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1 uae onen Auho Inde IAP VOLUME IV PA 2 OMMIION II i an Aug.2-22 EM ALIBAION OF INELLIGEN PHOOGAMMEON Heping PAN 1 hunen HANG 2 1 Digial Inelligene eeah ene hool o emoe ening and Inomaion EngineeingWuhan Univei panhp@pobao.om 2 i an Iniue o iene and ehnolog i an zhangm151@ohu.om ommiion II I WG II/IV KE WOD: Phoogammeon Inelligen Phoogamme Video uveillane Head-Ee em Image equene aing Bundle Adjumen Kalman Fileing. ABA: Phoogammeon epeen a la o inelligen phoogammei em aiming a ealizing a numbe o newl deined unionaliie o inelligen phoogamme ha go beond he adiional phoogamme and he uenl dominan digial one inluding eal-ime phoogamme in video uveillane phoogamme-enabled obo inelligen muli-amea newo o loe-ange phoogamme. hi pape addee he geomei alibaion o Phoogammeon I - he i pe o Phoogammeon whih i deigned o be a oheen eeo phoogammei em in whih wo amea ae mouned on a phial bae bu diven b an inelligen agen ahieue. he em alibaion i divided ino wo pa: he in-lab alibaion deemine he ied paamee in advane o em opeaion and he in-iu alibaion eep aing he ee paamee in ealime duing em opeaion. In a video uveillane eup pepaed onol poin ae aed in eeo image equene o ha he ee paamee o he em an be oninuoul updaed hough ieaive bundle adjumen and Kalman ileing. wo mehod o alibaion ae diinguihed: he ong eeo mode whee a minimal e o paamee ae aed and he wea eeo model whee eah amea i alibaed independenl hough aing onol poin. 1. INODUION O PHOOGAMMEON In ode o bea hough he limiaion o he uen dominan digial phoogammei em Phoogammeon ha been popoed eenl [Pan 22] a a new la o inelligen phoogammei em. I i deigned o be an aive eeo viion em diven b an inelligen owae agen ahieue aiming a ealizing a numbe o newl deined unionaliie o inelligen phoogamme. ome main unionaliie ha go beond he adiional phoogamme and he uenl dominan digial one inlude eal-ime phoogamme in video uveillane phoogamme-enabled obo inelligen muli-amea newo o loe-ange phoogamme. Phoogammeon I a he i pe o Phoogammeon i deigned o be a oheen eeo phoogammei em in whih wo amea ae mouned on a phial bae imila o a head-ee em in obo viion bu he eeo amea baeline lengh i hangeable. hi pape addee he geomei alibaion o Phoogammeon I. In he ollowing diuion we hall impl ue he em Phoogammeon while we onl onine ou ope o Phoogammeon I. Fo he lai o he modelling and diuion we hooe o ud he video uveillane wih phoogammei unionaliie a he undeling appliaion. he alibaion o Phoogammeon i a moe ompliaed han ju alibaing he amea in adiional phoogamme beaue Phoogammeon poe a el-onained auomaiall onolled phial uue diven b an inelligen agen owae ahieue. Phiall Phoogammeon a hown in Fig.1 i made up o a phial uppo bae alled he houlde a pan-il uni alled he head mouned on he houlde a plae mouned on he head alled he eeo amea plae o eeo plae impl he le and igh amea wih hei pan-il uni on op o he eeo bae. Eah pan-il uni ha wo angula eedom: pan and il. In oal hee ae 9 eedom: pan and il angle o eah o he hee pan-il uni he baeline lengh beween wo amea he oal lengh o eah o he wo amea. Beide hee eedom hee ae ill a numbe o peied em paamee uh a he geome beween he head and he eeo bae and beween he eeo bae and eah o he amea pan-il uni a well a beween a amea pan-il uni and i uppoed amea. heeoe he whole paamee e o he em an be divided beween wo ube: he ee paamee and he ied paamee. he em alibaion o Phoogammeon i divided ino wo pa: he deeminaion o he ied paamee and o he ee paamee. he alibaion o he ied paamee an be done in a laboao in advane o he em opeaion whih hall be alled he in-lab alibaion. he alibaion o he ee paamee ha o be done in eal-ime duing em opeaion whih hall be alled he in-iu alibaion. ine vaiou pa o Phoogammeon uh a he head eeo plae he le pan-il uni and he le amea he igh pan-il uni and he igh amea ae uppoed o be alwa in moion in he video uveillane eup he ee paamee have o be oninuoul aed and updaed hough oninuou image aing in eeo image equene. he aual om o image aing ma be uniom opial low ompuaion o aing o pae eaue poin onl. 369

