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WO2006032552A1 - Commande d'une camera asservie - Google Patents

Commande d'une camera asservie Download PDF

Info

Publication number
WO2006032552A1
WO2006032552A1 PCT/EP2005/053401 EP2005053401W WO2006032552A1 WO 2006032552 A1 WO2006032552 A1 WO 2006032552A1 EP 2005053401 W EP2005053401 W EP 2005053401W WO 2006032552 A1 WO2006032552 A1 WO 2006032552A1
Authority
WO
WIPO (PCT)
Prior art keywords
camera
determined
parameters
point
guide
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2005/053401
Other languages
German (de)
English (en)
Inventor
Rainer Glaschick
Andreas PÖHLER
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Siemens Corp
Original Assignee
Siemens AG
Siemens Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG, Siemens Corp filed Critical Siemens AG
Priority to EP05820630A priority Critical patent/EP1769638A1/fr
Publication of WO2006032552A1 publication Critical patent/WO2006032552A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
    • G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
    • G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
    • G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
    • G08B13/19678—User interface
    • G08B13/19689—Remote control of cameras, e.g. remote orientation or image zooming control for a PTZ camera
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
    • G01S3/782—Systems for determining direction or deviation from predetermined direction
    • G01S3/785—Systems for determining direction or deviation from predetermined direction using adjustment of orientation of directivity characteristics of a detector or detector system to give a desired condition of signal derived from that detector or detector system
    • G01S3/786—Systems for determining direction or deviation from predetermined direction using adjustment of orientation of directivity characteristics of a detector or detector system to give a desired condition of signal derived from that detector or detector system the desired condition being maintained automatically
    • G01S3/7864—T.V. type tracking systems
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
    • G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
    • G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
    • G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
    • G08B13/19639—Details of the system layout
    • G08B13/19641—Multiple cameras having overlapping views on a single scene
    • G08B13/19643—Multiple cameras having overlapping views on a single scene wherein the cameras play different roles, e.g. different resolution, different camera type, master-slave camera
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/188—Capturing isolated or intermittent images triggered by the occurrence of a predetermined event, e.g. an object reaching a predetermined position

Definitions

  • the present invention solves the problem, coordinated one or more video cameras to control so that the video cameras automatically follow a subject for a long time.
  • Techniques are known in the field of graphic image processing in which a sufficiently characteristic object erratic camera image can be positioned and tracked from the image contents by analyzing the pattern changes. In the object contactor, this technique is used relatively successfully, since the images there are often unchanged for a long time and the object to be monitored represents a clear change in relation to a static background.
  • a number of remote-controlled cameras are installed so that the respective athletes, ie the objects of interest, are always in the area one, more common in the field of multiple cameras.
  • the remote controls are guided to a central location and connected to a computer and a control console, so that the cameras can be aligned both automatically by the computer and by manual intervention on the control console.
  • Even with the use of the tracker function with only one cameraman no high-quality result can be achieved because the control of the cameras among each other is not adequately coordinated.
  • the orientation of a camera on an object is always carried out manually. The camera man must theoretically determine which camera is to be positioned next.
  • the camera is not on the Directed where the athlete comes into the detection area, but on the, was left at the previous time the Er chargeds ⁇ area. If the tracker feature is still on, it will track any moving objects, such as assistants or viewers. Further, the tracker function is not necessarily reliable, and when the athlete is temporarily obscured, switches to any visible, moving object.
  • the solution according to the present invention can be used when the objects to be photographed move on a predetermined path or surface, for example a bobsleigh track, a Jardine or a playing field.
  • a predetermined path or surface for example a bobsleigh track, a Jardine or a playing field.
  • At least the guide camera is located above this track or surface. It is tracked by a cameraman to the object to be filmed. This is usually done by a tripod with a fixed to the camera about a horizontal axis is pivotally, so the Ka mera two degrees of freedom allowed.
  • sensors are attached, with which the respective angle of rotation can be determined; These sensor data are also referred to below as parameters of the degrees of freedom.
  • the intersection of the optical axis with the playing surface is calculated by analytical geometry; this will also be referred to as the setpoint below.
  • the required direction of the optical axis in the space and from this the required horizontal and vertical rotation angles are calculated by reversing the calculation from the desired position on the playing field for each successive camera, so that each of these following containers is at the same set point of the playing field.
  • These desired values are then transmitted to the camera controller by a known control and cause a movement of the guide camera to be transmitted to the follower camera so that the follower camera remains focused on an object which is being tracked by the guide camera.
  • the inclination of the camera provides the necessary distance information. If, for example, the camera is located a few meters above the gate in the case of a soccer field, then a camera located laterally behind the goal line can be tracked approximately at the same angles of rotation.
  • the vertical angle of rotation of a camera located on a page line will depend in first order on the distance of the player from the guide camera. However, this is quite calculable from the angle of inclination of the guide camera; The angle of rotation of the guide camera then leads to minor corrections to the rotation angle of the subsequent camera.
  • the two-dimensional case is outlined for clarity.
  • the guide camera L is inclined by the angle ⁇ with respect to the Lot h L on the plane E and thus aims at the set point S, here in the two-dimensional case by the distance d L from the bottom of the lot h L by the tangent of Be can be expected.
  • the distance dp is determined via the distance d L of the solder h L from the position of the guide camera L to the perpendicular der_ F of the follower camera F, and via the arc tangent of the angle ⁇ .
  • the parameters of a surface are therefore parameters that limit a spatial object position; this possible Positions are also referred to below as a restriction field be ⁇ .
  • a surface instead of a surface, however, it is also possible to use a line, an analytically writable curve or a composition thereof. In this case, there is generally no intersection with the optical axis. If it is a (skewed) straight line, however, then its distance and the plumb point of the distance can be easily calculated analytically. This is the point of least distance and thus the Soll ⁇ point. This method can then be transferred to composite curves in the same way as with composite surfaces, so that a set point can also be determined here.
  • a "tube” around this line may also be used as the restriction field, which is described analytically as the extrusion of a circle or a closed spline function along the (spline) line. so that this solution is not preferred.
  • the setpoint points determined earlier in time are used systematically by extrapolating the next set point from them.
  • the methods used in Kalman filters for determining the next estimated value are particularly useful.
  • the set point is taken which is closest to the next estimated or interpolation value.
  • an average between the calculated setpoint and the interpolated setpoint is used, which is formed either with fixed weights or with variable weights, as specified by Kalman or other filters.
  • the cameraman on the camera has a switch, with which he temporarily only the interpolation values can be effective.
  • this switch can also be triggered in the control room via a monitor; the application of image recognition and classification methods Lucasschlos ⁇ sen.
  • the successor control mentioned above which tracks the motion calculation and thus the position of the camera from the image contents, can be well integrated into the previous solutions. Since in this case, however, different setpoint values for the rotation angles of the respective following camera are determined, a compensation is necessary. This is usually done by calculating the setpoint values with error probabilities and by forming a weighted mean value such that the less well approximated values are also less heavily weighted. In this way, it is achieved, in particular, that in the event of a temporary disappearance of the object in the sequence chamber, it is nevertheless tracked, but then only after Coordinates of the guide camera. If the object becomes visible again, then the image-content-controlled tracking can snap back onto the object and adjust the coordinates given by the guide camera. Conversely, when vanishing in the lead camera, the weight is set to zero manually or automatically, and thus only the object tracking in the subsequent camera is used.

