KR20180048048A - 3d tracking apparatus and method using stereo camera - Google Patents

Abstract

The present invention relates to an apparatus and method for tracking a flying object and three-dimensional coordinates and trajectories of the flying object by using a stereo camera. The apparatus for tracking three-dimensional trajectories of a flying object according to the present invention includes: an image collecting unit for collecting camera images photographed by two stereo cameras; and a coordinate measuring unit for calculating three-dimensional coordinates of the flying object by analyzing the camera images. The apparatus further includes: a laser module installed at opposite positions of the two stereo cameras; a laser sensor for detecting a point on which laser emitted from a laser module of another stereo camera is focused; and an alignment determination unit for determining whether or not the two stereo cameras are aligned through a comparison between position coordinates of the point on which the laser is focused and set reference coordinates.

Description

TECHNICAL FIELD [0001] The present invention relates to a 3D trajectory tracking apparatus and method using a stereo camera,

The present invention relates to an apparatus and a method for tracking three-dimensional coordinates and trajectories of a flying object and a flying object using a stereo camera.

Recent developments in infrared (thermal) cameras have been actively exploring technologies for tracking and monitoring objects in military and security / surveillance applications. Two or more stereo cameras are required to construct accurate distance measurement and tracking of three-dimensional coordinates and trajectories. In order to measure three-dimensional coordinates of several kilometers of distant objects, the distance between two cameras, Or more.

The conventional stereo camera device focuses on measuring the position of an object within 500m, so it is possible to use a calibration box or checkerboard that can perform stereo calibration and stereo rectification within 1m of the baseline. Do. However, in order to measure the three-dimensional coordinates of a long distance (several km), basically the baseline must be as large as several tens of meters. At this time, there is a problem that the calibration box or checkerboard is not visible to both cameras at the same time, Can not be applied to a general calibration method or an adjustment algorithm. In the case where the stereo camera is calibrated and adjusted in such a way that it can not be obtained by the relationship between the corresponding minutia points acquired from the two images as in the conventional case, or when the stereo camera is located in an unexpected situation, the conventional image processing method includes the three- Can not be measured.

FIG. 1 shows the result of calibration with conventional stereo camera calibration. Objects corresponding to both cameras simultaneously must be photographed, and feature points corresponding to each other are automatically obtained to obtain a geometrical relationship between the cameras. In an environment where the baseline is large and objects to be calibrated on both cameras are not visible at the same time, this conventional method can not perform calibration.

Korean Patent No. 1021015 (name: 3D user interface method)

The present invention relates to a method and apparatus for performing calibration of a camera image photographed through a stereo camera which has been distant from a remote camera, performing prediction of a three-dimensional trajectory of the vehicle, And an object of the present invention is to provide an apparatus and method.

In order to solve the above-mentioned problems, an apparatus for estimating a three-dimensional trajectory of the air vehicle using a camera image photographed through two stereo cameras, which are parallel stereo cameras for photographing the air vehicle of the present invention, An image collection unit for collecting camera images taken from the camera; And a coordinate measuring unit for calculating three-dimensional coordinates of the flying object by analyzing the camera images, wherein the laser module is disposed at a position opposite to the two stereo cameras; A laser sensing unit for sensing a point where a laser emitted from a laser module of another stereo camera is formed; And an alignment determination unit for determining whether or not the two stereo cameras are aligned through comparison between position coordinates of a point at which the laser is formed and set reference coordinates.

In addition, the three-dimensional trajectory tracking apparatus using a stereo camera according to an embodiment of the present invention may further include a correction unit that corrects the correction distance based on the position coordinates of the point where the laser is formed and the difference between the position coordinates and the reference coordinates, And a calibration value calculation unit for calculating a calibration angle.

Further, the coordinate measuring unit may calculate the three-dimensional coordinates of the flying object in consideration of the calibration distance and the correction angle when the position coordinates of the point where the laser is formed and the set reference coordinates are different.

