KR19990067273A - Computer stereoscopic observation system and method thereof - Google Patents

Abstract

The system and method of the present invention are robots by a pair of identical cameras arranged, compatible and adjusted in the (shooting) field, which are parallel and coordinated in parallel divergence M between each and every line in the field of view. It allows the devices, tools, etc. to see their operating environment and to see what is being observed by the cameras immediately and at a shooting speed. According to the system and method of the present invention, computer observations take pictures from cameras to a designated place for this purpose, backups are generated from pictures stored in spatial memory for viewing, and dimensions and shapes of shapes as well as every and every one in the picture. Calculate the distance to the point and register their various features. The system of the present invention is a memory register for checking movement in time intervals and for calculating the movement, motion, speed and direction of each and every shape in the photographs of the leading camera received after color filtering, and basic shapes. And registers of the data table (s), such as the "truth" table. The registers are for detecting data, features, definitions and for drawing conclusions about the principal. The data, features, definitions, and conclusions allow for clues to solutions to unidentified shapes that are compatible with the recognized and stored shapes register. Thus, unidentified shapes are fully and almost immediately implemented.

Description

Computer stereoscopic observation system and method thereof

Computational observation solves problems and engages workers in all fields, including research, astronomy, robotics, industry, agriculture, manufacturing, service, transportation, security, small blinds, and meteorological observations. The need arises every day to be used by them.

Today, as the size of both internal and external computer memory increases, the physical dimensions of computer components continue to shrink, and there are many types of high speed processors. As a result, if you could make a computer observation system and method for identifying objects in real time, everything would be easier and simpler.

Current computer observations use one or two cameras, which focus on observing individual, defined, known and mainly stationary subject (s). However, the verification is time consuming, comparable, partial and focus only. Also, checking does not analyze and confirm everything that is shown at the same time as shooting. Such computer observations require and use many devices such as sensors, light emitting devices, measurement gauges, and the like. It is also cumbersome, limited, not efficient enough and does not provide satisfactory solutions.

FIELD OF THE INVENTION The present invention relates generally to computer observation and validation, as seen in real time by cameras, computers, and the like, and more particularly to three-dimensional computer observation by two or more "stereo" cameras.

1 is a schematic diagram in block diagram form of a preferred system comprising possible connections according to the invention with two processors.

2 is a schematic representation of the parts that make up a system constructed and operative in accordance with the present invention.

3 is a schematic horizontal cross-sectional view showing optical images, central observation axes, field of view, and parallel lines of view of the system of FIG.

3 / A is a view (4 times magnification) showing the parallel optical image of FIG. 3.

4 is a schematic horizontal cross-sectional view illustrating the field of view and shapes observed at various distances (of the system of FIG. 1) and at various distances.

4 / A is a diagram (4x magnification) showing pictures of the shapes observed in FIG. 4, seen simultaneously by both right and left cameras of the system of FIG. 1.

It is an object of the present invention to provide a system and method for analyzing and verifying all shapes observed simultaneously and at a shooting speed by cameras connected to a computer, and means for calculating dimensions, motion and other perceptible features. To provide. It is also an object of the present invention for any automated device (tools, computers, robots, etc.) to identify any type and phenomenon by a variety of and suitable means of observation, similar to how humans identify and identify them. To make it possible. The object of the present invention is to be more accurate, effective and faster, and more in places where almost all of the activities, tasks and labor that humans do are 24 hours a day and in places that are physically inaccessible, dangerous, difficult to get close to, and boring. This is to ensure good performance.

It is also an object of the present invention for humans to be able to utilize the multimedia software with multimedia software, by means of glasses and / or special devices designed for three-dimensional observation, or by lines for data transmission and regular monitor screens. This allows the space around a certain area to be viewed as a three-dimensional presentation.

SUMMARY OF THE INVENTION The object of the present invention is to connect, combine, apply, extend these devices by using various types of equipment, systems, circuits and electronic components, basic software, etc. that exist in the market in the construction of devices for solving the above objects. To make and / or assemble a device in accordance with the invention, including the ability to adapt to the environment. Technologists, computer technicians, system analysts and the like with average knowledge will be able to design, assemble and configure the devices according to the invention.

The present invention constitutes an innovative system and method for preferred stereoscopic computer observations and works including the following.

1. Any matter written in the description of the software and not forming part of the invention as a whole is merely an example. Its purpose is to explain the operation of computer observations and not to detract from the nature of the invention.

2. What is described below is common, which means that various types, models, and sizes of computer observation systems (e.g., large, small, medium, Philips, etc.) may vary depending on the data that computer observations must transmit to the customer. Drivers, but their basic operation is the same.

3. Computer observation is a means of providing a "viewing" service. The task is to look at the zones in space, analyze them if necessary, store whatever is needed in registers and transfer the visible objects or related data away.

If necessary, depending on the purpose of the computer observation system, it is of course possible to design the data transmission in three-dimensional form or in the form of "multimedia" (including data on the shape, location, location, size, color, distance, etc. of the observed object). It is possible.

4. Because computer observation is intended to service customers and customers perform limited operations, the workspace is usually limited. Therefore, a computer observation system applied for such a customer would have to provide the customer with the data needed to perform the task. With the help of appropriate data and software, it is possible to make the customer familiar with the environment in which they want to operate and to recognize the types of objects that can be found in the area, the detection of which is important for the customer. In addition, the system will recognize equipment and tools in all areas of work facing the customer, which must be handled and used by the customer within the work that the customer must do and also to the extent of reproduction.

5. Computer observation can of course take advantage of additional help of the memory system, of the customer's measurements or outside of the system or the customer. There will be interrelationships, compatibility, references, considerations, interactions, and data transfer between the customer's computer observation system and assistance.

Shooting and cameras

1. A pair of identical cameras (3 in FIGS. 1 and 2) are aligned and adjusted within a shooting angle that includes variable and zooming, which are gathered on a common plane (hereinafter referred to as a horizontal plane) for the shooting cameras. Create an optically parallel field of view (see FIG. 3). In other words, the distance with respect to each field of view is the same from (0: 0) to (Y: X) in both cameras, and is a fixed distance M (see Fig. 3, A / 3) at any shooting distance. The vertical movement of the cameras (perpendicular to the horizontal plane) is constant and identical.

