Method for compensating hardware misalignments in a camera
First Claim
1. A method for compensating hardware misalignments in a camera comprising a maneuverable part and a fixed part, wherein said maneuverable part is controlled by a steering motor system and comprises a camera block, said method comprising:
- receiving mechanical coordinates from said steering motor system, wherein said mechanical coordinates correspond to a pan and tilt position, said pan and tilt position having a complementary pan and tilt position, wherein the complementary pan and tilt position is a position that is reached by the steering motor system rotating the maneuverable part 180 degrees around a pan axis and rotating the camera block an angle corresponding to −
2Tu−
180 degrees around a tilt axis, wherein Tu is in the range of 0 to −
90 degrees and Tu is the tilt coordinate of the mechanical coordinates;
reading pre-determined calibration data corresponding to said received mechanical coordinates from a memory comprised in said camera, wherein said pre-determined calibration data comprises a horizontal compensation component and a vertical compensation component, wherein said compensation components represent the difference between the mechanical coordinates of the pan and tilt position and the mechanical coordinates of an intermediate position, which is between the pan and tilt position and the complementary pan and tilt position; and
determining compensated coordinates based upon said received mechanical coordinates and said pre-determined calibration data.
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Abstract
A method for compensating hardware misalignments in a camera is presented. The camera includes a maneuverable part and a fixed part, and the maneuverable part is controlled by a steering motor system. In a first step of the method mechanical coordinates from the steering motor system is received, wherein the mechanical coordinates correspond to a pan and tilt position, the pan and tilt position having a complementary pan and tilt position. Next, pre-determined calibration data corresponding to the received mechanical coordinates is read from a memory wherein the pre-determined calibration data describes a relationship between a pan and tilt position and a complementary pan and tilt position, and then compensated coordinates are determined based upon the received mechanical coordinates and the pre-determined calibration data.
22 Citations
22 Claims
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1. A method for compensating hardware misalignments in a camera comprising a maneuverable part and a fixed part, wherein said maneuverable part is controlled by a steering motor system and comprises a camera block, said method comprising:
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receiving mechanical coordinates from said steering motor system, wherein said mechanical coordinates correspond to a pan and tilt position, said pan and tilt position having a complementary pan and tilt position, wherein the complementary pan and tilt position is a position that is reached by the steering motor system rotating the maneuverable part 180 degrees around a pan axis and rotating the camera block an angle corresponding to −
2Tu−
180 degrees around a tilt axis, wherein Tu is in the range of 0 to −
90 degrees and Tu is the tilt coordinate of the mechanical coordinates;reading pre-determined calibration data corresponding to said received mechanical coordinates from a memory comprised in said camera, wherein said pre-determined calibration data comprises a horizontal compensation component and a vertical compensation component, wherein said compensation components represent the difference between the mechanical coordinates of the pan and tilt position and the mechanical coordinates of an intermediate position, which is between the pan and tilt position and the complementary pan and tilt position; and determining compensated coordinates based upon said received mechanical coordinates and said pre-determined calibration data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A camera comprising:
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a maneuverable part comprising an optical system and a camera block, a fixed part, a steering motor system arranged to control said maneuverable part, a memory arranged to hold pre-determined calibration data, a processor configured to receive mechanical coordinates from said steering motor system, wherein said mechanical coordinates correspond to a pan and tilt position, said pan and tilt position having a complementary pan and tilt position, wherein the complementary pan and tilt position is a position that is reached by the steering motor system rotating the maneuverable part 180 degrees around a pan axis and rotating the camera block an angle corresponding to −
2Tu−
180 degrees around a tilt axis wherein Tu is in the range of 0 to −
90 degrees and Tu is the tilt coordinate of the mechanical coordinates, to read pre-determined calibration data from said memory, wherein said pre-determined calibration data comprises a horizontal compensation component and a vertical compensation component, said compensation components representing the difference between the mechanical coordinates of the pan and tilt position and the mechanical coordinates of an intermediate position, which is between the pan and tilt position and the complementary pand and tilt position, and to determine compensated coordinates based upon said mechanical coordinates and said pre-determined calibration data. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20, 21)
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22. A non-transitory computer-readable medium having instructions for causing a computer to execute a method comprising:
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receiving mechanical coordinates from a steering motor system, wherein said mechanical coordinates correspond to a pan and tilt position, said pan and tilt position having a complementary pan and tilt position, wherein the complementary pan and tilt position is a position that is reached by the steering motor system rotating the maneuverable part 180 degrees around a pan axis and rotating a camera block an angle corresponding to −
2Tu−
180 degrees around a tilt axis, wherein Tu is in the range of 0 to −
90 degrees and Tu is the tilt coordinate of the mechanical coordinates;reading pre-determined calibration data corresponding to said received mechanical coordinates from a memory, wherein said pre-determined calibration data comprises a horizontal compensation component and a vertical compensation component;
wherein said compensation components represent the difference between the mechanical coordinates of the pan and tilt position and the mechanical coordinates of an intermediate position, which is between the pan and tilt position and the complementary pan and tilt position; anddetermining compensated coordinates based upon said received mechanical coordinates and said pre-determined calibration data.
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Specification