WO2017014669A1 - Dispositif de réduction des erreurs de positionnement d'une caméra ptz - Google Patents

Dispositif de réduction des erreurs de positionnement d'une caméra ptz Download PDF

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Publication number
WO2017014669A1
WO2017014669A1 PCT/RU2015/000814 RU2015000814W WO2017014669A1 WO 2017014669 A1 WO2017014669 A1 WO 2017014669A1 RU 2015000814 W RU2015000814 W RU 2015000814W WO 2017014669 A1 WO2017014669 A1 WO 2017014669A1
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WO
WIPO (PCT)
Prior art keywords
camera
positioning
unit
tilt
pan
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/RU2015/000814
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English (en)
Russian (ru)
Inventor
Иван Сергеевич ШИШАЛОВ
Андрей Викторович ФИЛИМОНОВ
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.)
OBSHESTVO S OGRANICHENNOJ OTVETSTVENNOSTYU "DISIKON"
Original Assignee
OBSHESTVO S OGRANICHENNOJ OTVETSTVENNOSTYU "DISIKON"
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 OBSHESTVO S OGRANICHENNOJ OTVETSTVENNOSTYU "DISIKON" filed Critical OBSHESTVO S OGRANICHENNOJ OTVETSTVENNOSTYU "DISIKON"
Publication of WO2017014669A1 publication Critical patent/WO2017014669A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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 OR CALCULATING; 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 device 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. ESSENCE
  • 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 device for reducing positioning errors for a PTZ camera comprising a unit for determining intermediate positions of the camera, with the ability to record and store coordinates of intermediate positions of the camera, a unit for sequential rotation of the cited arbitr Bitcoin ⁇ -camera, a unit for obtaining the target position of the camera, a control unit, the control unit being connected to the unit for obtaining the target position camera, the output of which is connected to the input of the unit for determining intermediate positions of the camera, which is connected to the input of the control unit, the input of which is connected to the output of the unit ⁇ questieri rotation.
  • Figure 1 - shows a block diagram of a device
  • 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 resulting position also differs from the desired target direction of the camera view.
  • This technical solution proposes the introduction of at least one additional position through which the camera passes before reaching the target position, which allows to reduce the positioning error:
  • Pos D1 Pan D + Pan MErl ; Tilt D + Tilt MErl ) - the end (target) position when repositioning from an intermediate position.
  • Pos D2 (Pan D + Pan MEr2 ; Tilt D + Tilt MEr2 - end position when coming from an intermediate position. Because the ⁇ -camera is positioned at the final point from an intermediate point, the coordinates of which in the two described driving routes can differ by no more than a positioning error (from 0.05 to 0.5 degrees), the final error is Pan MEr ; Tilt MEr will be significantly smaller, and for cameras with a positioning accuracy of 0.05 degrees, it can already be about 0.01 degrees.
  • a device for implementing a technical solution includes a control unit 101.
  • the control unit 101 may be configured as a client, server, mobile device or any other computing device that interacts with data in a collaboration system.
  • the control unit 101 typically includes at least one processor and a data storage unit.
  • system memory can be volatile (e.g., random access memory (RAM)), non-volatile (e.g. read only memory (ROM)), or some combination thereof.
  • RAM random access memory
  • ROM read only memory
  • the data storage unit typically includes one or more application programs and may include program data.
  • control unit 101 obtains the target rotation position of the MHz arbitritati ⁇ -camera from the block receiving the target position of the camera 104;
  • the target position is understood as the camera position defined by the camera control program or the operator.
  • the target rotation position of the MHz oscillator is transmitted to the control unit 101 from the unit for obtaining the target position of the camera 104.
  • the essence of the technical solution does not depend on the method of obtaining the target position.
  • the control unit 101 sends a command to the intermediate position determination unit 102 to determine at least one intermediate position of the camera and its coordinates based on the target rotation position of the camera;
  • Intermediate positions and their coordinates are determined by the intermediate position determination unit 102 by testing the device, or based on ideas about the configuration of the camera rotary mechanism. During testing, global optimization algorithms can be used to obtain optimal parameters of intermediate points [6,7,8].
  • Intermediate positions can be defined through absolute coordinates or through relative coordinates.
  • the number of intermediate positions depends on the required speed and positioning accuracy. The higher the positioning speed is required, the less intermediate positioning points should be, and in some cases one intermediate positioning point may be sufficient. It is also obvious from general considerations that increasing the number of intermediate points beyond a certain limit will not increase the accuracy of positioning. Speed and positioning accuracy can be set in advance, depending on the specific application of the camera.
  • the definition of intermediate points build an automatic procedure for calculating the resulting positioning accuracy at a given speed and vice versa, the resulting positioning speed at the required accuracy.
  • testing to determine intermediate positions can occur as follows:
  • the control unit 101 sends a command to the unit to obtain the target position of the camera 104 to determine the target position of the camera at random.
  • control unit 101 sends the unit for sequential rotation of the MHz jointly waive ⁇ -camera 103 to a command to move to an arbitrary point, then immediately sends the command to return to the unit to obtain the target position of the camera 104 to the target position according to a certain positioning algorithm, measuring the accuracy and speed of positioning.
  • control unit 101 changes the positioning algorithm and again takes measurements of positioning accuracy.
  • various strategies for changing the positioning algorithm can be used, including the simplest ones.
  • the control unit 101 selects one intermediate position that differs from the target one 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 a minimum positioning error.
  • control unit 101 sends the command to the sequential rotation unit of the MRI oscillation unit 103 to successively rotate to the target position through the aforementioned intermediate positions.
  • control unit 101 After receiving the target position and calculating a set of intermediate positions, the control unit 101 sends the command to the successive rotation unit of the comparatively jointly waive ⁇ -camera 103 to successively rotate to the target position through 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.
  • the control unit 101 may have additional features or functionality.
  • the control unit 101 may also include additional data storage modules (removable and non-removable), such as, for example, magnetic disks, optical disks, or tape.
  • 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.
  • the control unit 101 is an example 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 control unit 101.
  • RAM random access memory
  • ROM read-only memory
  • EEPROM electrically erasable programmable read-only memory
  • flash memory or other memory technology
  • CD-ROM compact ROM a disc
  • DVDs universal digital disks
  • magnetic tapes magnetic tapes
  • magnetic tapes magnetic tapes
  • magnetic disk storage magnetic disk storage devices
  • the control unit 101 contains communication connections that allow the device to communicate with other computing devices.
  • 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 include wired media such as a wired network or a direct wired connection.
  • machine-readable medium includes both storage media and communication media.
  • the blocks used in the device can be implemented using electronic components used to create digital integrated circuits. Not limited to, microcircuits can be used, the logic of which is determined during manufacture, or programmable logic integrated circuits (FPGAs), the logic of which is set by programming.
  • FPGAs programmable logic integrated circuits
  • programmers and debugging environments are used that allow you to specify the desired structure of a digital device in the form of a circuit diagram or programs in special equipment description languages: Verilog, VHDL, AHDL, etc.
  • Alternative FPGAs are: programmable logic controllers (PLCs), base matrix crystals ( BMK) requiring a factory production process for programming; ASIC - specialized custom large integrated circuits (LSI), which are much more expensive in small-scale and single-unit production.
  • Blocks can also be implemented using read-only memory devices (see O. Lebedev. Memory microcircuits and their application. - M.: Radio and communications, 1990. - 160 s; Large integrated circuits of memory devices: Reference / A.Yu. Gordenov et al. - M.: Radio and Communications, 1990. - 288 s).
  • 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.
  • the following is an example of the implementation of a technical solution in which there is one intermediate point (Pan - 1 °, Tilt - 1 °).
  • the definition of the intermediate position (Pan - 1 °, Tilt - 1 °) is given in the absolute coordinates of the camera, but can also be determined in relative coordinates.
  • the relative position of the intermediate point will be (Pan - 1 - Figx, Tilt - 1 - Tisx) and will correspond to the offset by which the camera should be rotated to reach the intermediate position.
  • the coordinates of the target position relative to the intermediate position will be (1,1).
  • 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 result of this sequence of actions will be a reduction in positioning error at the target point, since the movement into it was carried out at a minimum speed.
  • the positioning time will increase insignificantly, since with a minimum speed the camera moved only a short interval of the positioning trajectory, namely, the path of one degree along the panoramic angle and tilt angle.
  • the direction of the reduced error will be the same, since the camera’s vector of movement at the moment of reaching the target position will be the same, which will allow translating the error into a systematic category, taking into account and thus completely leveling.
  • 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 minimal speed. As a result, they are positioned at the target position with minimal speed.
  • this device results in a further reduction in positioning error due to the fact that in the last two steps the movement is carried out only in one of the angles and there is no error associated with inaccurate synchronization of the positioning mechanism drives movement along each of the corners.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Signal Processing (AREA)
  • Studio Devices (AREA)

