WO2016195534A1 - Procédé et système de réduction des erreurs de positionnement d'une caméra ptz - Google Patents

Procédé et système de réduction des erreurs de positionnement d'une caméra ptz Download PDF

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Publication number
WO2016195534A1
WO2016195534A1 PCT/RU2015/000811 RU2015000811W WO2016195534A1 WO 2016195534 A1 WO2016195534 A1 WO 2016195534A1 RU 2015000811 W RU2015000811 W RU 2015000811W WO 2016195534 A1 WO2016195534 A1 WO 2016195534A1
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WO
WIPO (PCT)
Prior art keywords
camera
angle
coordinates
positioning error
positioning
Prior art date
Application number
PCT/RU2015/000811
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English (en)
Russian (ru)
Inventor
Иван Сергеевич ШИШАЛОВ
Андрей Викторович ФИЛИМОНОВ
Original Assignee
Общество С Ограниченной Ответственностью "Дисикон"
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Application filed by Общество С Ограниченной Ответственностью "Дисикон" filed Critical Общество С Ограниченной Ответственностью "Дисикон"
Publication of WO2016195534A1 publication Critical patent/WO2016195534A1/fr

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/24—Aligning, centring, orientation detection or correction of the image

Definitions

  • PTZ cameras are widely used to monitor large areas. They are a device that supports remote control of viewing direction and zoom. ⁇ -cameras are actively used when conducting video conferences, being a necessary attribute of a conference room or meeting room, when building security systems and other video surveillance systems. Due to their high prevalence at the moment, the range of cameras is quite extensive, cameras have different characteristics and cost.
  • Sinha and Polleface proposed a positioning method for ⁇ -cameras [2], in which the camera is first calibrated at low zoom, and then the internal parameters of the camera are calculated with increasing zoom. Since calibration is performed discretely from one zoom value to another, piecewise linear interpolation is used to calculate the internal parameters. Using this method provides the need for a large number of calibration steps to mitigate noise, which significantly increases the operating time.
  • the technical result is to reduce errors and increase the repeatability of positioning.
  • This technical result is achieved through the use of intermediate positioning points, which reduce the effect of inertia and "flight" of the required position. By reducing the positioning error, the positioning accuracy is improved. Another technical result is the repeatability of positioning results. As a result, the positioning error becomes systematic and the same.
  • a method of reducing a PTZ camera positioning error characterized in that a target camera rotation position is obtained, then at least one intermediate camera position and its coordinates are determined based on the camera rotation target data, and then the camera is subsequently rotated to the target position through the aforementioned intermediate positions.
  • the intermediate points can be determined through absolute coordinates or through relative coordinates.
  • the number and coordinates of intermediate positions depend on the required speed and positioning accuracy. In some embodiments of the technical solution, the relative coordinates of the intermediate position are determined so that the intermediate position is as close to the desired position.
  • computer vision algorithms are used to determine positioning errors.
  • At least two intermediate positions are determined, the first position being different by A in the panoramic angle and the angle of inclination from the desired position, and the second intermediate position in the panoramic angle is the same as the desired position, and in the angle of inclination different by BUT.
  • At least two intermediate positions are determined, wherein the first position differs by A in the panoramic angle and the angle of inclination from the desired position, and the second intermediate position in the angle of inclination coincides with the desired position, and in the panoramic angle differs by BUT.
  • the speed of movement from the starting point to the first intermediate, between the intermediate and between the last intermediate point and the target point may be different.
  • Figure 1 - shows a block diagram of the proposed method
  • Figure 2 - shows a block diagram of an example implementation of the inventive system
  • Fig.Z an example implementation of a technical solution with one intermediate point.
  • a panoramic angle (precession angle, Pan) is one of the Euler angles that describes the rotation of an object around the Z axis (for more details, see [9]). This angle corresponds to the rotation of the object in its own horizontal plane.
  • the angle of inclination is one of the Euler angles that describes the rotation of an object around the Y axis (for more details, see [9]). This angle corresponds to the rotation of the object in its own vertical plane.
  • Positioning error the difference between the target position of the camera and the actual position of the camera after positioning in the target position. It is expressed by two angles: panoramic (corresponding to the difference between the panoramic angles of the actual and target position) and the angle of inclination (corresponding to the difference between the angle of inclination of the actual and target position).
  • Repeatability of a result is a characteristic that reflects the probability of a repetition of the result of an experiment subject to a certain set of initial conditions.
  • the repeatability of the positioning result is a characteristic that reflects the probability of achieving the same values of the positioning error while maintaining the target position of the camera and changing the initial position.
  • the rotation command is sent to the target camera:
  • the resulting position also differs from the desired target direction of the camera view.
  • Pos 2 (Pan 2 ; Tilt 2 ) - second starting position, different from the first starting position.
  • Pos int2 Pan Er2 ; Tilt Int + Tilt Er2 ) - an intermediate position with its own positioning error when repositioning from the second initial position.
  • Intermediate positions and their coordinates are determined by testing the camera, or based on ideas about the device of the rotary mechanism of the camera. During testing, global optimization algorithms can be used to obtain optimal parameters of intermediate points [6,7,8].
  • various strategies for changing the positioning algorithm can be used, including the simplest ones.
