Research and Development of Realtime 3D Reconstruction of Field Ball Games for Training and Game Analysis

(1)通过千兆以太网连接了16台130万像素的摄像机，并建立了专门的电子系统来同步这16台摄像机。来自16个笔记PC的数据通过MPI发送到中央服务器PC，每个笔记PC连接到一个摄像头。(2)通过在图像中定位已知场中坐标的标记物，预先标定每个摄像机的内参和外参。结果，高精度的3D重建成为可能。(3)下一步是将运动员和裁判员的像素从静态背景中分离出来。(4)将运动员和裁判员的像素发送到服务器PC，通过空间雕刻提取运动员和裁判员占据的体素，然后将这些体素投影到鸟瞰图像上，运动员和裁判员相互分离，以每秒30帧的速度完成所有操作。

(1)16 Cameras of 1.3 mega pixels were connected by the Gigabit Ethernet and a special electronic system was built to synchronize the 16 cameras. Data from the 16 note PC, each connected to one camera,were sent to the central server PC by MPI. (2)The intrinsic parameters of each camera were calibrated in advance and the extrinsic camera parameters were calibrated by locating in the images the markers whose coordinates in the field are known. As a result, 3D reconstruction of high accuracy is made possible. (3)The next step is to separate the pixels of players and referees from those pixels of the static background. (4)The pixels of players and referees are sent to the server PC and the voxels occupied by players and referees are extracted by space carving.These voxels are then projected onto the bird view image,where the players and referees are separated from each other.All is done at 30 frames per second.