In addition, the 3D trajectory tracking apparatus using a stereo camera according to an embodiment of the present invention predicts a moving trajectory of the air vehicle by using three-dimensional coordinates of the air vehicle, And a motion locus predicting unit.

Also, the 3D trajectory tracking apparatus using a stereo camera according to an embodiment of the present invention includes: an actual trajectory derivation unit for deriving an actual trajectory at time t; And a trajectory conversion determination unit that determines whether or not the trajectory is converted by comparing the actual trajectory of movement at the time t and the predicted movement trajectory of the time point t predicted at the previous time.

In addition, the reference coordinates may be stored in the storage unit differently depending on the distance between the two stereo cameras.

A method for estimating a three-dimensional trajectory of the air vehicle using a camera image photographed through two stereo cameras, which are parallel stereo cameras for photographing the air vehicle to solve the above problems, Collecting camera images; And calculating the three-dimensional coordinates of the flying object by analyzing the camera images, wherein a point of laser emission from the laser module installed to face the two stereo cameras is detected by the laser detecting unit step; And determining whether or not the two stereo cameras are aligned by comparing the position coordinates of the point where the laser is formed and the set reference coordinates.

According to another aspect of the present invention, there is provided a method for tracking a three-dimensional trajectory using a stereo camera, the method comprising: calculating a distance between a position of a laser spot and a reference distance, And calculating a calibration angle.

Also, the step of calculating the three-dimensional coordinates of the flying object may be performed in consideration of the calibration distance and the correction angle when the position coordinates of the point where the laser is formed and the set reference coordinates are different.

The three-dimensional trajectory tracking method using a stereo camera according to an embodiment of the present invention predicts a trajectory of a moving object by using three-dimensional coordinates of the moving object, The method comprising the steps of:

According to another aspect of the present invention, there is provided a 3D trajectory tracking method using a stereo camera, comprising: deriving an actual movement trajectory at a time t; And determining whether the trajectory is converted by comparing an actual trajectory of movement at the time t and an expected trajectory of the time point t predicted at a previous time point.

In addition, the reference coordinates may be stored in the storage unit differently depending on the distance between the two stereo cameras.

According to the apparatus and method for tracking a three-dimensional trajectory using a stereo camera according to the present invention, a correlation between geometrical positions of two cameras is recorded by using a laser module, so that an environment in which stereo calibration and rectification are difficult, It is possible to measure the three-dimensional coordinates of a flying object even when the camera is distorted due to an unexpected situation in a stereo device having a baseline and an experiment. In addition, using the correlation of the laser module device, there is an advantage that the position of the stereo camera can be easily installed.

According to the three-dimensional trajectory tracking apparatus and method using the stereo camera of the present invention, the three-dimensional coordinates estimated using the stereo camera are represented by polynomial functions with respect to the x, y, and z axes, respectively, Can be easily defined and can be explained by the kinetic equations of physics. Also, by measuring the difference between the predicted trajectory and the actually measured trajectory, it is possible to determine whether the trajectory of the aircraft has been changed by an external factor, which is also effective in evaluating the DIRCM deception performance.

FIG. 1 is a conceptual diagram for explaining a method of calibrating and adjusting a stereo camera according to the related art.
FIG. 2 is a conceptual diagram for explaining a method of calibrating a stereo camera that has remotely distanced from a three-dimensional trajectory tracking apparatus according to an exemplary embodiment of the present invention.
3 is a block diagram of a 3D trajectory tracking apparatus using a stereo camera according to an embodiment of the present invention.
FIGS. 4 to 6 illustrate a three-dimensional trajectory tracking apparatus using a stereo camera according to an embodiment of the present invention.
7 is a flowchart illustrating a three-dimensional trajectory tracking method using a stereo camera according to an embodiment of the present invention.

The present invention will now be described in detail with reference to the accompanying drawings. Hereinafter, a repeated description, a known function that may obscure the gist of the present invention, and a detailed description of the configuration will be omitted. Embodiments of the present invention are provided to more fully describe the present invention to those skilled in the art. Accordingly, the shapes and sizes of the elements in the drawings and the like can be exaggerated for clarity.