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Electromagnetism (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Studio Devices (AREA)
  • Closed-Circuit Television Systems (AREA)

Abstract

L'invention concerne un dispositif pour orienter une caméra asservie au moyen d'une caméra maître par rapport à des objets dont la position dans l'espace est limitée à un champ restrictif par des paramètres prédéterminés. A cet effet, des paramètres de commande et par là même des paramètres d'asservissement pour l'orientation de la caméra asservie sont déterminés d'après l'orientation de la caméra maître.
PCT/EP2005/053401 2004-07-17 2005-07-15 Commande d'une camera asservie Ceased WO2006032552A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP05820630A EP1769638A1 (fr) 2004-07-17 2005-07-15 Commande d'une camera asservie

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102004034663A DE102004034663A1 (de) 2004-07-17 2004-07-17 Folgekamerasteuerung
DE102004034663.1 2004-07-17

Publications (1)

Publication Number Publication Date
WO2006032552A1 true WO2006032552A1 (fr) 2006-03-30

Family

ID=35426113

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2005/053401 Ceased WO2006032552A1 (fr) 2004-07-17 2005-07-15 Commande d'une camera asservie

Country Status (4)

Country Link
EP (1) EP1769638A1 (fr)
CN (1) CN101023669A (fr)
DE (1) DE102004034663A1 (fr)
WO (1) WO2006032552A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102915043A (zh) * 2012-10-17 2013-02-06 天津市亚安科技股份有限公司 一种提高云台定位精度的方法
CN114928721A (zh) * 2022-05-20 2022-08-19 沈阳体育学院 足球拍摄镜头的切换方法、系统、计算机设备及存储介质

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8384780B1 (en) 2007-11-28 2013-02-26 Flir Systems, Inc. Infrared camera systems and methods for maritime applications
DE102009007639B4 (de) * 2009-02-05 2011-05-26 Kurt Wallerstorfer Vorrichtung zur Bildaufzeichnung eines Sportlers auf einer Rennstrecke
CA2833167C (fr) 2011-04-11 2017-11-07 Flir Systems, Inc. Systemes et procedes de detection par camera infrarouge
CN108776334A (zh) * 2018-05-03 2018-11-09 中国船舶重工集团公司第七�三研究所 一种新型机场跑道外来物辅助定位装置和定位方法

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1128676A2 (fr) * 2000-02-28 2001-08-29 Hitachi Kokusai Electric Inc. Méthode et système d'observation d'un objet pénétré

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4566036A (en) * 1983-06-07 1986-01-21 Canon Kabushiki Kaisha Remote control apparatus
US5164827A (en) * 1991-08-22 1992-11-17 Sensormatic Electronics Corporation Surveillance system with master camera control of slave cameras
FR2757002B1 (fr) * 1996-12-06 1999-01-22 David Antoine Systeme de suivi de mobiles en temps reel sur un terrain de sports
DE10261146A1 (de) * 2002-12-22 2004-07-01 Funkwerk Plettac Electronic Gmbh Steuerung eines Multikamera-Systems

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1128676A2 (fr) * 2000-02-28 2001-08-29 Hitachi Kokusai Electric Inc. Méthode et système d'observation d'un objet pénétré

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102915043A (zh) * 2012-10-17 2013-02-06 天津市亚安科技股份有限公司 一种提高云台定位精度的方法
CN102915043B (zh) * 2012-10-17 2015-02-11 天津市亚安科技股份有限公司 一种提高云台定位精度的方法
CN114928721A (zh) * 2022-05-20 2022-08-19 沈阳体育学院 足球拍摄镜头的切换方法、系统、计算机设备及存储介质

Also Published As

Publication number Publication date
EP1769638A1 (fr) 2007-04-04
CN101023669A (zh) 2007-08-22
DE102004034663A1 (de) 2006-02-09

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