The pictures taken by the cameras are translated into computer language (digital) by either the cameras or any other equipment and then in the input memory (A / 51 and B / 51 in Fig. 1) according to the shooting and / or other speeds. Are accepted. Adjustments by the computer viewing system may be physical at installation and or at any other given moment.

2. The two or more cameras, in one package or in an independent package, are similar to video cameras, including CCD cameras and having integrated means for converting data contained in photographs into digital data. And one or more of the following:

a) acclimatization for color imaging at various speeds and in any light such as infrared, visible light and in any light conditions such as lack of light due to light amplification;

b) enlargement or reduction devices, including telescopic or microscopic means;

c) an optical image (25 of FIGS. 3 and A / 3) containing the desired resolution, whether straight, convex or concave;

3. The cameras will provide the necessary assistance to work in accordance with the instructions given by the computer observation system.

a) Adjust the lenses (distance, light, etc.).

b) move cameras (laterally, around, up, down, etc.).

c) settings (telescopes, microscopes, starlight amplifiers, etc.).

d) assist the computer observation system and cameras and ensure that computer observation can be performed at any moment and in a suitable, desired and accurate manner.

translator

The translator (A / 59 and B / 59 of FIG. 1) may be integrally formed with cameras and / or from computer observation systems to operation, measurement and connection equipment or from operation, measurement and connection equipment to computer observation system. Both may be translated into any external device and / or any accessory means, and / or may be convenient to all parts of the system, from any of the above to a computer observation system, or only to some parts. have.

Photo input process

1. Any photo received from any camera (including color photographs) will be entered into its designated location into the input memory (A / 51 and B / 51 in FIG. 1) and will occupy space proportional to the camera resolution. . Pictures from all cameras will be entered with all colors and at a shooting speed into input memory in a separate location, such as an image simulation memory device (eg "screen cards"), for example leading The photo of the camera A will be input into the movement confirmation register at time intervals (54 in FIG. 1) after color filtering (53 in FIG. 1).

2. If the computer observation system forms part of the user, fixed, zooming and / or according to the customer's movement (6 in FIG. 2) and / or the movement of the cameras on the horizontal and vertical axes Transfer pictures from one camera or two cameras for three-dimensional imaging to a magnetic location in spatial memory (A / 52 in FIG. 1) where all pictures received as other pictures are recorded, and the pictures are outlined in horizontal and vertical coordinates. It will be saved as an outline picture and will be updated continuously. In accordance with the calculation of motion, movement, the horizontal and vertical coordinates of every picture from each and every camera will be updated. They will also be updated according to the operation of the space counters (57 in FIG. 1).

3. The pictures received from the cameras according to the shooting speed are scanned by the processor (A / 55 in FIG. 1). During the scanning process, for each shape in an unidentified or moved / advanced picture, the distance from the cameras as well as any other data that can be calculated as color and / or derived from the picture can be calculated In addition, the photos are transferred to appropriate locations in a spatial memory register and to any other location, such as a customer.

Scanning and Matching Methods

1. Scanning of photographic data according to the shooting speed and / or the other, when the scanning proceeds from left to right and from top to bottom, until the point (Y: X) in each camera picture is reached, the leading camera will be described below. From the picture of the right camera, which will be referred to as, starts toward pixel (0: 0), and toward the pixel (0: 0) in the left camera picture. The scanning data of each and every camera will be matched with the spatial memory photos both according to the coordinates and the spatial counters, as well as the leading, if a three-dimensional presentation is required, and updated if there is no match, the matching is the result Will be found among the pictures.

2. The changed pictures and the dots in these pictures must be matched for distance measurement and / or contouring and will also match each other in addition to standard matching.

3. Scanning for matching and calculating the distance to the point D in the horizontal X and the column Y (L in FIGS. 4 and A / 4) in the pictures of the two cameras, the resultant equation Wr = X2 We get -X1, where X1 is the number of pixels from the point camera (Y: 0) and X2 is the number of pixels from the point (Y: 0) in the other camera to the same dot.

4. Pixels representing a point are observed in the right and left cameras, which point is located beyond the conjoint distance (pixels represent 2M and O = Wr <1/2), the distance from and farther away. No change can be detected. The same point in the pictures received from the two cameras is located at the same place (Y: X) and the pixels representing them will be the same.

5. From the joint distance, the shorter the distance, the larger the difference Wr between pixels. In other words, the progression from the distant shape to the near shape will increase the difference Wr between the pixels, whereas the progression from the closest shape to the distant shape will increase the difference Wr between the pixels. I will. As a result, there will be dots that do not appear in the picture of the leading camera during close-up and when away from the picture of the other camera. However, computer matching systems will take this into account when matching is in progress. These depth dots, when continuous, also form a dividing line between the contour and / or other regions.

6. In the first case, the observation computer will interfere with the input of additional pictures except for the motion detection register in the intervals, and perform scanning for pixel transfer and matching of the first pictures.

The computer observation system will match pixels (0: 0) in the picture of the leading camera with the same pixels in the picture of the other camera. If there is a match, the difference will be 0 = Wr and the system will proceed to the next pixel in the two pictures that are sent and matched until a non-matching is found. In the absence of a match, the difference is 0 ≠ Wr and the computer observation system will first match the pixels of the picture of the leading camera with the same pixel in the picture of the second camera without a match until a match is found, or Transmission and matching will continue as appropriate until the difference 0 = Wr. If no match is found, the computer will return to the same pixel in the picture of the leading camera that has no match, and use the definition of the area constraints detected based on the motion detection register in the intervals of the picture of the second camera. The pixels will be matched with the same pixel until successive matches.

7. Representing consecutive pixels on the same line in two pictures at the same distance will match each other in order. If the two pixels do not match, it must be assumed that the distance of one of the points has changed, and the matching process for the calculation will work accordingly.