2 IAP VOLUME IV PA 2 OMMIION II i an Aug he eeo Plae z z W U O V hi i a plae o uppo he wo eeo amea. he eeo plae i ied on op o he head. On op o he eeo plae he le and igh amea pan-il uni ae mmeiall mouned. Fo implii we hall all he le/igh pan-il uni uppoing he le/igh amea he le/igh uni. ine he eeo plae i ied on op o he head i heeoe an il an UVW i aumed o he angle. A eeene em eeo plae. he oigin i aen o be he ape o he il O ai and wih a diane h U ai i hoizonal poining om ai ee o he deph om he em W ai i poining upwad. he UVW o O i deined angle and i i on he om he oigin. le o igh V owad he obje anomaion om he b + U V W 1 whee Figue 1. A geomei model o Phoogammeon I o in in 1 o 2 2. A GEOMEI MODEL OF PHOOGAMMEON A bai uue o Phoogammeon oni o 5 hadwae pa: he houlde he head he eeo plae he le amea and i pan-il uni and he igh amea wih i pan-il uni. We onide eah o hem a ollow. 2.1 he houlde 1 o in in o 3 and hi ee o he uppo o he em. I an be a ill ipode o a vehile wih wheel o obo wih leg. Fo he ime being we ju aume he houlde a ill elaive o he uveillane envionmen. Fo hi pa a Eulidean eeene em O i aumed whee he ai oepond o he veial line poining om he boom o he op hough he ene o he houlde. 2.2 he Head hi i a pan-il uni mouned on op o he houlde. elaive o he houlde he head an pan an angula eedom aound he O ai. I alo an il an angula eedom whih i ohogonal o he pan angle. h 2.4 he Le amea and I Pan-il Uni On op o he eeo plae he le and igh pan-il uni ae plaed along he U ai and he ae mmeiall plaed abou he ene - he W ai. Le denoe he pepeive ene o he le amea and he oal lengh. A eeene em z 4 z i aumed o he le amea ai i he pinipal ai o he amea poining hough he pepeive ene owad he ene. he image plane i 37

3 Heping PAN & hunen HANG on ba ide o. An image poin i poiioned wih oodinae. he pinipal poin i loaed a. Fo he le uni uppoing he le amea hee i a geomei ene he pan angle α and he il angle β. We mu be awae ha he pepeive ene and he uni ene do no oinide. And due o he diepan beween he wo ene he pepeive ene i a union o he pan and il angle α and β a well a he oal lengh whih ma be epeed geneall a α β 5 A imple om o hi union in he eeo plae eeene em U V W UVW i U V W + d a b + α β 6 whee a b d ae onan and ied one he amea i ied on he uni and α β ae wo wo-dimenional oaion maie and oα inα inα oα α 1 7 β 1 o β in β in β o β Noe ha he image oodinae em geneall ha a oaion abou he pinipal ai whih we denoe hee b γ. he anomaion om he image oodinae o he eeo plae eeene em i deined b 8 U U V V W W whee oγ in γ + γ α 1 in γ oγ 1 γ he igh amea and I Pan-il Uni imilal we have evehing o he igh amea and i panil uni. An elemen on he igh amea o pan-il uni i denoed b oeponding o i oune pa on he le amea o uni. heeoe o he igh amea we have he pepeive ene he eeene em z he oal lengh and he pinipal poin. Fo he igh pan-il uni we have he uni ene pan angle α and he ile angle β a well a he angle γ. he le and igh pan-il uni an anlae bu onl mmeiall le-igh abou he enal ai W along he U ai in aodane wih he equiemen on he eeo baeline lengh hange due o dieen phoogammei peiion equiemen. In geneal we equie he em o mainain U U V V W W 12 whee i a mbol denoing he diane om he le o igh uni ene o he ene o he eeo plae whih i abou he hal o he baeline lengh. Noe ha a pima dieene o Phoogammeon om geneal obo i ha he baeline lengh i hangeable and i onolled b he em. Alhough eah o he le and igh amea pan-il uni ha wo angula eedom we diinguih beween wo geneal em mode: ong eeo mode veu wea eeo mode. On he ong eeo mode wo pinipal ae z and z mu be mainained oplana and ha plane i alled he piniple epipola plane. he wo pinipal ae z and z om wo angle and epeivel wih he baeline. In he wea eeo mode we do no equie he wo pinipal ae be il oplana bu he le and igh amea hould mainain ovelapping view. We hall diu he alibaion o he wo mode epeivel. 3. IN-LAB ALIBAION OF FIED PAAMEE In he geomei model deibed above hee ae ied elaion a ollow: 371