  • a simple strategy for determining a positioning algorithm one intermediate position is selected that differs from the target by the panoramic angle and angle of inclination by A. Then, using the global optimization algorithm [6,7,8] for a one-dimensional function, choose a value A that corresponds to the minimum positioning error.
  • computer vision algorithms can be used, for example, which implement the selection of control points on two frames and the determination of the displacement of control points between frames.
  • the search for reference points can be performed as indicated in the information source [5].
  • two images can be used - the first obtained at the target point at the initial moment of time, and the second obtained at the target position after positioning from an intermediate position. Next, these images are compared and a positioning error is determined. sequentially rotate the camera to the target position through the aforementioned intermediate positions. After receiving the target position and calculating a set of intermediate positions, the camera is first rotated to the first intermediate position, then, if there is one, to the second, and so on. The final step is to rotate the camera to the target position.
  • this technical solution can be made in the form of a system for increasing the accuracy of positioning a PTZ camera, including: a specialized northbound camera, one or more data processing devices, one or more data storage devices, one or more programs, where one or more programs are stored on one or more data storage devices and executed on one or more data processing devices, and one or more programs includes the following instructions: what do you get the target camera rotation position, then determine t, at least one intermediate position of the camera and its coordinates based on the data about the target position of the camera’s rotation, after which they sequentially rotate the camera to the target position through the aforementioned intermediate positions.
  • said method is physically implemented on a camera.
  • an exemplary system for implementing a technical solution includes a data processing device 200.
  • the data processing device 200 may be configured as a client, server, mobile device, or any other computing device that interacts with data in a network-based collaboration system.
  • the data processor 200 typically includes at least one processor 201 and a data storage device 202.
  • system memory 202 may be volatile (e.g., random access memory (RAM, RAM)), non-volatile (for example, read-only memory (ROM)), or some combination thereof.
  • a data storage device 202 typically includes one or more application programs 203 and may include program data 204. The present technical solution as a method described in detail above is implemented in application programs 203.
  • the data processing device 200 may have additional features or functionality.
  • the data processing device 200 may also include additional data storage devices (removable and non-removable), such as, for example, magnetic disks, optical disks or tape.
  • additional storages are illustrated in FIG. 1 through removable storage 207 and non-removable storage 208.
  • Computer storage media may include volatile and non-volatile, removable and non-removable media implemented in any way or using any technology for storing information, such as machine-readable instructions, data structures, program modules or other data.
  • Storage device 202, removable storage 207, and non-removable storage 208 are examples of computer storage media.
  • Computer storage media includes, but is not limited to, random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact ROM a disc (CD-ROM), universal digital disks (DVDs) or other optical storage devices, magnetic tapes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that may be used on to store the desired information and which can be accessed by the data processing device 200. Any such computer storage medium may be part of the device 200.
  • the data processing device 200 may also include an input device (a) 205, such as a keyboard, mouse, pen , a voice input device, a touch input device, and so on.
  • Output device (a) 206 such as a display, speakers, printer, and the like, may also be included in the device.
  • the data processing apparatus 200 comprises communication connections that allow the device to communicate with other computing devices, for example over a network.
  • Networks include local area networks and wide area networks along with other large, scalable networks, including, but not limited to, corporate networks and extranets.
  • Communication connection is an example of a communication environment.
  • a communication medium can be implemented using computer-readable instructions, data structures, program modules or other data in a modulated information signal, such as a carrier wave, or in another transport mechanism, and includes any information delivery medium.
  • modulated information signal means a signal, one or more of its characteristics are changed or set in such a way as to encode information in this signal.
  • communication media includes wired media such as a wired network or a direct wired connection, and wireless media such as acoustic, radio frequency, infrared, and other wireless media.
  • machine-readable medium includes both storage media and communication media.
  • Positioning at a low speed would reduce the error, but would significantly increase the positioning time if the initial position of the camera and the target position are significantly different.
  • rotary mechanism it turned out that in order to achieve the minimum positioning error, it is enough to determine one intermediate point that differs from the target position by one degree in the panoramic angle and angle of inclination and move from the intermediate position to the target one with a minimum speed.
  • an increase in the distance between the target position and the intermediate one does not lead to a decrease in the error, but, of course, leads to an increase in the positioning time.
  • a further reduction in distance leads to an increase in positioning error.
  • a distance of one degree at two angles is optimal in terms of reducing positioning errors.
  • one intermediate position is determined (Pan - 1 °, Tilt - 1 °), after which the camera is rotated at maximum speed from the initial position to the intermediate. From the intermediate position, turn the camera to the target position with minimal speed.
  • the target position is first obtained, after which two intermediate positions are determined.
  • the first position (Pan - 1 °, Tilt - 1 °)
  • the second position (Pan, Tilt - 1 °). Then they are positioned in the first intermediate position with maximum speed, after which they are positioned in the second intermediate position with minimum speed. As a result, they are positioned at the target position with minimal speed.

