Motivated by the theoretical interest in reconstructing long 3D trajectories of individual birds in large flocks, we developed CoMo, a co-moving camera system of two synchronized high speed cameras coupled with rotational stages, which allow us to dynamically follow the motion of a target flock. With the rotation of the cameras we overcome the limitations of standard static systems that restrict the duration of the collected data to the short interval of time in which targets are in the cameras common field of view, but at the same time we change in time the external parameters of the system, which have then to be calibrated frame-by-frame. We address the calibration of the external parameters measuring the position of the cameras and their three angles of yaw, pitch and roll in the system "home" configuration (rotational stage at an angle equal to 0deg and combining this static information with the time dependent rotation due to the stages. We evaluate the robustness and accuracy of the system by comparing reconstructed and measured 3D distances in what we call 3D tests, which show a relative error of the order of 1%. The novelty of the work presented in this paper is not only on the system itself, but also on the approach we use in the tests, which we show to be a very powerful tool in detecting and fixing calibration inaccuracies and that, for this reason, may be relevant for a broad audience.
翻译:我们开发了CoMO,这是一个由两个同步高速摄像头和两个同步高速摄像头以及旋转阶段组成的共同移动摄像系统,它使我们能动态地跟踪目标群的动作。随着摄像头的旋转,我们克服了标准静态系统的局限性,这些系统将所收集数据的期限限制在在摄像头共同观察领域,但与此同时,我们在时间上改变了系统外部参数,这些参数后来又经过了框架的校准。我们处理的是测量摄像头位置的外部参数的校准以及“家”配置的三个角度。随着摄像头的旋转,我们克服了标准静态系统的局限性,这些系统将收集的数据的时间限制在摄像头中的时间间隔以至目标在摄像头的共同视野中,但与此同时,我们通过比较我们称之为3D的测试对3D的距离进行校正和测量,这显示了1%的顺序的相对错误。我们所介绍的“家”配置、投影机和滚动三个角度的外部参数的校准。我们所展示的“家”配置系统的新颖性,这个工具本身不仅显示我们的精确度测试方法,而且还显示我们的精确度,因此,我们所展示了这个系统。