AGES The detail of the CCD camera and the components of the where, these ground coordinates are opposite the 
video theodolite system are shown in table 1. Figure 2 telescope coordinate system in figure 5 and H, is 
shows the configuration of this system. measured counterclockwise. 
{uman motion 
field of sports training or 
juences, there are two 
stric camera orientation 
jnition of human feature 
dure with regard to the 
| been concentrating on 
system consisting of a 
ideo recorder where the 
e determined in real time 
he current values of the 
then continuously 
3s and thus recorded as 
and Murai, 1994). 
developed a motorized 
e 1) in association with 
developed based on 
ition), and main feature 
- cameras. The current 
tical and horizontal) and 
/ superimposed on the 
er one in figure 1 and is 
he target through the 
"one and is used as a 
  
lite (MET2NV) 
enna 1996 
Table 1. Video theodolite system 
  
    
     
   
     
    
     
    
  
  
  
  
  
  
  
  
  
  
  
  
Theodlite MET2NV (Sokkia, accuracy x 2^ ) 
CCD CCD 1 CCD 2 
Camera | ccpg.GCs (Sony, 510H x492V) | EVI-310 (Sony, 768H x494V) 
Lens 1-300mm 125.9 —47.2mm 
A/D FRM-512 (Photron,12.28Mhz) 
Convert er 
Video PVM-1454Q (Sony) 
Recorder 
Monitor HR-SC1000 (Victor) 
PC-9801BX(NEC) 
   
   
  
  
  
  
  
TV Monitor 
MET2NV 
  
Image Processing 
Board 
_ 
  
  
Figure 2. System configuration 
3. CAMERA CALIBRATION 
In order to confirm the relationship between the rotation 
parameters ( o , ¢ ) and the reading angles (zenith, 
horizontal) of the video theodolite, the following 
experiments were performed using a target field (Figure 
3). These targets were prepared to check the accuracy. 
Test field A means orientation image for camera 
calibration and B and C mean sequential image when 
video theodolite is rotated. 
Camera calibration was performed with 9 control points 
which were produced in the following steps in figure 4. 
When the telescope is pointing to P, point under the 
condition that the distance is D from the center of the 
video theodolite to P,, Horizontal angle H, and vertical 
angle V,, the image point to P, is taken as p, on the 
image. Next, when the video theodolite is rotated H angle, 
the image point to P, is taken as p,, and the object 
position to image point p, becomes P,. Similarly, when 
the video theodolite is rotated V angle, the image point to 
P,is taken as p,, the object to p, becomes P,. Repeating 
this operation, control points are taken on the image and 
are produced in the space respectively. Ground 
coordinates for these control points are calculated with 
the following equation, 
X z - D cosVg sin(H; - Ho) 
Ye D (cos V; sinVo - sinV; cos Vo cos(H; - Ho) (1) 
| 
/ 
Zz 0 [sinv, sinVg 4 cos V; cos Vg cos(Hi; - Ho)) 
   
  
Figure 3. Test field 
  
   
ot PE ua 
em 2 
  
   
      
     
   
   
en 
  
ee 
ed 
IIS 
  
  
  
  
SE 
NN 
Figure 5. Coordinate system 
X* Y* Z*; theodolite coord. system 
X,Y,Z ; telescope coord. system 
X,y,Z ; camera coord. system 
International Archives of Photogrammetry and Remote Sensing. Vol. XXXI, Part B5. Vienna 1996