A panoramic canine video system for USAR operations

狗载式摄像机系统用于警务(一般事务和跟踪)和军事(巡逻、脱离领导工作、突袭、光环)行动的几个应用。商业上可用的犬类视频系统通常由安装在狗的背部或侧面并指向前方的单个摄像头组成；由此产生的视野只能捕捉到狗前面区域的有限视野。我们提出了一种安装在狗身上的视频系统，使用多个摄像头来生成360度的视野，允许虚拟的摇摄和倾斜。据我们所知，虽然狗安装的相机系统已经存在，但目前还没有一种系统将从多个相机收集的视野组合在一起，以形成狗周围的360度无缝视图。 提出了一种利用安装在犬具上的多个传感器的虚拟摇摄和倾斜360度视角系统的开发。该系统将允许操作员虚拟地平移和倾斜视角框架，从狗的角度显示狗的周围环境。该系统将提供在任何方向上平移和倾斜可视画面的能力，而与狗的身体方向和运动无关。 为了这个项目的目的，将设计一种带有集成刚性传感器框架的犬具，并开发用于分析和显示收集到的数据的软件。使用线束从多个传感器收集的数据将被后处理，形成无缝的360度视野；带有虚拟操纵杆的软件将允许用户在视频播放期间向任何方向平移和倾斜视框。未来，我们设想这项技术将被用于实时处理视频；与平视显示器(HUD)一起，这项技术将使观察者能够从狗的角度环顾四周。马克斯盖尔公司将协助设计和开发一种狗用犬具的原型。安全带将被设计成容纳多个摄像头传感器，并使用刚性框架固定在一起，同时不会限制狗的行动。

Dog-mounted video camera systems are used in several applications for policing (general service and tracking) and military (patrolling, off-lead work, raids, HALO) operations. Commercially available canine video systems typically consist of a single camera mounted on a dog's back or side and pointed forward; the resulting field of view only captures a limited view of the area in front of the dog. We propose a canine mounted video system using multiple cameras in order to generate a 360-degree field of view, allowing virtual pan and tilt. While dog mounted camera systems exist, to the best of our knowledge, a system combining the fields of view gathered from multiple cameras in order to form a seamless 360-degree view of the dog's surrounding is not currently available. The development of a virtual pan and tilt, 360-degree point of view system employing multiple sensors mounted on a canine harness is proposed. The system will allow an operator to virtually pan and tilt a frame of view showing the dog's surrounding environment from the dog's point of view. The system will provide the ability to pan and tilt the viewable frame in any direction, independently of the dog's body orientation and movement. For the purpose of this project, a canine harness with an integrated rigid sensor frame will be designed and software for the analysis and display of the collected data will be developed. Data gathered using the harness from multiple sensors will be post-processed to form a seamless 360-degree field of view; software with virtual joysticks will allow the user to pan and tilt the frame of view in any direction during video playback. In the future, we envision this technology being used to process video in real time; together with a Head Up Display (HUD), the technology will enable an observer to look around from the dog's point of view. MaxGear Inc. will assist in the design and development of a prototype dogonomic canine harness. The harness will be designed to house multiple camera sensors affixed together with a rigid frame, while not restricting the dog's movement.