Hereinafter, an apparatus and method for tracking a 3D trajectory using a stereo camera according to an embodiment of the present invention will be described. An apparatus and method for tracking a three-dimensional trajectory using a stereo camera according to an embodiment of the present invention performs calibration of a camera image photographed through a stereo camera that has remained distant from the camera, performs prediction of a three- And the change of the trajectory of the flying object is determined. First, referring to FIG. 2, a method for performing a calibration in a three-dimensional trajectory tracking apparatus and method using a stereo camera according to an embodiment of the present invention will be described.

FIG. 2 is a conceptual diagram for explaining a method of calibrating a stereo camera that has remotely distanced from a three-dimensional trajectory tracking apparatus according to an exemplary embodiment of the present invention. The 3D trajectory tracking apparatus 100 according to an embodiment of the present invention includes laser modules 13 and 14 installed in each of the stereo cameras 10 and 20 for calibrating a camera image . Specifically, the 3D trajectory tracking apparatus 100 according to an embodiment of the present invention emits laser through the laser modules 13 and 14 installed in the respective stereo cameras 10 and 20, And determines whether the camera is aligned based on the coordinates.

That is, the 3D trajectory tracking apparatus 100 according to an exemplary embodiment of the present invention is provided with preset reference coordinates in an optimal environment, and when position coordinates of a point at which the laser is formed are calculated, position coordinate and reference coordinate are compared You can check the alignment of the camera through the process. To this end, three or more laser pointers are installed in the left and right cameras in the direction opposite to each other in the two stereo cameras, and the arrival position of the laser pointer having the parallel stereo positional relationship is determined in advance according to the base line distance, And a reference pattern in advance. In this case, a parallel stereoscopic camera is first installed using an object capable of recognizing the parallel structure of the stereo camera, and a point where the laser pointers fixed to the right and left cameras point to opposite sides is stored. Here, it is preferable that the laser pointers are fixed to the left and right cameras in three or more positions, and the laser pointers are not all placed on the same straight line.

 It is possible to arrange two cameras geometrically arranged in parallel by using the positional relationship that the predetermined laser pointers arrive from the opposite camera, and it is possible to derive the reference coordinates without using the feature point correspondence relationship such as the calibration box.

In addition, it is preferable that the laser module mounted on one stereo camera 10 or 20 is composed of three or more laser pointers in order to increase the measurement accuracy. Here, when the laser module is composed of three or more laser pointers, it is possible to determine not only the alignment based on the above-described coordinates, but also a pattern having vertexes at which the laser is formed. That is, if there are three or more laser pointers, it is possible to perform not only the coordinate value but also the comparison between the reference pattern and the pattern at the laser spot, have. Of course, it is also conceivable to select only one of the two determination techniques, rather than using all of the above determination techniques.

Further, in the case of a laser, the position or the pattern of the point at which the laser is formed may vary depending on the distance. Accordingly, when generating the reference data (i.e., the reference coordinates and the reference pattern) by the above-described method, it is preferable that the values are stored by dividing the distances between the two stereo cameras.

Accordingly, according to the three-dimensional trajectory tracking apparatus 100 according to an embodiment of the present invention, it is possible to derive the reference coordinates and the reference pattern of the laser under the normal condition, and in the case of installing two stereo cameras at different places, It is possible to determine whether two stereo cameras are misaligned based on the reference coordinates and the reference pattern. If the stereo cameras are not properly aligned, the operator can adjust the position or orientation of the stereo camera based on the position or pattern of the point at which the laser is located, thereby enabling precise coordinate measurement of the aircraft.

In addition, the three-dimensional trajectory tracking apparatus 100 according to an embodiment of the present invention can be applied to an environment in which stereo calibration and stereo rectification are difficult in an environment where the distance between the two stereo cameras is large, It is possible to measure precise coordinates of a flying object even when the camera is turned into an unexpected state during the process. This can be done by measuring the coordinates of the point at which the laser is described as described above, as will be described below again. Now, referring to FIG. 3, a description will be given of a three-dimensional trajectory tracking apparatus 100 according to an embodiment of the present invention.

