Facsimile and static presentation processing – Facsimile – Specific signal processing circuitry
Patent
1988-10-07
1990-05-22
Shepperd, John W.
Facsimile and static presentation processing
Facsimile
Specific signal processing circuitry
358107, 364559, 364560, H04N 718
Patent
active
049281755
DESCRIPTION:
BRIEF SUMMARY
The present invention relates to a method for the three-dimensional surveillance of the object space, wherein there are arranged at least two image acquisition devices such as video cameras in order to observe the object space, and the images received by the said devices from the said space are digitized, the object points are located on the image planes of the image acquisition devices, and by means of the image coordinates of the said object points and the preset constants, the coordinates of the object points are determined within the three-dimensional object space.
The method of the present invention can be employed for supervising the object space in various conditions and possibly for controlling three-dimensionally the tasks carried out therein. As the three-dimensional variables describing the prevailing conditions, the system supervises various quantities describing the object space and the geometrical shapes of the elements contained therein, as well as their mutual positions and location in the object space and the physical properties of the separate elements of the object.
In the prior art there are known various methods for the three-dimensional supervision of the object space by aid of image acquisition devices, among others those introduced in the Brittish patent application GB 2 099 255 A and the German patent application DE-A 2 402 204.
In the method of the Brittish application, the location of a moving object in the object space is determined by means of at least two cameras. The location of the object is identified on the image plane of each camera, and by aid of these image coordinates of the object, the location of the object within the object space is then calculated. The calculation method is based on the equation of projection of the lens. The focal distance in the optics of both cameras is known. Preliminary to the procedure, there are determined the object space coordinates, in relation to which the angles of the main axis of the camera optics are defined, as well as the distances of the cameras with respect to the origin of the object space coordinates.
In the German application, the location of the object in the object space coordinates is determined by aid of three cameras which are located on the same plane at an angle of 90.degree. with respect to each other. The distances of the cameras from the origin of the object space coordinates are known. The location of the object on the image plane of each camera is expressed, and the deviation of the object, i.e. the angle with respect to the main axis of each camera (the axes of the object space coordinates) is defined. The space coordinates of the object are calculated according to certain geometrical equations, wherein the said angles and constants are substituted.
The major drawback in the methods and apparatuses introduced in the above mentioned applications is their inflexibility; they are installed for supervising a given space, whereafter they cannot be shifted. Particularly when several cameras are used for real three-dimensional measuring, the cameras are placed at certain angles (45.degree., 90.degree.) with respect to each other. This helps to avoid complex calculations when the coordinates are changed. The method and apparatus introduced in the Brittish application is related to the detection of the location of a given object; it is not related to observing changes within the object space. Particularly when the cameras are placed at an angle other than 90.degree. with respect to each other, the changes for errors in the location of the object are drastically increased; the angles of the main axes of the cameras in relation to the axis of the object space coordinates should be determined extremely accurately, as well as the distances of the cameras from the origin of the object space coordinates. This demand for precision in the installation and orientation of the cameras means that the accuracy achieved by the whole system remains relatively modest unless these tasks are carried out with painstaking care. Additional err
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Bierman Jordan B.
Parker Michael D.
Shepperd John W.
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