8. In standard matching screening, if there is no match between the input picture and the spatial memory picture, the computer will start matching between pictures received from the same place where there is no match in each picture, based on the above information. It will detect which shape has moved, changed, or is new, and will calculate the distance for each point in each match and proceed normally until a match is found between the accepted picture and the spatial memory picture.

Distance calculation process

1. For calculation and photo processing, the coordinates 57 may be assigned counters such as (0,0) to (Y, X) or (-Y, -X) to (Y, X). (See leaders in FIG. 1), it may be a kind of grid on which spatial memory photos are placed. For example, the point "0" indicates the center reading point Op (see FIGS. 3 and A / 3) for each camera on the horizontal level when the cameras are horizontal and the direction is facing north along the compass direction "north." Center point of the photo).

In the lateral movement of the cameras, in the positive direction upwards or upwards and in the negative direction westwards or downwards, the computer responds to the motion in the picture by external factors or by a compass or accessory system (eg For example, the size of one pixel angle is automatically updated, and data of cameras are appropriately received depending on circumstances.

One coordinate represents the horizontal point around it and the other represents the vertical point around it.

2. For orientation in the area, there will be three dimension counters (57 in FIG. 1) that will be related to the center line of the view of the lead camera (center point of the camera), for example. For example, the counter 1 counts the motion of the camera "from each other in the east" from the main "0" point to be set, and the counter 2 counts from "north to south" from the main "0" point to be set. The camera's motion is counted, and the counter 3 will count, for example, sea level for water or for any other level set to a "0" point.

3. For every picture entered into the input memory, a calculation will be performed to match the counters to the coordinates related to the identified first point in the memory, and the resulting picture is converted into a spatial memory picture according to the calculation and relative coordinates. Will be sent.

4. When using video cameras (CCD) or other similar cameras, the rotation of the camera on a horizontal or vertical plane maps the surrounding picture (in standard shooting) with coordinates according to the number of pixels in the camera picture. Make it possible. Thus, the space is mapped with coordinates representing the angles in the shell of the sphere whose center is the angular point of the camera's shooting angle. As soon as the entire round of rotation has been completed, or as soon as the end of the imaging / observation space has been reached along the horizontal or vertical axis, the computer observation will, for example, identify the number of pixels / coordinates, and the imaging / observation space in the process or during the movement. You will find that you must return to the coordinates at the beginning of.

5. While zooming in, for example, when the camera zoom is activated to reduce the angle of the picture taken, the coordinates to be added appropriately depending on circumstances will be decimals, for example three digits after the decimal point.

6. The number of pixels occupied by every shape in space will depend on the number of pixels in the optical image, the physical dimensions of the shape, the degree of proximity to the camera and the aperture of the viewing angle. The larger the number of pixels and the smaller the opening of the viewing angle of the optical image, the more pixels will represent the same sized shape in nature (at a constant distance from the camera), and the identification of the shapes will be improved. . In addition, the larger the magnification, the more pixels will represent the same dimension of shape.

Method of calculation

The calculation of the distance L from the cameras to the matching point at which the calculation proceeds is based on the difference Wr, the identity of the optical image, the physical dimension and resolution, and the matching between the cameras and the constant distance M (parallel deviation).

1. At zoom A, the formula of radius r ₀ from the angular part of the observation angle α to the optical image of area X (on the X axis) is:

_{r 0 = 360 * A * X} 0/2 * π * α

Here, 360 is a full rotation of each round, K ₀ is _{K 0 = 360 * X 0/} 2 * π as constant data in the formula.

2. The calculation formula for the radius r from the observation angle α to any observation point will be as follows.

r = 360 * A * X * M / 2 * π * Wr * α

Where X is the number of horizontal pixels (on the X axis) in the optical image, and K is K = 360 * X * M / 2 * π as constant data in the formula.

3. K ₁ is a constant at any speed, directly proportional to zoom A and inversely proportional to the viewing angle α. That is, K ₁ = A / α.

4. The calculation for the distance L is as follows.

L = K ₁ (K / Wr-K ₀ ) (factor of variable Wr)

5. The formula for the calculation of any indirect distance L ₁ is

L ₁ = 360 * A * Q ₁ * X / 2 * π * α-r ₀ = K ₁ (K * Q ₁ -K ₀ )

Where Q1 is the size of the pixel representation at any type of location with standard sizes, such as the height of a known person.

Therefore, the result is as follows. The calculation of the distance to the points makes it possible to calculate the size of the pixel representation for the point it marks, to detect the frames of the areas to which the point belongs, and to measure the width, height, depth, size, angle, Enables detection of any data requiring any computation, such as any other definition such as properties and state (fluttering, hanging, etc.).

Process of Domain Separation and Data Collection

Each of the fields (11 and 12 of Figure A / 4) will belong to a code (temporary name) for verification. A region will essentially embody other regions of various dimensions. Each area is typically separated (except for dots and lines), a fixed distance to the area and a difference from the surrounding environment or separation between different colors or contours and / or areas and surrounding areas, area movements and area conditions. It must have arbitrary characteristics such as (variable, hanging, etc.). This data as well as other data will be identified and defined by the computer observation system by the processor (B / 55 of FIG. 1).

1. Color Separation (58 in FIG. 1) The software (56 in FIG. 1) will process the colors of the received picture, separate the colors, and help define the area using other previous area definitions. For each salient color of the area, an additional definition of the ratio of that color among all the colors in that area will be detected. For example, four types of division are possible.

a. The amount of color is 100% -90% of the colors in the area.

b. The amount of color is 90% -70% of the colors in the area.

c. The amount of color is 70% -50% of the colors in the area.

d. The amount of color is less than 50% of the colors in the area.

In addition, the Applicant wishes to emphasize the manner of color dispersion (scattering dots, spots of any size, etc.).

