Method for the three-dimensional surveillance of the object space
First Claim
1. A method for the three-dimensional surveillance of an object space, comprising the steps of(a) arranging at least two image acquisition devices such as video cameras to register the said object space;
- (b) positioning said image acquisition devices at an angle with respect to each other to observe said object space;
(c) digitizing the images received by the image acquisition devices;
(d) locating object points on the image planes of the image acquisition devices;
(e) calculating the space coordinates of the object points in the three-dimensional object space on the basis of the image coordinates of these object points and present constants;
(f) arranging control points in this object space;
(g) measuring the object coordinates (Xk, Yk, Zk;
k=1, 2, 3. . . ) of said control points;
(h) locating said control points on the image planes of the image acquisition devices;
(i) determining the projection wise image coordinates (Xki, Yki;
Xkj, Ykj) of said control points on said images from the corresponding image acquisition devices whereafter said control points can be removed;
(j) calculating new orientation parameters (a11 . . . a33) of projective resection on the basis of the image coordinate and space coordinate values of the control points;
(k) observing object points on the image planes of the image acquisition devices;
(l) registering the projectionwise image coordinates (X1, Y1, X2 of said observed object points from the corresponding image acquisition device;
(m) solving the unknown object coordinates (X, Y, Z) of said observed object points in a real-time process by aid of said registered image coordinates (x, y) by making use of projective intersection and by employing the following transformation matrix;
space="preserve" listing-type="tabular">______________________________________ ##STR1## where X.sub.i, Y.sub.i, Z.sub.i = the object space coordinates, i.e. X.sub.j, Y.sub.j, Z.sub.j the coordinates of the object points in the XYZ coordinates of the object space;
X.sub.oi, Y.sub.oi, Z.sub.oi = the constants representing the projection point o.sub.i , o.sub.j of each image acquisition device i, j;
a.sub.11 . . . a.sub.33 = the projective orientation para- meters of the images;
x.sub.1, y.sub.1 = the constants of the image points x.sub.1, y.sub.1 on the image planes of each image acquisition device i, j;
i, j. = the image acquisition devices i and j. ______________________________________
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Accused Products
Abstract
In order to register the space, there are installed two video cameras at certain angles with respect to each other. In this object space there are arranged control points, the object coordinates (Xk, Yk, Zk ; k=1, 2, 3 . . . ) whereof are measured and the imagewise image coordinates (xki, yki ; xkj, ykj) are determined from the corresponding video cameras, whereafter the control points can be removed from the object space. On the basis of the image coordinate values and the object space coordinate values of the control points, there are calculated the orientation parameters (a11 . . . a33) of projective resection, whereafter the unknown object space coordinates (X, Y, Z) of the observed object points can be solved in a real-time process on the basis of the image coordinates (x, y) registered by the video cameras and by making use of projective intersection.
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Citations
7 Claims
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1. A method for the three-dimensional surveillance of an object space, comprising the steps of
(a) arranging at least two image acquisition devices such as video cameras to register the said object space; -
(b) positioning said image acquisition devices at an angle with respect to each other to observe said object space; (c) digitizing the images received by the image acquisition devices; (d) locating object points on the image planes of the image acquisition devices; (e) calculating the space coordinates of the object points in the three-dimensional object space on the basis of the image coordinates of these object points and present constants; (f) arranging control points in this object space; (g) measuring the object coordinates (Xk, Yk, Zk;
k=1, 2, 3. . . ) of said control points;(h) locating said control points on the image planes of the image acquisition devices; (i) determining the projection wise image coordinates (Xki, Yki;
Xkj, Ykj) of said control points on said images from the corresponding image acquisition devices whereafter said control points can be removed;(j) calculating new orientation parameters (a11 . . . a33) of projective resection on the basis of the image coordinate and space coordinate values of the control points; (k) observing object points on the image planes of the image acquisition devices; (l) registering the projectionwise image coordinates (X1, Y1, X2 of said observed object points from the corresponding image acquisition device; (m) solving the unknown object coordinates (X, Y, Z) of said observed object points in a real-time process by aid of said registered image coordinates (x, y) by making use of projective intersection and by employing the following transformation matrix;
space="preserve" listing-type="tabular">______________________________________ ##STR1## where X.sub.i, Y.sub.i, Z.sub.i = the object space coordinates, i.e. X.sub.j, Y.sub.j, Z.sub.j the coordinates of the object points in the XYZ coordinates of the object space;
X.sub.oi, Y.sub.oi, Z.sub.oi = the constants representing the projection point o.sub.i , o.sub.j of each image acquisition device i, j;
a.sub.11 . . . a.sub.33 = the projective orientation para- meters of the images;
x.sub.1, y.sub.1 = the constants of the image points x.sub.1, y.sub.1 on the image planes of each image acquisition device i, j;
i, j. = the image acquisition devices i and j. ______________________________________ - View Dependent Claims (2, 3, 4, 5, 6, 7)
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Specification