Abstract

La présente invention se rapporte au domaine de la vidéosurveillance et, notamment, de la vidéosurveillance avec des caméras rotatives (PTZ). Le procédé de réduction des erreurs de positionnement de la caméra PTZ est caractérisé en ce que l'on obtient une position cible de rotation de la caméra, après quoi on détermine au moins une position intermédiaire de la caméra et ses coordonnées en fonction des données de position cible de la caméra, puis on fait ensuite tourner la caméra vers la position cible via lesdites positions intermédiaires. Le résultat technique consiste en une diminution des erreurs de positionnement de la caméra et en une augmentation de la répétabilité du positionnement.
PCT/RU2015/000811 2015-05-29 2015-11-23 Procédé et système de réduction des erreurs de positionnement d'une caméra ptz WO2016195534A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
RU2015120455 2015-05-29
RU2015120455/07A RU2584816C1 (ru) 2015-05-29 2015-05-29 Способ и система для уменьшения ошибки позиционирования ptz камеры

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WO2016195534A1 true WO2016195534A1 (fr) 2016-12-08

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RU (1) RU2584816C1 (fr)
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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050036036A1 (en) * 2001-07-25 2005-02-17 Stevenson Neil James Camera control apparatus and method
US20100033567A1 (en) * 2008-08-08 2010-02-11 Objectvideo, Inc. Automatic calibration of ptz camera system
US20110102586A1 (en) * 2009-11-05 2011-05-05 Hon Hai Precision Industry Co., Ltd. Ptz camera and controlling method of the ptz camera
EP1295478B1 (fr) * 2000-06-30 2013-08-14 Sensormatic Electronics, LLC Enceinte a controleur integre pour camera de surveillance video
US20130329003A1 (en) * 2012-06-06 2013-12-12 Aver Information Inc. Video camera positioning system and control method thereof

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5847960A (en) * 1995-03-20 1998-12-08 Electro Scientific Industries, Inc. Multi-tool positioning system
RU2199150C2 (ru) * 2001-02-02 2003-02-20 Курский государственный технический университет Устройство калибровки оптикоэлектронной системы
US7623156B2 (en) * 2004-07-16 2009-11-24 Polycom, Inc. Natural pan tilt zoom camera motion to preset camera positions

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1295478B1 (fr) * 2000-06-30 2013-08-14 Sensormatic Electronics, LLC Enceinte a controleur integre pour camera de surveillance video
US20050036036A1 (en) * 2001-07-25 2005-02-17 Stevenson Neil James Camera control apparatus and method
US20100033567A1 (en) * 2008-08-08 2010-02-11 Objectvideo, Inc. Automatic calibration of ptz camera system
US20110102586A1 (en) * 2009-11-05 2011-05-05 Hon Hai Precision Industry Co., Ltd. Ptz camera and controlling method of the ptz camera
US20130329003A1 (en) * 2012-06-06 2013-12-12 Aver Information Inc. Video camera positioning system and control method thereof

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