2. Simultaneously with and in addition to receipt, the picture of the lead camera is performed with color filtering (53 in FIG. 1) (to save resources) and stored in the motion detection register in time intervals (54 in FIG. 1). And are copied and inspected at regular time intervals during shooting in a fixed zoom and in a desired and known zoom (which may be several). Based on previous data obtained from the accepted pictures (such as color, shadow, calculations, etc.), movement within the area (such as eye movement) and movement in the area envelope (such as position, hand movement, etc.), as well as movement, Data such as movement, velocity, angle (angle related to the observed object and observed object relative to cameras and others in space) can be based on stable and high-level conditions, as well as conditions of type and form of motion and / or movement. Move (eg tree), zone movement (eg river), direction (north, south, east, west, up, down, forward, backward, right, left), zone to check speed Can be detected and / or calculated for / form (11 and 12 of FIG. 4). Also, based on spatial counters, the position and regions and shapes of computer observations can be detected and / or calculated and can help define region frames that have not yet been detected.

3. The registers for basic and necessary basic shapes (C / 52 in FIG. 1) (eg geometrical) will consist of contours-in black and white-which are incompatible with the computer observation system, its work and the target. The simplest form of shapes are with lines up and down and / or few dots. In size matching on the shapes (shape can be matched with several primitives) to obtain (approximately) comparative data about the processed shape, the primitives are subjected to appropriate frame processing and then the input shape They will be stored in any order so that they can be accessed immediately for comparison. In order to set definitions for area contours such as rectangular, beveled, dome shaped, pointed, etc., the memory for the basic shapes is stored in (primarily not larger than 256) stored shapes (B in FIG. 1). / 52) (there may be tens of thousands).

4. The table (s) such as the "truth" table (58 in FIG. 1) is subsequently compatible with the computer observations for the area / shape data contained within and / or obtained from one table. And these tables use the data in a particular order, in part with respect to the current table, the following table, etc., for the detection of features, definitions, and conclusions. All or any of the collected features, definitions, and conclusions are added and / or combine key elements for detection, matching and validation. For example, if the area is between a given size and another size, if the area moves and there is movement and / or movement within the envelope and / or within the area, then additional features, such as inanimate objects, cars, flying objects, and living things, It will be possible to detect, set definitions and draw conclusions, where each table deals with certain subjects such as handling possible movements and / or movements, handling possible colors, handling distance changes from the environment.

5. The data table (58 in FIG. 1) for the reproducible shapes found at the shooting distance is adjusted to the stored shapes and the very valid beings in the picture. In these cases, upon receiving a picture and calculating additional individual data such as size and color, the computer observation system will check their reproducibility and construct the main elements for detection and confirmation as well as for the register of stored shapes. something to do.

6. If required, necessary and possible, confirmation data (57 in FIG. 1) such as heat, radioactivity, sound, taste and smell will also be added to the existing confirmation data.

7. Auxiliary data (57 in FIG. 1) are internal factors (such as spatial counters, compasses, etc.), external factors (such as zooming from cameras, zooming from users, eg speed of movement from users), Can be obtained from any accessory of the system (hereinafter referred to as an aid) such as a printer, speedometer and / or compass, telescope, rangefinder, and of course depending on the requirements of computer observation, desired ratio, computer language (digital) It can also be obtained from other associated data.

8. Near / above any form that can be defined and / or given names and / or independently identified (such as inanimate objects, plants, living things, backgrounds, signs, phenomena and any other) The memorized and recognized forms of photographs, maps, signs and / or textual data of B (52 of FIG. 1) are one of four forms, in a special and known order that matches the main elements: Can be remembered.

a. As received by a camera containing colors

b. Black and white photos

c. In simplified form-(sketch)

d. In the form of a table with names and data, or in words such as a card index. Photos and maps will be within the shooting standard, which depends on the shape and size of the shooting distance. Shapes memorized in the form of photographs can be stored in several places. And at each location, it can be stored from the other's viewing angle and seen from all directions. For example, in the case of a three-dimensional photograph, six different photographs may be stored for each direction of a Cartesian coordinate axis.

Identify the area in the picture and match it with the stored shapes

1. Since stored shapes cannot represent all possible sizes of the shape at various distances in space, any other form of “algebra” system and / or processing (56 and B / 52 in FIG. 1) is given in space. At the moment, a size matching will be created between the shooting distance of the real shape contained in the picture and the proper shooting distance of the stored shape.

2. The area will contain additional areas within itself. Matching and verification will start from the largest area and proceed toward smaller areas. If the inner regions within the region are part of the identified shape data, more generally speaking, if the inner regions are indispensable for completing the verification such as the location to be identified, then the region identification identifies the need to identify the inner regions. Will save.

3. Key elements (58 in FIG. 1) from the data, features, definitions and conclusions arranged in a particular order coordinated in the same order within the database of known and stored shapes are fast It is possible to classify and arrange, and to detect, match and confirm unidentified areas. In normal view, unidentified areas are very small at any shooting speed. Thus, the verification is almost instantaneous, and the detection is performed like the detection of a word in a dictionary, so that the category is language, the order of the main elements is alphabetical and the whole word is the key, the elements are absolute, between and between. Or may be possible. Physical dimensions of the shape, stored shapes that depend on the shooting distance When pictures and maps are involved according to the shooting standard and by size and angle of view for computer observation, pictures, maps, signs and / or stored in a register Or a confirmation is made as for a register of shapes that are recognized and stored that contain data of shapes such as in the form of text data (near, in the form of a table above).

4. Shapes that require deeper analysis of secondary regions, parts, secondary details, age, type, location, etc. are thus more identified and detailed, including any data the observation is required to provide to the customer. Providing the data, the processing will be carried out.

Sign detection and confirmation

Software for detecting and verifying important codes in pictures is, for example:

1. The software program will detect, match and verify the signs (marking, letters, road signs, traffic lights, etc.) in the picture. According to the confirmation data, the software will know, for example, the character or any signed position in the shape (e.g. the location of the car round number) and, for matching, the confirmation of the size of the stored character or symbol. And access that location for matching.

2. To assist in the detection process, there will be catalog (s) or dictionaries (signs, letters (words, local language or English names, etc.), forms, road signs, traffic lights). Etc).

