A three-axis, seven-variable, full-degree-of-freedom positioning and tracking method for cameras in space

Abstract

The invention discloses a three-axis, seven-variable full-degree-of-freedom positioning and tracking method of a camera in space, comprising the steps of: 1. Constructing a positioning and tracking environment for a physical camera to a virtual camera; 2. Establishing a tracking relationship between a physical camera and a virtual camera ; 3. Initialization of inertial navigation sensors; 4. Real-time collection of physical camera motion data; 5. Synchronous processing of physical camera motion data; 6. Calculation and data fusion of physical camera motion data; Variable full-degree-of-freedom parameter delay smoothing; 8. Multiple cycles of steps 4 to 7 to realize the real-time positioning and tracking of the physical camera to the virtual camera with three-axis and seven-variable full-degree-of-freedom. The physical camera of the present invention tracks and locates the virtual camera with high precision, high frequency response, high reliability, good stability, small time delay, no cumulative error, and no need to consider electromagnetic interference of electrical equipment on the shooting site, environmental infrared interference, and anti-interference ability powerful.

Description

technical field [0001] The invention belongs to the technical field of camera positioning and tracking, and in particular relates to a three-axis, seven-variable full-degree-of-freedom positioning and tracking method for a camera in space. Background technique [0002] The existing tracking and positioning technologies for camera spatial movement, rotation and lens zoom include image feature recognition (such as grid, circle, rectangle, triangle, star, two-dimensional code, etc.) tracking and positioning, infrared tracking and positioning, and grating rotation There are three ways of encoder mechanical tracking and positioning, and the most reliable grating rotary encoder mechanical tracking and positioning technology is the mainstream. Among them, the image feature recognition tracking and positioning technology is to capture the specially arranged characteristic patterns in the scene environment through the camera, and realize the tracking and positioning of the camera's s...

AI Technical Summary

Problems solved by technology

But the zoom tracking and positioning of the camera lens cannot be realized. Generally, in the infrared tracking and positioning system, a special infrared source must be installed on each camera position. At the same time, at least 32 infrared cameras must be installed in the shooting scene space, and 4 sets must be configured. Infrared image processing unit (each processing unit processes the image information of 8 infrared cameras), it is possible to obtain the spatial movement and rotation information of the camera, no doubt the installation and debugging of the system is troublesome; there will be a large number of lighting sources in the shooting scene, these The infrared light component of the light source will interfere with the imaging of the infrared camera, reducing the accuracy and reliability of tracking and positioning

[0004] The mechanical tracking and positioning method of the grating rotary encoder is to install a grating rotary encoder on a fixed tripod head or a mechanical rocker arm to obtain the pitch, pan, and lift and left and right swing of the head. Pose parameters, to realize the tracking and positioning of the panning, pitching, lifting and swinging of the physical camera installed on the tripod or the pan / tilt of the rocker arm, so the mechanical tracking and positioning method of the grating rotary encoder has at least the camera must be installed on the pan / tilt , once the camera leaves the gimbal, the tracking and positioning function does not exist, so the free shooting tracking and positioning of the camera on the shoulder cannot be realized; the camera can only swing in an arc according to the length of the rocker arm, and the space outside the arc is not There will be a movement track of the camera, so that the three-degree-of-freedom movement in space becomes a dead zone in the vast space other than the arc track, and the viewfinder range is greatly limited; since the camera is fixed on the pan / tilt, the roll motion of the camera cannot be realized. There is a lack of a rotational degree of freedom in the three-degree-of-freedom rotation in space; when the camera is tilted to view the view, the pitch-reversing backlash between the pan-tilt and the sensor is difficult to eliminate, resulting in tracking slippage; the configuration of tripod, pan-tilt, and rocker is added. acquisition cost and machining cost to assemble the sensor

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