4 IAP VOLUME IV PA 2 OMMIION II i an Aug he eeo plae i ied on op o he head o he diane paamee h i a onan; 2 he le and igh uni an onl anlae in one dimenion o he ohe wo diane paamee V W V W and ae onan; 3 he le amea i ied on op o he le uni o he a b d anlaion and aling a epeed in equaion 6 ae onan whih mediae he inluene o he pan and il angle o he uni o he pepeive ene. he e o onan paamee i heeoe deined a h V W V W a b d 13 he onan paamee h V W V W an be meaued hough pue mehanial poedue whih we hall no elaboae hee. he onan a b d ae deeminan o he pepeive ene o he amea elaive o he pan-il uni whih have o be deemined uing onol inomaion uh a onol poin in a laboao eup. Howeve he aual poedue o deemining hee onan an be he bundle adjumen uing he pepeive equaion whih i well eablihed in he phoogamme lieaue. In he ollowing diuion we aume hee 9 onan paamee ae nown a pealibaed in laboao beoe an aual appliaion o Phoogammeon. 4. IN-IU ALIBAION FO HE ONG EEO MODE In he ong eeo mode o he implii o he geome we eeze he il eedom o he le and igh amea uni o abolue zeo o he wo pinipal ae ae oplana wih he UV plane. he emaining pan angle o he le o igh epeivel a hown in uni i now denoed b and Fig.1 i.e. α π α β β 14 Wih he eeene em and geomei elemen deined above we an eablih he eeo imaging equaion. ae O a he global eeene em. A an ime an obje poin P i pojeed hough he wo amea ono he le and igh image poin p p on he le and igh image I I he oeponding image value ae I I. he pojeive equaion beween P and p an be epeed a whee λ i a ala. Wien in analial om we have + h U V W + λ γ 16 whee ha he om o α a deined in 7 wih α eplaed b and i a ommuing mai a deined in 9. imilal we an deive he pojeive equaion beween P and p o he igh amea a P OP O + + λ p 17 o in analial om a + h U V W 7 wih α eplaed b π. + λ whee λ i a ala and ha he om o Le 11 γ 18 α a deined in γ u v w P OP O + + λp

5 Heping PAN & hunen HANG 373 w v u 22 we have + W V U h 23 W V U h 24 Equaion 16 and 18 now an be ewien a + w v u λ 25 + w v u λ 26 Eliminaing he ala λ and λ om above equaion eul in he ollineai equaion and Fo eah obje poin we have 4 ollineai equaion a ime. Noe ha hee ae onl 7 ee paamee whih ae onolled b he em: τ whee τ mean he anpoe o veo. Appling equaion ino equaion 27-3 we obain he unional om o : ; F ; G ; F 34 ; G 35 Fo age aing we mu aume ha he obje poin ae alo moving and eve ee paamee i alo hanging wih ime o he ollineai equaion hould be wien a ; ; F 36 ; ; G 37 ; ; F 38 ; ; G 39 Howeve o em alibaion we aume a numbe o onol poin ei in he uveillane aea and he ae eihe manmade o eaed eaue poin bu he all ied ill. Fo