Partial observation

1. Partial observation occurs when a part of the shape is hidden and the entire shape must be detected and identified based on the visible part.

2. In these cases, computer observation will detect the parts appearing in the picture and display all details about the particular shape and visible part with respect to those parts.

Unidentified Geometry

During the matching and validation phase, if there is no shape matching, the shape in the picture is found.

1. The shape will be stored in a register and in a designated location along with all relevant data (areas, parts, details, etc.).

2. The computer observation system will count the number of encounters of the shapes. If no more shapes are met for a reasonable time period, the system will use that place in the register for other similar cases.

3. The computer observation system will include options for sending and accepting messages to or from external factors, such as facsimile interfaces, monitors and printers (31 and 32 in FIG. 2), voice systems, computer communications, etc. In this case, the option will be used to identify the unidentified geometry, depending on the system memory.

Map analysis

Computer observation systems that assist moving devices in buildings, cities, fields, countryside, etc. will be able to analyze the observed photographs or processes and accurately compare data with the same place in the map stored in system registers.

1. The computer observation system will know the initial place in the map according to the spatial counter or from an external factor or will find a location on the map to confirm the data from the actual picture. For example, the system will perform the reading of the name of a street and the name of another street that intersects the street, and the reading of the names of two houses on the same street, in a suitable manner, including the city found. Will confirm the place.

2. The map will provide the following data on and along the path.

a. Data about obstacles, pedestrian crossings, railroad tracks, intersections, crossroads, slopes, traffic signals, road signs on and off course. The data appear in drawings, maps, etc., some of which are adjacent to the course and others may be in different ways.

b. Data may be registered in the form of text, codes related to shapes or data table (s) (eg, text, codes, signs, traffic signals, etc.).

Rotation

The computer viewing system may be used as a result of the movement of the observed shapes and / or as a result of adjusting the cameras up, down and sideways and / or by the user to which the cameras are connected and / or of the user's movements. View the changing space as a result of the change.

Spatial memory photos can cover all of the angles of the circle and the desired field of view of the computer viewing system. Each time the camera receives a picture from any angle, the system detects a change in matching between the last picture and the picture stored in the spatial memory with the appropriate coordinates, and stores the portion in the last picture that is not equal at that place in the spatial memory. Replace with a part in the picture.

Storage and Presentation of Space in 3D and Multimedia

From each pair of computers, the computer viewing system will preserve the entire spatial memory photos.

1. The photos will play the same role as the overall rotation, each picture will be stored separately and create a complex spatial picture around each camera.

2. Spatial photographs are data of a moving or discovered space where the computer observation system comprises a display of confirmation data and details by a three-dimensional display software program (which does not necessarily form part of the computer observation system). Will be sent, displayed and presented to any other factor.

3. The presentation is possible by connecting an external display or any other type of presentation that will allow three-dimensional viewing of the space around the computer observation system as in real life.

4. It may be possible to transfer data to a screen or any other type of display by physical transport or transmission using an interface (33 in FIG. 2), which does not form part of a computer observation system but rather part of a user. Form a supplementary device for the system or user.

Area / Shape Tracking

1. at any moment, a change in the place of a region / shape and a change in position and / or movement and / or motion and / or a change in the parts of the shape of the skin and / or inside (eg living things, vegetation, etc.) Unidentified for tracking, with reference to the coordinates of the first point scanned from the area / shape of the picture of the leading camera and the coordinates of the additional points of the envelope and / or the coordinates of the shape to be displayed to track the change of The fields will be saved with a temporary name, and the identified forms will be saved with their name.

2. All data collected from photographs at time intervals, from calculations, from movement confirmation, from a stored database and from any verification means about the shape, until the shape leaves the spatial memory picture of the camera (s). It is preserved if necessary.

Storage in registers

If desired, the computer observation system will transfer the stored photographs (whole, sample, partial, etc.), or shapes (photographs, graphs, signs, codes, etc.) to a register for later use. The computer observation system will have to save or memorize the pictures so that they can be restored whenever needed, and this will be done in the following manner.

1. Transmit whole and continuous pictures and / or data defining pictures from any moment to another (e.g. before the event to understand some process or evidence, etc.) Memories of any events that you want to see during and after).

2. Update and replace the photo or map with a new and more updated one in the register.

3. Processes and / or data relating to any and / or any shape observed, using any method.

External connections

1. The computer observation system includes a connection means (50 in FIG. 1) to which a computer, a robot, a user, an apparatus (20 in FIG. 1), a printer, a fax machine, controlled machines, microphones, speakers, communication lines, etc. may be connected. Will be provided.

Of course, in order to transmit observation data, data exchange, receipt of directions, and instructions as necessary, each computer observation system will only have the necessary connection means (one input / output and one code for opening or rotating). Can be).

2. The adjusters (A / 59 and B / 59 of FIG. 1) will coordinate the connection between the computer observation system and cameras, users, etc. and from any of them to the computer observation system.

send

After verifying the data and details according to the user's purpose and requirements, the system will send the required and necessary data to the user by appropriate means or interface.

1. Based on the received photographs, calculations, information stored in memories, processed, decoded, additional data and various processes, the computer observation system will provide the data to the user, all about each and every object. Will present direct and calculated data (eg measurements, distance, location). The report will be done continuously or on demand.

2. The computer observation system will allow the user to identify the picture as a whole and in detail, as well as the location of each and every detail in the picture and, if necessary, display the picture together with an analysis of the details of the various shapes, instructions, text, words, It may be sent in the form of a fax or the like as a whole or as required.

3. A user who receives a report from the system must be prepared for receipt and processing of the received data to act properly. If the user uses computer observation to perform certain operations, then the system can be used for accurate movement, direction, and the like.

4. Spatial Memory Photos will be sent to any user, either directly or from spatial memory, to the monitor screen or a suitable device, as required, including three-dimensional presentation and / or confirmation data.

A closing word

1. A computer observation system, as long as possible, including flashing lights, blinding lights and any other possible physical damage, whatever the type, including the laser, and where it is present. It must be adequately protected.