3 is a block diagram of a 3D trajectory tracking apparatus 100 using a stereo camera according to an embodiment of the present invention. As described above, a three-dimensional trajectory tracking apparatus (hereinafter, a three-dimensional trajectory tracing apparatus) using a stereo camera according to an embodiment of the present invention performs calibration of a camera image photographed through a stereo camera that has been separated from a long distance, Dimensional trajectory, and determines a trajectory change of the flying object. For this, a three-dimensional trajectory tracking apparatus 100 according to an embodiment of the present invention includes two or more laser detecting units 111 and 112, two or more laser modules 113 and 114, a storage unit 120, The trajectory prediction unit 160, the trajectory conversion determination unit 170, the alignment determination unit 180, and the calibration value calculation unit (not shown). The calibration unit 130, the coordinate measuring unit 140, the actual trajectory deriving unit 150, 190). Here, the image collecting unit 130, the coordinate measuring unit 140, the actual trajectory deriving unit 150, the movement trajectory predicting unit 160, the orbit conversion determining unit 170, the alignment determining unit 180, The calculator 190 may be implemented by a single processing unit in order to facilitate understanding of the present invention.

The storage unit 120 stores camera images taken by the two stereo cameras 10 and 20. In addition, the storage unit 120 may include information on reference coordinates and reference patterns used for determination of alignment, which will be described below. As described above, the reference coordinates and the reference pattern can be generated based on the coordinates and the pattern of the spot where the laser emitted by each stereo camera is formed in a normal environment. It is desirable to store them differently for different distances.

In addition, as described above, the 3D trajectory tracking apparatus 100 using a stereo camera according to an embodiment of the present invention includes a laser module attachable to the stereo cameras 10 and 20, A first laser detecting unit 111 and a second laser detecting unit 112 for detecting a point where the laser emitted from the first laser detecting unit 111 is formed. That is, the two stereo cameras 10 and 20 may be provided with a laser module including three or more laser pointers. Here, since the first stereo camera 10 and the second stereo camera 20 are assumed to be parallel stereo cameras, the laser module is arranged so that the parallelism of the first stereo camera 10 and the second stereo camera 20 , It is preferable that they are included at opposite points. In addition, the first and second laser sensing units 111 and 112 may sense the position coordinates of the laser emitted from the laser module of another stereo camera.

The alignment determining unit 180 determines whether or not the two stereo cameras are aligned by comparing the position coordinates of the laser spot and the set reference coordinates. As described above, the storage unit 120 stores information on reference coordinates and reference patterns experimentally stored in a normal environment. In addition, the reference coordinates and the reference pattern are stored in different values according to the distances between the two stereo cameras 10 and 20. The alignment determination unit 180 measures the distances between the two stereo cameras in the current environment , It is possible to search at least one of the reference coordinates corresponding to the measured distance and the reference pattern.

Thereafter, the alignment determination unit 180 may determine whether the two stereo cameras 10 and 20 are aligned by comparing the searched reference coordinates with the coordinates of the laser spot. That is, the alignment determining unit 180 can determine that the two stereo cameras 10 and 20 are perfectly aligned when the searched reference coordinates are the same as the coordinates of the laser spot. On the other hand, if the coordinates of the reference point coincide with the coordinates of the searched reference coordinates, the alignment determining unit 180 may determine that the two stereo cameras 10 and 20 are not completely aligned.

Here, if the two stereo cameras 10 and 20 are not perfectly aligned, it is possible to induce the alignment of the two stereo cameras 10 and 20 by notifying the user or the operator thereof. Of course, a method may be considered in which a driving unit such as a wheel is provided under the two stereo cameras 10 and 20, and the above-described alignment process is automatically performed by controlling the linear movement and the rotational movement of the driving unit.