6 IAP VOLUME IV PA 2 OMMIION II i an Aug.2-22 eah uh onol poin we have 4 ollineai equaion being oninuou in ime : F ; ; G ; ; F ; ; G ; ; hee ae baiall wo appoahe o olving hee equaion o deemining he 7 ee paamee whih hemelve ma hange oninuoul in ime. he i appoah ue n > 2 onol poin o om 4n ollineai equaion o he om 4-43 and hen olve o he 7 ee paamee a an ime poin. he aual poedue i imila o he bundle adjumen in analial phoogamme [Wang 199] bu wih he paiula paamee e o. We hall no delve ino he deail o hi appoah a he bundle adjumen i well eablihed in phoogamme and hi paiula bundle adjumen an be developed in a imila wa. he eond appoah build on op o he i appoah bu alo ae ino aoun he oninui o he paamee vaiable and em dnami a welll a alo ae he em eading o hee paamee a obevaion o he paamee hemelve. he ae aniion equaion and he obevaion equaion o he Kalman ileing [Kalman 196] ae wien a Φ i a 7 veo an be inomplee daa. τ 7 noningula mai alled he ae aniion mai o he em; 7 mai alled he dnami noie mai; Γ i a m Ψ i a 7 7 mai alled he obevaion mai. Φ τ ha he ollowing popeie: Φ whee I i an ideni mai 49 1 I 1 2 Φ Φ 5 3 Φ Φ 1 Φ he obevaion equaion 45 inlude he lineaized veion o he ollineai equaion 4-43 a well a he addiional obevaion equaion o he em eading o he paamee. We hall no delve ino he deailed om o he ae aniion equaion 44 and he obevaion equaion 45. ˆ Le ~ ˆ ˆ denoe he eimae o a ime and denoe he eo o eimaion. Aume he eimae i a linea union o he obevaion z he linea lea quae eimaion i ahieved unde he ollowing ieion τ min [ ˆ ˆ ] [ ~ ~ τ E E ] 52 Φ Γ 1 w 1 z Ψ + v 1 44 o uing impliied noaion a Φ Γ 1w 1 z Ψ + v z z 2 z uppoe we have made obevaion 1 K o he 7-dimenional linea dnami em o 44 hough he l- dimenional linea obevaion em o 45 om ime 1 o ime. Aoding o hee obevaion daa we an eimae he em ae ˆ a ime and he aual eimaion poedue ha a paiula om o Kalman ileing ˆ ˆ ˆ Φ K z ΨΦ whee i he 7-dimenional paamee veo a deined b a ime alo alled he ae veo o he em; i he inege inde o ime and aiing < K < 1 < < + 1 < K < 48 K whee i alled he weigh mai o gain mai and i deined b he oeiien maie o he ae aniion equaion 44 and he obevaion equaion 45 a well a he { w }{ } ohai popeie o he noie v. We hall no K delve ino he deailed om o and uhe deail o he eimaion poedue due o he pae limiaion. w i m-dimenional dnami noie veo; dimenional obevaion veo l 7 + 4n z i l- whih inlude em eading o he ee paamee and image oodinae o viible onol poin; v i l- dimenional obevaion noie veo. Noe ha no eve ee paamee o eve onol poin i viible o he obevaion 5. IN-IU ALIBAION FO HE WEAK EEO MODE In he wea eeo mode eah o he le o igh pan-il uni α β α β ha wo angula eedom o o he igh amea and he pinipal ai o he le amea and he igh 374

7 Heping PAN & hunen HANG one ae no equied o be oplana. In hi mode he ee paamee veo oni o 9 ee paamee whih ma hange in ime: τ α β α β 54 hee ae wo appoahe o alibaion in uh a wea eeo mode: he i appoah i a join oluion o eimaing all he 9 paamee imulaneoul hough a paiula om o Kalman ileing a deibed in he peviou eion; he eond appoah i o eimae he abolue oienaion and ineio oienaion o eah amea independenl uing onol poin. ill in he eond appoah he oninui and dnami o he em ae paamee an be eploied hough a Kalman ileing mehanim. 6. ONLUION In hi pape a heo o geomei alibaion o inelligen Phoogammeon i popoed upon a geomei model o Phoogammeon. wo em opeaing mode ae diinguihed: he ong eeo mode veu he wea eeo mode. In he ong eeo mode he ee paamee veo i made up o 7 paamee while in he wea eeo mode eah o he le o igh pan-il uni ha i own pan and il angula eedom. A pue phoogammei oluion i a paiula bundle adjumen uing ied onol poin. Howeve he geneal oluion i a paiula Kalman ileing whih build on op o he bundle adjumen bu eend o eploiing he oninui and dnami o em moion. he heo popoed hee i quie geneal bu an aual implemenaion ha o ae ino aoun he aual phial uue and onol mehanim o he Phoogammeon em. hi wo wa ponoed b he Naional Naual iene Foundaion poje No eniled Inelligen Phoogammeon o hina. EFEENE Kalman.E A new appoah o linea ileing and pediion poblem. anaion o he AME Jounal o Bai Engineeing Mah 196pp Pan H.P. 22. onep and iniial deign o inelligen eeo Phoogammeon. Jounal o uveing and Mapping aeped o appea Beijing in hinee wih Englih aba. Wang Piniple o Phoogamme wih emoe ening. Publihing Houe o uveing and Mapping Beijing. 375

8 IAP VOLUME IV PA 2 OMMIION II i an Aug

Consider a Binary antipodal system which produces data of δ (t)

Consider a Binary antipodal system which produces data of δ (t) Modulaion Polem PSK: (inay Phae-hi keying) Conide a inay anipodal yem whih podue daa o δ ( o + δ ( o inay and epeively. Thi daa i paed o pule haping ile and he oupu o he pule haping ile i muliplied y o(