2. The computer observation system will be compatible and operate according to user needs and requirements.

3. The computer viewing system will have software programs (56 in FIG. 1), a software program that will adjust the electronic and general ones, size and imaging zoom data to function the system. The computer observation system will also have software for three-dimensional presentation and multimedia as well as any other software program required according to the standard of the size and angle of view of the stored shape.

4. Accepted photographs, data, calculation of photographs in spatial memory and data stored in any of the system memories or maps or any other information relating to photographed photographs, according to requirements, design and any method. Data can be sent to any user, such as a robot, including only the data and / or input or spatial stereograms. And the user will be able to withdraw the data as desired and according to the system design.

5. All of the operations described above will be performed by processors (A / 55 and B / 55 of FIG. 1) as well as means for processing and computing, additional processors if desired. They will use computer devices, components, one or more electrons and the like, and any combination needed and applied for computer observation.

The distribution of work between them will allow each component, component, electronic, system, etc. to perform their work without interfering with each other, and overall coordination and compatibility in all of them. For example, processor 1 communicates information to processor 2 by components, electronics, and so on, to complete the portion in operation A and to continue the portion of processor 2 in complex operation A.

Commercial addition

1. Computer observation can be used as follows.

a. As an observer (monitoring, analyzing, decoding, reporting, etc.).

b. As an observer that collects data and preserves them (in whole, in part, by any form such as sorting or sorting) in any database or in a register.

2. Due to the large number of possibilities of using computer observation, several standard computer observation systems will be used where applicable to each standard system to provide certain services and perform certain tasks, and thus obtain "on the shelf". It will be possible, while on the other hand computer observation systems will be designed to meet specific requirements.

3. Each computer observation system will be assigned standard and specific capabilities.

4. It is possible to tailor the computer observation system to the specific needs and requirements of any user who is a designer or builder during the design phase, and it is possible to integrate it integrally or as a separate device as part of the user.

Claims (17)