In addition, in the above description, the 3D trajectory tracking apparatus 100 according to an embodiment of the present invention is described as determining whether or not to align on the basis of the position of the coordinates. However, It is also possible to perform the above-described alignment determination.

In addition, the 3D trajectory tracking apparatus 100 according to an embodiment of the present invention can be used in an environment where stereo correction and stereo adjustment are difficult in an environment where the distance between two stereo cameras is large, It is possible to accurately measure coordinates of a flying object even in a wrong situation. For example, when the two stereo cameras 10 and 20 are not parallel, the positions of the coordinates detected through the first laser sensing unit 111 and the second laser sensing unit 112 will be different from the reference coordinates , Likewise, the sensed pattern will be different from the shape of the reference pattern. However, since the 3D trajectory tracking apparatus 100 according to an embodiment of the present invention knows the reference coordinates and the reference pattern generated in the steady state in advance, the first laser sensing unit 111 and the second laser sensing unit 112), it is possible to know how far it is from the coordinates of the steady state and the pattern, and to what angle it is rotated. Accordingly, even if two stereo cameras are misaligned, the three-dimensional trajectory tracking device 100 according to an embodiment of the present invention can calculate the calibration value through the calibration value calculation unit 190 as follows .

The calibration value calculating unit 190 calculates the calibration distance and the calibration angle based on the difference between the position coordinate of the point where the laser is formed and the coordinate difference between the position coordinate and the reference coordinate when the set reference coordinate is different. The calibration distance and correction angle thus calculated are transmitted to the coordinate measuring unit 140, which will be described below, and can be used for accurate coordinate measurement of the air vehicle.

That is, the image collecting unit 130 collects the camera images stored in the storage unit 120, and the coordinate measuring unit 140 analyzes the camera images collected through the image collecting unit 130, And calculates the three-dimensional coordinates. Here, when the calibration distance and the calibration pattern exist, that is, when the position coordinates of the laser spot are different from the set reference coordinates, the coordinate measuring unit 140 measures the three- Can be calculated. In addition, the method of measuring the position of the flying object through the coordinate measuring unit 140 may be performed by a conventional stereo matching algorithm and a position measuring method.

The actual trajectory derivation unit 150 functions to derive the actual trajectory of movement at the time t, that is, the current time. Specifically, the actual trajectory derivation unit 150 derives the actual trajectory of the vehicle up to the present time based on the three-dimensional coordinates of the vehicle after the flight object is fired or after the flight object is detected.

The movement locus predicting unit 160 predicts the movement locus of the airplane using the three-dimensional coordinates of the airplane, thereby to derive the expected locus of movement after the current point of time of the airplane. That is, when the three-dimensional coordinates of the air vehicle are measured using the stereo camera, the movement trajectory predicting unit 160 predicts the moving trajectory of the air vehicle in the future using the three-dimensional coordinates of the air vehicle measured through the coordinate measuring unit 140 Function. At this time, the predicted coordinates can be expressed in the form of a polynomial function with respect to the positions of the x, y, and z axes. The position of the three axes can be expressed as a linear function, a quadratic function, or a higher order polynomial function through a conventional regression analysis method for measured coordinates. According to the derived polynomial function, the coordinates at the subsequent point can be respectively predicted from the coordinates of the three axes measured up to the present point in time. In other words, when the moving speed of the flying object is constant, it can be represented by a linear function, and when moving by a constant force, the positional change can be represented by a quadratic function. It is also possible to express it as a quadratic function when circular motion is performed under a constant force.

The trajectory conversion determination unit 170 determines whether or not the trajectory is converted by comparing the actual trajectory at time t with the predicted trajectory at time t predicted at the previous time. If the measured three-dimensional coordinates are different from the three-dimensional coordinates predicted by the polynomial function, it can be judged that the direction of movement of the object is changed by an external factor. The difference in distance between the predicted trajectory and the measured trajectory By measuring, the deceptive performance of DIRCM can be evaluated. In other words, the 3D trajectory of the aircraft before deceiving by the DIRCM is measured, and the difference between the actual 3D trajectory of the aircraft measured after the deceiving by the DIRCM and the 3D trajectory of the predicted flight by the predictive function obtained from the 3D trajectory , The degenerative performance can be evaluated and measured. In this case, the difference between the trajectories can be measured by the difference between the normal three-dimensional vector distance and the direction, and the difference between the function of the predicted trajectory and the measured trajectory coordinates can be accumulated to determine whether the DIRCM is deceptive.

