座標系内の位置と交差するように位置決めすること(808)と、
前記投影面(516)上に、前記イメージセンサ(510)のそれぞれからの前記ビデオデータを投影すること(810)と、
投影した前記ビデオデータに対応する二次元ビデオを出力すること(812)と、を含む、方法。 - 前記重なり合っているカメラビュー(110)に対応する、カメラビュー内のエリア内のモーションを検出すること(804)は、取得した前記ビデオデータの重なり合っている部位内にて動くピクセルを検出することを含む、請求項1に記載の方法。
- 前記重なり合っているカメラビュー(110)におけるピクセルデータから、検出した前記モーションの前記アクティビティ位置を判定し、前記アクティビティ位置を、前記アクティビティ距離(z)の判定に使用することをさらに含む、請求項1又は2に記載の方法。
- 前記アクティビティ距離(z)を判定すること(806)は、重なり合っているイメージデータにおける検出した前記モーションの瞬間のインスタンスに基づいており、前記モーションの位置を、前記アクティビティ位置として設定する、請求項1〜3のいずれか一項に記載の方法。
- 前記アクティビティ距離(z)を判定すること(806)は、前記アクティビティ位置の、取得した前記ビデオデータにおける位置を、前記イメージセンサ(510)のそれぞれの座標系における位置までの距離を含む所定の表において対応する位置と比較することを含む、請求項1〜4のいずれか一項に記載の方法。
- 前記アクティビティ距離(z)を判定すること(806)は、重なり合っているシーンをカバーするレーダー信号を受信することと、レーダー応答を、前記アクティビティ位置に関連付けることと、前記アクティビティ位置までの前記距離を前記レーダー信号から取得することと、を含む、請求項1〜4のいずれか一項に記載の方法。
- 前記アクティビティ距離(z)を判定すること(806)は、前記アクティビティ位置の、前記2つのイメージセンサからの取得したイメージにおける位置の差、すなわちx1-x2、を計算することを含む、請求項1〜4のいずれか一項に記載の方法。
- 前記投影面(516)は平面である、請求項1〜7のいずれか一項に記載の方法。
- 前記投影面(516)は円筒面である、請求項1〜7のいずれか一項に記載の方法。
- 前記投影面(516)は球面である、請求項1〜7のいずれか一項に記載の方法。
- イメージセンサ(510)をそれぞれが含む2つのカメラ(502、504)であって、前記イメージセンサ(510)は、三次元座標系内の、該三次元座標系の原点に対する相対位置を有し、あるシーンの重なり合っているカメラビュー(110)のビデオデータを取得するよう構成されている、2つのカメラと、
少なくとも1つの画像処理デバイス(506)と、
前記三次元座標系内に画定される所定の投影面(516)と、
前記2つのカメラ(502、504)の前記重なり合っているカメラビュー(110)に対応する、カメラビュー内のエリア内のモーションを検出するよう構成されているモーションデテクタ(520)と、
所定の期間中、又は所定のモーションの検出数に対して、検出したモーションを蓄積するために、前記モーションデテクタ(520)に接続されたモーションアキュムレータと、
前記三次元座標系の前記原点に対応する位置から、検出した前記モーションを含むアクティビティ位置までの距離であるアクティビティ距離(z)を、蓄積した検出したモーションから判定するよう構成されているプロセッサと、
前記カメラ(502、504)のそれぞれからの前記ビデオデータを前記投影面(516)上に投影するよう構成されているイメージプロジェクタであって、前記投影面(516)は、前記三次元座標系内にて、判定した前記アクティビティ距離(z)に対応する、前記三次元座標系の前記原点からの距離を有する位置に位置決めされ、且つ前記アクティビティ位置に対応する前記三次元座標系内の位置と交差するように位置決めされる、イメージプロジェクタと、
投影した前記ビデオデータに対応する二次元ビデオを出力するよう構成されている出力と、を含む、カメラシステム(500)。 - 前記モーションデテクタ(520)は、前記カメラ(502、504)からの前記ビデオデータの重なり合っている部位内にて動くピクセルを検出するよう構成されている、請求項11に記載のカメラシステム(500)。
- 前記イメージプロジェクタは、ビデオデータを平らな投影面上に投影するよう構成されている、請求項11又は12に記載のカメラシステム(500)。
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EP18186340.8A EP3606032B1 (en) | 2018-07-30 | 2018-07-30 | Method and camera system combining views from plurality of cameras |
EP18186340.8 | 2018-07-30 |
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