Chikatsu, Hirofumi
Sensor Part
Imaging Part
Recording Part Monitor Part
Ex Time Generator ÉL c
&
Com Synchronizer VTRI Stereo Image
aE! :
rk | M ES Stereo Image Time Data
VTR2
CCD2 Time Data
| v 3 VTR Monitor
E BN ««4—— Distance Data — Tracking
: Time Data
Laser Range Finder :
H.V. Angle Time Data
————————— 1 i».
Ex Tracking Image > HV Anglo
CCD3 ^ Tracking Image
H. V. Angle Data
| CCS | l- cod simu riy i PC Monitor
L | 7 | d Ono! Ina Motor Driver
Head & Body Part
Control Part (PC)
Figure 1. System configuration of HVT system
tilt body. Figurel shows the system configuration and
Figure 2 shows the appearance. The remarkable features
of this system are as follows:
^ Sensor part
+ Stereo image sequences are taken by the CCD 1 and 2
camera (Sony XC-711, 768H -493V)
+ Tracking is performed by the CCD3 camera (Sony XC-
75,768H +493V).
+ Object distance above datum is measured by the laser
range finder.
„Head and body Part
+ Pan and tilt rotation angles are controlled with 10
seconds.
+ Maximum rotation speed of pan and tilt are 43Iper
second.
+ Maximum base line is 5m.
+ Rotation range of the head part is 360.1.
+ Rotation range of the body part is 180(-9001-9001).
+ Rotation of the cameras is synchronous to the rotation
for the pan head and tilt body.
- Imaging part
+ 30 frame images per second are taken based on NTSC
format.
+ Synchronization for stereo image is performed.
+ Time for each image is generated at interval of 1/100
seconds.
- Recording part
+ Synchronized stereo image sequences and times are
continuously superimposed on image frames and thus
recorded on video recorder.
"Control part
+ Pan and tilt rotation angles are controlled.
+ Time, pan and tilt rotation angles are connected, and
thus recorded on PC.
+ Laser range finder is controlled.
Figure 2. Appearance of HVT
Figure 3. VTR monitor
International Archives of Photogrammetry and Remote Sensing. Vol. XXXIII, Part B5. Amsterdam 2000. 131
