U.S. patent application number 10/308230 was filed with the patent office on 2003-07-17 for navigable telepresence method and system utilizing an array of cameras.
Invention is credited to Sorokin, Scott, Weber, Andrew H., Worley, David C..
Application Number | 20030132951 10/308230 |
Document ID | / |
Family ID | 46149822 |
Filed Date | 2003-07-17 |
United States Patent
Application |
20030132951 |
Kind Code |
A1 |
Sorokin, Scott ; et
al. |
July 17, 2003 |
Navigable telepresence method and system utilizing an array of
cameras
Abstract
A telepresence system for providing users with displays of a
remote environment. In certain embodiments, the system includes a
plurality of arrays of cameras, with each arrays are situated at
varying lengths from the environment. Users navigate the arrays via
interface devices. The system interprets the user inputs and
selects camera outputs based thereon. Multiple users are able to
navigate simultaneously and independently through the environment.
In embodiments having overlapping camera views, the system
effectuates seamless motion along camera paths by processing the
camera outputs corresponding to the views.
Inventors: |
Sorokin, Scott; (New York,
NY) ; Worley, David C.; (Weston, CT) ; Weber,
Andrew H.; (New York, NY) |
Correspondence
Address: |
Ian G. DiBernardo
Stroock & Stroock & Lavan LLP
180 Maiden Lane
New York
NY
10038
US
|
Family ID: |
46149822 |
Appl. No.: |
10/308230 |
Filed: |
December 2, 2002 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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10308230 |
Dec 2, 2002 |
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09419274 |
Oct 15, 1999 |
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6522325 |
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09419274 |
Oct 15, 1999 |
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09283413 |
Apr 1, 1999 |
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6535226 |
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60080413 |
Apr 2, 1998 |
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Current U.S.
Class: |
715/700 ;
348/E13.014; 348/E13.015; 348/E13.016; 348/E13.025; 348/E13.071;
348/E13.073; 348/E5.03; 348/E7.086 |
Current CPC
Class: |
H04N 13/189 20180501;
H04N 5/2624 20130101; H04N 7/181 20130101; G03B 37/04 20130101;
H04N 13/243 20180501; G06F 3/011 20130101; H04N 7/185 20130101;
H04N 7/15 20130101; H04N 13/167 20180501; H04N 13/204 20180501;
H04N 13/239 20180501; G06F 3/04815 20130101; H04N 5/2627 20130101;
G06F 3/0354 20130101; H04N 5/2259 20130101; H04N 13/296 20180501;
H04N 5/265 20130101; H04N 7/142 20130101; H04N 13/194 20180501;
H04N 5/262 20130101; H04N 13/246 20180501; H04N 7/157 20130101 |
Class at
Publication: |
345/700 |
International
Class: |
G09G 005/00 |
Claims
1. A telepresence system for providing a first user with a first
display of an environment and a second user with a second display
of the environment, the system comprising: an array of cameras,
each camera having an associated view of the environment and an
associated camera output representing the associated view, the
array including at least one camera path and a first camera having
a first output and a second camera having a second output; a first
user interface device associated with the first user having first
user inputs associated with movement along a first path in the
array; a second user interface device associated with the second
user having second user inputs associated with movement along a
second path in the array; at least one processing element coupled
to the user interface devices for receiving user inputs, the
processing element configured to interpret received first inputs
and select outputs of cameras in the first path, interpret received
second inputs and select outputs of cameras in the second path
independently of the first inputs, thereby allowing the first user
and second user to navigate simultaneously and independently
through the array, and the processing element is configured to mix
the first and second outputs in accordance with the received first
user inputs by mosaicing the view associated with the first camera
with the view of the second camera.
2. The system of claim 1 wherein the system further includes a
memory storing additional source output, wherein the user inputs
include an indication of viewing the additional source output, and
the processing element is further configured to mix camera output
and the additional source output upon receiving the indication to
view the additional source output by mosaicing the camera output
and the additional source output.
3. The system of claim 2 wherein the additional source output
includes output from the group of outputs including: computer
graphic imagery, virtual world imagery, applets, film clips, and
animation.
4. A device for providing a user with a display of an environment
in response to user inputs, the system comprising: an array of
cameras, each camera having an associated view of the environment
and an associated camera output representing the associated view;
memory storing an additional source output; and at least one
processing element coupled to the memory for receiving the
additional source output, the processing element configured to
interptet user inputs and select, based on the user inputs, a
camera output to provide to the user, the additional source output
to provide to the user, or both a camera view and the additional
source output to provide to the user, and the processing element is
configured to mix the additional source output with camera output
by mosaicing from the camera output to the additional source
output.