a. A pair of cameras whose shooting angle is adjustable and zoomable, which is the same, aligned and adjusted at a fixed distance M, from (0: 0) at a fixed distance M at any shooting distance for the shooting cameras. Generate optically parallel fields of view that are coordinated and aligned with the same line of sight in both cameras up to (Y: X), wherein pictures of the cameras are received by input memory devices in the computer and translated into computer language; b. Based on step a above, the pixels of the received pictures are available at the shooting speed and / or at any other speed for each of the previous picture (s) present in the system's spatial memory registry according to the coordinates and spatial counters. Matched by means, and if no match is found, the system performs an update and proceeds to match the two pictures entered; c. Based on steps a and b, with respect to the unidentified areas or areas where any movement takes place and viewed simultaneously in both cameras, the system finds various features of the picture, such as color, from the start of the line to the matching point. The calculation of the distance is performed based on the difference in the number of pixels in each picture taken by the camera, the calculated distances being able to calculate data such as the size of a point in the space represented by the pixel. Calculate the size of the area and the distances based on; d. Based on steps b and c, in matching the points of the unidentified areas with the stored pictures, the points around the area are not matched due to a change in the distance between the area and the surroundings and the distance between the two cameras. And the depth dots create a contour and / or dividing line in addition to a distance approximately equal to area dots and color or shade between areas and / or area motion / movement with respect to areas at similar distances. The changes of make it possible to detect and define a frame or contour for each and every area by means available; e. In order to collect additional data which enables to perform calculations, matching, setting of definitions and withdrawal of conclusions by the available means, a picture received from one of the cameras is color filtered, replicated and then moved in time intervals. Input into the confirmation register, examined in fixed time intervals, and based on steps b through d, the frame or contour of the detected area is matched in size using a register of basic shapes, and from the registers The data make it possible to calculate, for example, the size of the area / shape and the speed of movement / movement and additional data, and that some of the input data and some of the data already calculated / detected change the size of the area, for example, If there are movements and / or movements in and / or inside the envelope, they are as inanimate objects, fluttering, living Set definitions with respect to other key elements and match them as for a register of table (s) such as a truth table for drawing conclusions; f. The principal elements, derived from data, features, definitions and conclusions, arranged in a particular order, allow for detecting, matching and identifying regions as with the register of stored shapes via the means provided; g. Coordinates in each scanning of the first and additional dots, depending on the type of shape / area, to follow and observe any changes in motion and / or movement at all times in and / or within the place, location, and / or envelope. With reference to the data of the above, the unidentified areas will be stored under a temporary name, and the identified shapes will be stored under their own name. The photograph of claim 1, wherein the pair and / or one or more cameras may be packaged in one case or packaged independently, similar to video cameras, including CCD cameras and taken by cameras. Cameras having combination means for converting data received from the data into digital data; a) application for color imaging at various speeds and in any light such as infrared, visible light and in any light conditions such as lack of light due to light amplification; b) enlargement or reduction devices, including telescopic or microscopic means; c) a computer observation system comprising an optical image having a desired resolution, whether straight, convex or concave. The method according to claim 1 and 2, according to the classification by the main elements arranged in one or more systematic order, whether internally or externally, between and possibly and possibly, previously and absolutely determined. And / or said primary means for collecting the calculated data, defined and derived and / or observed features, so that said data can be detected by said means for immediate access, a. An input memory for receiving taken / observed photos; b. Collect all of the pictures received by zooming, pinning and / or other shooting, wherein the pictures are stored as contour pictures represented by horizontal and vertical boundary coordinate axes and for updating three-dimensional data, one or Spatial memory for two cameras; c. Include photographs, maps, signs, and / or textual data close to each of the above shapes (such as objects, plants, organisms, backgrounds, signs, phenomena, etc.) that can be defined, named and / or independently identified. And the photographs and maps are in the form of a table (s) of known stored shapes, which is a photographing standard that depends on the size and distance of the shape, stored and known in a particular order and adapted to the main elements. Registry; d. A register for movement detection in time intervals for one of the photographs obtained after color filtering and checked in regular intervals for detection and calculation such as movement, motion and speed; e. Preferably a black and white register of basic shapes, such as known geometry such as rectangular, stepped, etc .; f. 1. a register for color separation; 2. a register for storing the contours of the regions and the regions before confirmation; 3. a register for a table (s), such as a "truth" table, arranged in order to set definitions and draw conclusions on data, definitions and conclusions; 4. Register for data table for repeated shapes; 5. A database containing registers for major elements; g. Accessory data-1. Internal accessory data, such as from space counters, compasses, etc. 2. External, such as from cameras, eg, from a user for movement speed, for zooming, etc. Accessory data 3. A computer observation system comprising one or more of registers for additional accessory data. The method of claim 1, wherein The data can be defined as data, according to the requirements of computer observation and the desired ratio and computer language (digital) and any one or any combination of the following a, b, c, and from the photograph, calculation, detection, From characterization, from definitions and conclusions, from space counters, from printers, external elements such as speedometers and / or from any accessory of the system, such as compasses, telescopes, rangefinders (hereinafter referred to as auxiliary means). Characterized in that, the a, b, c is a. Measurements (e.g., distance, width, height, depth, size, ratio and angle), color (e.g. level of color percent, color variance, scattered dots, spots), frame (contour), Relative to the direction (north, south, east, west, up, down, forward, back, right, left), movement, speed, position and angle A system of coordinates of an area or shape or parts of an area or shape with respect to or with respect to areas; b. Detection of features, phenomena, properties, heat, radioactivity, voice, odor and taste; c. Definitions and conclusions (e.g. temporary names, rectangles, steps, objects, cars, flutter, flames, streams of water, living, walking on four legs, growth, car right, change of time) Computer observation system, characterized in that. Areas, features according to claim 4, wherein some movement (eg, movement, movement) occurs in and / or in the envelope and / or in the entire area / shape with respect to the unidentified shapes. And means for identifying and calculating the data of the above definitions, definitions, and conclusions, both of which are shown in the photographs or parts, some of which, combinations thereof, are combined with the principal element data, Performed by software programs, electronics, rules, size, distance, zoom and observed according to the software program for the shape, transmission and transmission of size, distance and stored shape, three-dimensional presentation and multimedia Computer observation system, characterized in that to match the shooting angle of the shape. 6. The data according to claim 4 and 5, wherein the data, features, definitions and conclusions will be matched with a register / memory containing all data or part using software programs for comparison and matching with the means. , Identification by key elements may be performed absolutely, between, or possibly according to the classification in one or more previously determined systematic sequence (s), where the key elements may optionally be known areas, shapes With respect to said data of the parts or parts thereof, will enable identification of areas, shapes or parts thereof in relation to previously known information or from previous photographs. The computer system of claim 1, wherein one or more of the computer, computer components, components, electronics, processor, computerized data processing system, and the like form one or more of the above means or any combination thereof. Wherein the means are known or new and compatible software programs, the means for converting data obtained from the taken pictures into digital data, the means being generated at the same viewpoint and / or taken pictures. For matching and defining color matching with respect to points, said means for calculating distances and dimensions for identification of features, definitions and conclusions, said means for matching sizes and matching angles of imaging The means for detecting the type of movement, movement, movement in time intervals, The means is for handling "truth" table (s), the means is for handling reproducing shapes, the means is for collecting data for main construction, and the means is for comparing and matching. Means for storing various types of information, said means for receiving, transmitting and deriving data, said means including power supply, data protection, protection of said means, systems and the like. Computer observation system. The collected and stored information collected before, during and after confirmation according to claim 1, comprising the collected calculations, known data, features, definitions, such as for areas, shapes, etc. Immediately or briefly by appropriate interfacing means, in the form of information normally accessible to the user, such as robots, devices, blinds, immediately and / or provided and / or requested by the system, in a normal manner. And / or forwarded stereoscopically in the form of multimedia and / or in three-dimensional form. a. A pair of cameras whose shooting angle is adjustable and zoomable, which is the same, aligned and adjusted at a fixed distance M, from (0: 0) at a fixed distance M at any shooting distance