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

(1)16 130万像素的摄像机通过千兆以太网连接，并建立了一个特殊的电子系统来同步16台摄像机。来自16个笔记本电脑的数据，每个笔记本电脑连接到一个摄像机，通过MPI发送到中央服务器PC。（2）预先标定各摄像机的内参数，并通过在图像中定位其在视场中的坐标已知的标记来标定摄像机的外参数。结果，可以进行高精度的3D重构。（3）下一步是将运动员和裁判员的像素与静态背景的那些像素分离。（4）将球员和裁判的像素发送到服务器PC，通过空间雕刻提取球员和裁判所占用的体素，然后将这些体素投影到鸟瞰图上，在鸟瞰图中，球员和裁判彼此分离。所有工作均以每秒30帧的速度完成。

(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.