APPARATUS AND METHOD FOR EXTRACTING MOVEMENT PATH OF MUTUAL GEOMETRIC RELATIONSHIP FIXED CAMERA GROUP

• US 20140334675A1
• Filed: 05/06/2014
• Published: 11/13/2014
• Est. Priority Date: 05/13/2013
• Status: Active Grant

• Current Assignee: Electronics and Telecommunications Research Institute
• Original Assignee: Electronics and Telecommunications Research Institute
• Inventors: CHU, Chang Woo, KIM, Jae Hean, PARK, Il Kyu, CHA, Young Mi, CHOI, Jin Sung, KOO, Bon Ki
• Granted Patent: US 9,619,892 B2
• Time in Patent Office: Days
• US Class Current: 382/103
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/30244 Camera pose
• CPC Class Codes: G06T 7/246 using feature-based methods, e.g. the tracking of corners or segments
• CPC Class Codes: G06T 7/292 Multi-camera tracking
• CPC Class Codes: G06T 7/73 using feature-based methods

Abstract

Provided is an apparatus and method for extracting a movement path, the movement path extracting apparatus including an image receiver to receive an image from a camera group in which a mutual positional relationship among cameras is fixed, a geographic coordinates receiver to receive geographic coordinates of a moving object on which the camera group is fixed, and a movement path extractor to extract a movement path of the camera group based on a direction and a position of a reference camera of the camera group using the image and the geographic coordinates.

Claims

1. An apparatus for extracting a movement path, the apparatus comprising:

an image receiver to receive an image from a camera group in which a mutual positional relationship among cameras is fixed;

a geographic coordinates receiver to receive geographic coordinates of a moving object on which the camera group is fixed; and

a movement path extractor to extract a movement path of the camera group based on a direction and a position of a reference camera of the camera group using the image and the geographic coordinates.

2. The apparatus of claim 1, wherein the camera group comprises:

a camera group in which projection origins of the cameras are identical; and

a camera group in which projection origins of the cameras are fixed at predetermined intervals.

3. The apparatus of claim 1, wherein the geographic coordinates receiver receives the geographic coordinates of the moving object in order to convert a position of the camera group to latitudinal and longitudinal coordinates.

4. The apparatus of claim 1, wherein the movement path extractor:

extracts feature points of images photographed by the reference camera from an image sequence of the images and matches the feature points of the images photographed by the reference camera, and

detects the direction and the position of the reference camera based on a result of the matching and extracts the movement path of the camera group.

5. The apparatus of claim 1, wherein the movement path extractor:

extracts feature points of images photographed by cameras remaining after excluding the reference camera from the camera group, and matches the feature points of the images photographed by the remaining cameras, and

detects directions and positions of the remaining cameras based on a result of the matching, and extracts the movement path of the camera group.

6. The apparatus of claim 5, wherein the movement path extractor removes a result of matching feature points improperly matched during a process of matching the feature points of the images photographed by the remaining cameras, using an outlier removal algorithm.

7. The apparatus of claim 5, wherein the movement path extractor extracts a movement path based on a matrix between neighboring image frames as time elapses using a movement path of the reference camera and a relative positional relationship between the remaining cameras and the reference camera.

8. The apparatus of claim 7, wherein the matrix employs one of a fundamental matrix and an essential matrix.

9. The apparatus of claim 4, wherein the movement path extractor extracts the movement path of the camera group by optimally performing a bundle adjustment with respect to a direction and a position of the camera group and three-dimensional (3D) geographic coordinates in which feature points of images photographed by the reference camera and the remaining cameras are compiled.

10. The apparatus of claim 4, wherein the movement path extractor converts, to an absolute path of the camera group, the geographic coordinates and a relative movement path of the camera group based on a corresponding relationship of the feature points of the images photographed by the reference camera and the remaining cameras.

11. A method of extracting a movement path, the method comprising:

receiving an image from a camera group in which a mutual positional relationship among cameras is fixed;

receiving geographic coordinates of a moving object on which the camera group is fixed; and

extracting a movement path of the camera group based on a direction and a position of a reference camera of the camera group using the image and the geographic coordinates.

12. The method of claim 11, wherein the camera group comprises:

a camera group in which projection origins of the cameras are identical; and

a camera group in which projection origins of the cameras are fixed at predetermined intervals.

13. The method of claim 11, wherein the receiving comprises receiving the geographic coordinates of the moving object in order to convert a position of the camera group to latitudinal and longitudinal coordinates.

14. The method of claim 11, wherein the extracting comprises:

extracting feature points of images photographed by the reference camera from an image sequence of the images and matching the feature points of the images photographed by the reference camera; and

detecting the direction and the position of the reference camera based on a result of the matching and extracting the movement path of the camera group.

15. The method of claim 11, wherein the extracting comprises:

extracting feature points of images photographed by cameras remaining after excluding the reference camera from the camera group, and matching the feature points of the images photographed by the remaining cameras, and

detecting directions and positions of the remaining cameras based on a result of the matching, and extracting the movement path of the camera group.

16. The method of claim 15, wherein the extracting comprises removing a result of matching feature points improperly matched during a process of matching the feature points of the images photographed by the remaining cameras, using an outlier removal algorithm.

17. The method of claim 15, wherein the extracting comprises extracting a movement path based on a matrix between neighboring image frames as time elapses using a movement path of the reference camera and a relative positional relationship between the remaining cameras and the reference camera.

18. The method of claim 17, wherein the matrix employs one of a fundamental matrix and an essential matrix.

19. The method of claim 14, wherein the extracting comprises extracting the movement path of the camera group by optimally performing a bundle adjustment with respect to a direction and a position of the camera group and three-dimensional (3D) geographic coordinates in which feature points of images photographed by the reference camera and the remaining cameras are compiled.

20. The method of claim 14, wherein the extracting comprises converting, to an absolute path of the camera group, the geographic coordinates and a relative movement path of the camera group based on a corresponding relationship of the feature points of the images photographed by the reference camera and the remaining cameras.