FIGS. 4 to 6 illustrate examples of measurement results of three flight objects measured through a three-dimensional trajectory tracking apparatus using a stereo camera according to an embodiment of the present invention. 4 to 6 show an embodiment in which the three-dimensional coordinates (x, y, z) measured in the three-dimensional trajectory measurement experiment for the air vehicle are expressed by a quadratic function with respect to time. In this example, three As a result of the measurement on the flying object, the point represents the predicted trajectory of the measured coordinates and the dotted line curve from the trajectory represented by the quadratic function to the trajectory after 2 seconds. 4 is a graph for left and right (x-axis), Fig. 5 is a graph for height (y-axis), and Fig. 6 is a graph for distance (z-axis).

7 is a flowchart illustrating a three-dimensional trajectory tracking method using a stereo camera according to an embodiment of the present invention. As described above, a three-dimensional trajectory tracking method using a stereo camera (hereinafter, a three-dimensional trajectory tracking method) according to an embodiment of the present invention performs calibration of a camera image photographed through a stereo camera that has been separated from a long distance, Dimensional trajectory, and determines a trajectory change of the flying object. Now, referring to FIG. 7, a three-dimensional trajectory tracking method according to an exemplary embodiment of the present invention will be described. In the following, description overlapping with those described above will be omitted.

Step S110 is a step of emitting a laser through a laser module provided so as to face each of the two stereo cameras, and step S120 is a step of detecting a point where the laser is formed by the laser sensing unit.

In step S130, it is determined whether or not the two stereo cameras are aligned by comparing the position coordinates of the laser spot by the alignment determination unit and the set reference coordinates. As described above, the present invention is characterized in that whether or not the camera is aligned is determined based on at least one of reference data stored in advance in a storage unit, that is, reference coordinates and a reference pattern. If the two stereo cameras are correctly aligned, the position and reference coordinates of the point where the laser is formed will be the same. Likewise, if the two stereo cameras are correctly aligned, the generated pattern and the reference pattern will be the same based on the locations of the laser. Conversely, if the two stereo cameras are not aligned correctly, the position coordinates of the points will be different from the reference coordinates, and the pattern connecting the points and the reference coordinates will also be different.

In this case, when two stereo cameras are not properly aligned, coordinate measurement of a flying object is performed without any additional processing. Therefore, the accuracy of coordinate measurement is inevitably lowered. Therefore, a three- dimensional trajectory tracking method according to an embodiment of the present invention includes: It is also possible to induce the alignment to be performed by notifying the misalignment state of the two stereo cameras, or to perform the calibration by deriving the calibration value as described below. Of course, in the case where each stereo camera is provided with means for changing the position and angle of the stereo camera, it is also conceivable to perform alignment by changing the position and angle of the stereo camera. Below is a description of how to perform calibration when two camera images are misaligned.

Step S150 is a step of calculating the calibration distance and the calibration angle based on the difference between the position coordinates of the point where the laser is formed and the coordinate difference between the position coordinates and the reference coordinates when the set reference coordinates are different by the calibration value calculation unit. The description thereof has been given above in detail, so that redundant description is omitted.

Step S140 is a step of collecting camera images photographed from two stereo cameras by the image collecting unit, and step S160 is a step of calculating three-dimensional coordinates of the flying object by analyzing camera images by the coordinate measuring unit . If the two stereo cameras are not aligned, that is, if the two stereo cameras are misaligned, step S160 is performed to increase the measurement accuracy of the three-dimensional coordinates of the vehicle, which will be described below, , The correction angle and the calibration distance.

