Master-Slave Robotic Camera Systems for Concurrent Videos in Sporting Events

目前，现场体育赛事需要手动操作的几个摄像机视角。远程和自动协调多台摄像机的能力将允许对广播事件进行更多控制，提高摄像机视图的可靠性和响应能力，降低运营成本，并最终改善观众体验。该项目是卡尔顿大学高级生物机械电子学和运动实验室与Ross Video（一家为电视行业提供先进视听机器人系统的全球供应商）之间的合作项目。本项目的主要目标是设计和实现一个主从摄像机系统，其中每个具有3-DOF平移-倾斜-变焦驱动的从摄像机被控制以自动跟踪由主摄像机（由操作员控制）从不同的Vantage位置定义的感兴趣区域。该潜在产品有三个主要方面需要研究：1）在大型场馆中部署和校准多摄像机分布式驱动系统; 2）实时估计现场体育赛事的动态期望感兴趣区域; 3）自动控制网络系统中每个摄像机的运动平台和变焦。该项目首先详细评估体育赛事的要求，并提出自动摄像机校准和定位方法;开发场地，摄像机和运动平台的数学模型;开发跟踪算法和通过模拟验证的逆运动学;设计和实施房间规模的设置和工业级基础设施;最后执行验证实验。该项目将为罗斯视频公司带来新产品，从而带来经济效益，增加出口，创造高科技就业机会。

Currently, live sporting events require several camera perspectives that are manually operated. The ability tocoordinate many cameras remotely and automatically will allow for more control over events are broadcasted,improvement of the reliability and responsiveness of the camera views, reduce operational costs, and ultimatelyimprove viewer experience. This project is a collaborative project between Carleton University's AdvancedBiomechatronics and Locomotion Laboratory and Ross Video, a global provider of advanced audio-visual androbotic systems to TV industry. The main objective of the project is to design and implement a master-slavecamera system in which the slave cameras each with a 3-DOF pan-tilt-zoom actuation are controlled toautomatically track the region of interest defined by the master camera (controlled by the operator) fromdifferent vantage points. There are three main aspects of this potential product that requires research: 1)Deployment and calibration of a multi-camera distributed actuation systems in large venues 2) Estimation ofdynamic desired region(s) of interest for live sport events in real-time and 3) Automate the control of motionplatforms and zoom for every camera in a network system. The project starts off by detailed evaluation of therequirements for sporting events and proposing automated camera calibration and localization methodology;developing mathematical models of the venue, cameras, and motion platforms; development of the trackingalgorithm and inverse kinematics verified via simulations; design and implementation of a room-scale setupand industrial grade infrastructure; and finally execute validation experiments. This project will lead to a newproduct for Ross Video leading to economical benefits, increased export, and high-tech job creation.