for the shooting cameras. Produce optically parallel fields of view that are coordinated and aligned with the same line of sight in both cameras up to (Y: X), wherein pictures of the cameras are received by input memory devices in the computer and translated into computer language; b. Based on step a above, the pixels of the received pictures are available at the shooting speed and / or at any other speed for each of the previous picture (s) present in the system's spatial memory registry according to the coordinates and spatial counters. Matched by means, and if no match is found, the system performs an update and proceeds to match the two pictures entered; c. Based on steps a and b, with respect to the unidentified areas or areas where any movement takes place and viewed simultaneously in both cameras, the system finds various features of the picture, such as color, from the start of the line to the matching point. The calculation of the distance is performed based on the difference in the number of pixels in each picture taken by the camera, the calculated distances being able to calculate data such as the size of a point in the space represented by the pixel. Calculate the size of the area and the distances based on; d. Based on steps b and c, in matching the points of the unidentified areas with the stored pictures, the points around the area are not matched due to a change in the distance between the area and the surroundings and the distance between the two cameras. In addition to a roughly similar distance to the area dots and generating contours and / or dividing lines with respect to changes in color or shading between areas and areas and / or area movements / movements at similar distances. Depth dots make it possible to detect and define frames or contours for each and every area by means available; e. In order to collect additional data which enables to carry out calculations, matches, setting of definitions and withdrawal of conclusions by means available, the picture received from one of the cameras is color filtered and replicated in time intervals. Input into the movement confirmation register, irradiated at fixed time intervals, and based on steps b through d the frame or contour of the detected area is matched in size using a register of basic shapes, and from the registers The data allow for example to calculate the size of the area / shape and the speed of movement / movement and additional data, and that part of the input data and part of the data already calculated / detected change the size of the area, for example. And if there is movement and / or movement in and / or inside the shell, inanimate objects, fluttering, as if living Set definitions with respect to other key elements and match them as for a register of table (s) such as a truth table for drawing conclusions; f. The principal elements, derived from data, features, definitions and conclusions, arranged in a particular order, allow for detecting, matching and identifying regions as with the register of stored shapes via the means provided; g. In each scanning of the first and additional dots, depending on the type of shape / area, to follow and observe any changes in place, position, and / or movement and / or movement at all times within the envelope and / or inside the shape. With reference to the coordinates data, the unidentified areas will be stored with a temporary name and the identified shapes will be saved with their own name. 10. The method of claim 9, wherein the pair and / or one or more cameras may be packaged integrally or independently in a single case, similar to video cameras, include CCD cameras and photographed by the cameras. Cameras having a combination means for converting data received from the photos into digital data, and comprising at least one of the following a, b, c, wherein a, b, c, a) acclimatization for color imaging at various speeds and in any light such as infrared, visible light and in any light conditions such as lack of light due to light amplification; b) enlargement or reduction devices, including telescopic or microscopic means; c) A method of computer observation, characterized in that it is an optical image having a desired resolution, whether straight, convex or concave. The method according to claim 9 and 10, according to the classification by the main elements arranged in one or more systematic order previously and absolutely defined, between and between and possibly, whether internally or externally, And / or the primary said means for collecting the calculated data, the defined and derived and / or observed features, so that said data can be detected by said means for immediate access, a. An input memory for receiving taken / observed photos; b. Collect all of the pictures received by zooming, pinning and / or other shooting, wherein the pictures are stored as contour pictures represented by horizontal and vertical boundary coordinate axes and for updating three-dimensional data, one or Spatial memory for two cameras; c. Include photographs, maps, signs, and / or textual data close to each of the above shapes (such as objects, plants, organisms, backgrounds, signs, phenomena, etc.) that can be defined, named and / or independently identified. And the photographs and maps are in the form of a table (s) of known stored shapes, which is a photographing standard that depends on the size and distance of the shape, stored and known in a particular order and adapted to the main elements. Registry; d. A register for movement detection in time intervals for one of the photographs obtained after color filtering and checked in regular intervals for detection and calculation such as movement, motion and speed; e. Preferably a black and white register of basic shapes, such as known geometry such as rectangular, stepped, etc .; f. 1. a register for color separation; 2. a register for storing the contours of the regions and the regions before confirmation; 3. a register for a table (s), such as a "truth" table, arranged in order to set definitions and draw conclusions on data, definitions and conclusions; 4. Register for data table for reproducing shapes; 5. A database containing registers for major elements; g. Accessory data-1. Internal accessory data, such as from space counters, compasses, etc. 2. External, such as from cameras, eg, from a user for movement speed, for zooming, etc. Accessory data 3. A computer observation method comprising one or more of registers for additional accessory data. The method according to claim 9, wherein The data can be defined as data, in accordance with computer observation requirements and the desired ratio and computer language (digital) and any one or any combination of the following a, b, c, and from a photograph, calculate, detect, characterize From the definitions and conclusions, from the space counters, anything that can be received from an external element such as a printer, a speedometer and / or accessories of a system such as a compass, telescope, rangefinder (hereinafter referred to as an aid) Characterized in that a, b, c is a. Measurements (e.g., distance, width, height, depth, size, ratio and angle), color (e.g. level of color percent, color variance, scattered dots, spots), frame (contour), Relative to the direction (north, south, east, west, up, down, forward, backward, right, left), movement, speed, position and angle A system of coordinates for or against regions or for shapes or for a region or shape or portions of a region or shape; b. Detection of features, phenomena, properties, heat, radioactivity, voice, odor and taste; c. Definitions and conclusions (e.g. temporary names, rectangles, steps, objects, cars, flutter, flames, streams of water, living, walking on four legs, growth, car right, change of time) Computer observation method characterized in that. The area, feature according to claim 12, wherein some degree of movement (eg, movement, movement) occurs in and / or in the envelope and / or in the entire area / shape with respect to the unidentified shapes. And means for identifying and calculating the data of the above definitions, definitions, and conclusions, both of which are shown in the photographs or parts, some of which, combinations thereof, are combined with the principal element data, Performed by software programs, electronics, rules, size, distance, zoom and observed according to the software program for the shape, transmission and transmission of size, distance and stored shape, three-dimensional presentation and multimedia Computer observation method, characterized in that to match the shooting angle of the shape. 14. A register according to claim 12 and 13, wherein said data, features, definitions and conclusions will be matched with a register / memory containing all data or part using software programs for comparison and matching with said means. , Identification by key elements may be performed absolutely, between, or possibly according to the classification in one or more previously determined systematic sequence (s), where the key elements may optionally be known areas, shapes In relation to said data of said or parts thereof, which will enable identification of areas, shapes or parts thereof in relation to previously known information or from previous photographs. 15. The method of claim 9, wherein one or more of the computer, computer components, components, electronics, processor, computerized data processing system and the like form one or more of the above means or any combination thereof. Wherein the means are known or new and compatible software programs, the means for converting data obtained from the taken pictures into digital data, the means being generated at the same viewpoint and / or taken pictures. For matching and defining color matching with respect to points, said means for calculating distances and dimensions for identification of features, definitions and conclusions, said means for matching sizes and matching angles of imaging The means for detecting the type of movement, movement, movement in time intervals Wherein said means is for handling "truth" table (s), said means is for handling reproducing shapes, said means is for collecting data for main construction, said means for comparing and matching Means for storing various types of information, means for receiving, transmitting and deriving data, the means including power supply, data protection, protection of the means, systems and the like. Computer observation method characterized in that. The collected and stored information collected before, during and after verification according to claims 9 to 15, including collected calculations, known data, features, definitions, such as for areas, shapes, Immediately or briefly by appropriate interfacing means, in the form of information normally accessible to the user, such as robots, devices, blinds, immediately and / or provided and / or requested by the system, in a normal manner. And / or forwarded by three-dimensionally in the form of multimedia and / or in three-dimensional form. Computer observation systems and methods thereof that essentially include any or any combination of the innovations herein, as described, referred to and illustrated in the description and the appended claims or the accompanying drawings.