Abstract

L'invention se rapporte au domaine de la surveillance vidéo, et notamment de la surveillance vidéo utilisant des caméras rotatives (PTZ). Un dispositif pour réduire l'erreur de positionnement d'une caméra PTZ comprend une unité de détermination des positions intermédiaires de la caméra, avec possibilité d'enregistrement et de sauvegarde des coordonnées de positions intermédiaires de la caméra, une unité d'orientation séquentielle de la caméra PTZ, une unité d'obtention de position cible de la caméra, une unité de commande, cette dernière étant reliée à l'unité d'obtention de la position cible de la caméra dont la sortie est branchée à l'entrée de l'unité de détermination des positions intermédiaires de la caméra qui est branchée à l'entrée de l'unité de commande dont l'entrée est branchée à la sortie de l'unité d'orientation séquentielle de la caméra PTZ. Le résultat technique consiste en une réduction des erreurs de positionnement de la caméra et une amélioration de la répétitivité du positionnement.
PCT/RU2015/000814 2015-07-17 2015-11-23 Dispositif de réduction des erreurs de positionnement d'une caméra ptz Ceased WO2017014669A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
RU2015129265 2015-07-17
RU2015129265 2015-07-17

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Publication Number Publication Date
WO2017014669A1 true WO2017014669A1 (fr) 2017-01-26

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2199150C2 (ru) * 2001-02-02 2003-02-20 Курский государственный технический университет Устройство калибровки оптикоэлектронной системы
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

Patent Citations (6)

* 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
RU2199150C2 (ru) * 2001-02-02 2003-02-20 Курский государственный технический университет Устройство калибровки оптикоэлектронной системы
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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