In step S160, the actual trajectory derivation unit derives the actual trajectory at time t. In step S170, the movement trajectory prediction unit predicts the trajectory of the flight by using the three-dimensional coordinates of the flight, It is a step of deriving a predicted movement trajectory after the present time of the air vehicle.

Step S180 is a step of determining whether the trajectory is converted by comparing the actual trajectory of movement at the time t and the predicted movement trajectory of the time point t predicted at the previous time by the trajectory conversion judgment unit. If it is determined in step S180 that the actual movement trajectory at time t is the same as the expected movement trajectory at time t predicted at the previous time, or if the difference between trajectories is less than the critical trajectory difference, control is passed to step S190 to determine that the vehicle is in a normal state . On the contrary, if it is determined in step S180 that the difference between the actual trajectory at time t and the predicted movement trajectory at time t predicted at the previous time is greater than or equal to the threshold trajectory difference, control is passed to step S195 to determine that an external factor exists have.

As described above, an optimal embodiment has been disclosed in the drawings and specification. Although specific terms have been employed herein, they are used for purposes of illustration only and are not intended to limit the scope of the invention as defined in the claims or the claims. Therefore, those skilled in the art will appreciate that various modifications and equivalent embodiments are possible without departing from the scope of the present invention. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

100: 3D Trajectory Tracking Device Using Stereo Camera
111: first laser sensing unit 112: second laser sensing unit
113: first laser module 114: second laser module
120: storage unit 130: image collecting unit
140: coordinate measuring unit 150: actual trajectory deriving unit
160: Moving locus predicting unit 170: Orbit conversion determining unit
180: alignment determination unit 190: calibration value calculation unit

Claims (7)

An apparatus for estimating a three-dimensional trajectory of a flying body using a camera image photographed through two stereo cameras, which are parallel stereo cameras for photographing a flight body,
An image collecting unit for collecting camera images photographed from the two stereo cameras; And
And a coordinate measuring unit for calculating three-dimensional coordinates of the airplane by analyzing the camera images,
A laser module installed at positions opposite to each other of the two stereo cameras;
A laser sensing unit for sensing a point where a laser emitted from a laser module of another stereo camera is formed; And
Further comprising an alignment determination unit for determining whether the two stereo cameras are aligned through comparison between a position coordinate of a point at which the laser is formed and a set reference coordinate. The method according to claim 1,
Further comprising a calibration value calculating unit for calculating a calibration distance and a calibration angle on the basis of a difference between the coordinates of the position where the laser is formed and the coordinate of the coordinates between the position coordinates and the reference coordinates when the reference coordinates are different from each other, 3D Trajectory Tracking System Using. 3. The method of claim 2,
Wherein the coordinate measuring unit calculates the three-dimensional coordinates of the flying object in consideration of the calibration distance and the calibration angle when the position coordinates of the point where the laser is formed and the set reference coordinates are different from each other. The method according to claim 1,
Further comprising a moving locus predicting unit for predicting a moving locus of the airplane using the three-dimensional coordinates of the airplane so as to derive an expected locating locus after the current time point of the airplane, Tracking device. 5. The method of claim 4,
an actual trajectory deriving unit for deriving an actual trajectory of movement at time t; And
Further comprising a trajectory conversion determining unit for determining whether or not the trajectory is converted by comparing an actual trajectory of movement at the time t and an expected trajectory of the time point t predicted at a previous time point. The method according to claim 1,
Wherein the reference coordinates are stored in the storage unit differently according to distances between the two stereo cameras. A method for estimating a three-dimensional trajectory of a flying object using a camera image photographed through two stereo cameras, which are parallel stereo cameras,
Collecting photographed camera images from the two stereo cameras; And
Dimensional coordinates of the air vehicle by analyzing the camera images,
Sensing a point at which a laser emitted from a laser module installed opposite to the two stereo cameras converges by the laser sensing unit; And
Further comprising the step of determining whether the two stereo cameras are aligned through comparison between a position coordinate of a point where the laser is formed and a set reference coordinate.

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