5. A system for remote seamless viewing of an environment from an
array of cameras, each having an output representing an image of
the environment, the device comprising: an interface device having
inputs for selecting a path through at least a portion of the array
from which to view the environment, the path including a sequence
of cameras, each camera in the sequence having a different point
perspective and a field of view that overlaps that of an adjacent
cameras; and a display device for sequentially displaying the image
from each camera in the sequence by mosaicing the image of a
current camera in the sequence to the image of a next camera in the
sequence, thereby providing the user a seamless view of the
environment.
6. A method for seamless viewing of an environment, the method
comprising: receiving electronically a first image from an array of
cameras, the first image having a first field of view; receiving
electronically a second image from the array, the second image
having a second field of view that overlaps the first field of
view; receiving electronically a third image from the array, the
third image having a third field of view that overlaps the second
field of view; mosaicing the first image with the second image and
then mosaicing the second image with the third image; and
displaying the first, second, third and mosaic images in sequence
to obtaining a seamless view through the environment.
7. The method of claim 6 further including selecting an additional
source output to be displayed and mosaicing the additional source
output with the third image.
8. The method of claim 6 wherein the first, second and third images
correspond to first, second, and third cameras, respectively.
9. The method of claim 8 wherein the second camera is adjacent to
the first and third cameras.
10. A telepresence system for providing a first user with a first
display of an environment and a second user with a second display
of the environment, the system comprising: an array of cameras,
each camera having an associated view of the environment and an
associated camera output representing the associated view, the
array including at least one camera path and a first camera having
a first output and a second camera having a second output; a first
user interface device associated with the first user having first
user inputs associated with movement along a first path in the
array; a second user interface device associated with the second
user having second user inputs associated with movement along a
second path in the array; at least one processing element coupled
to the user interface devices for receiving user inputs, the
processing element configured to interpret received first inputs
and select outputs of cameras in the first path, interpret received
second inputs and select outputs of cameras in the second path
independently of the first inputs, thereby allowing the first user
and second user to navigate simultaneously and independently
through the array, and the processing element is configured to mix
the first and second outputs in accordance with the received first
user inputs by tweening the view associated with the first camera
with the view of the second camera.
11. The system of claim 10 wherein the system further includes a
memory storing additional source output, wherein the user inputs
include an indication of viewing the additional source output, and
the processing element is further configured to mix camera output
and the additional source output upon receiving the indication to
view the additional source output by tweening the camera output and
the additional source output.
12. The system of claim 11 wherein the additional source output
includes output from the group of outputs including: computer
graphic imagery, virtual world imagery, applets, film clips, and
animation.
13. A device for providing a user with a display of an environment
in response to user inputs, the system comprising: an array of
cameras, each camera having an associated view of the environment
and an associated camera output representing the associated view;
memory storing an additional source output; and at least one
processing element coupled to the memory for receiving the
additional source output, the processing element configured to
interpret user inputs and select, based on the user inputs, a
camera output to provide to the user, the additional source output
to provide to the user, or both a camera view and the additional
source output to provide to the user, and the processing element is
configured to mix the additional source output with camera output
by tweening from the camera output to the additional source
output.
14. A system for remote seamless viewing of an environment from an
array of cameras, each having an output representing an image of
the environment, the device comprising: an interface device having
inputs for selecting a path through at least a portion of the array
from which to view the environment, the path including a sequence
of cameras, each camera in the sequence having a different point
perspective and a field of view that overlaps that of an adjacent
cameras; and a display device for sequentially displaying the image
from each camera in the sequence by tweening the image of a current
camera in the sequence to the image of a next camera in the
sequence, thereby providing the user a seamless view of the
environment.
15. A method for seamless viewing of an environment, the method
comprising: receiving electronically a first image from an array of
cameras, the first image having a first field of view; receiving
electronically a second image from the array, the second image
having a second field of view that overlaps the first field of
view; receiving electronically a third image from the array, the
third image having a third field of view that overlaps the second
field of view; tweening the first image with the second image and
then mosaicing the second image with the third image; and
displaying the first, second, third and tweened images in sequence
to obtaining a seamless view through the environment.
16. The method of claim 15 further including selecting an
additional source output to be displayed and tweening the
additional source output with the third image.
17. The method of claim 15 wherein the first, second and third
images correspond to first, second, and third cameras,
respectively.
18. The method of claim 17 wherein the second camera is adjacent to
the first and third cameras.
19. A method of providing users with real time views of a remote
environment, the method comprising: receiving electronic images of
the environment from an array of cameras, the array including at
least one camera path through the environment; receiving a first
input -from a first-user interface device associated with a first
user, the first input indicating movement along a first path;
receiving a second input from a second user interface device
associated with a second user, the second input indicating movement
along a second path; obtaining a first mixed image by mosaicing or
tweening, with a first processing element, a first image with a
second image in accordance with the first input; obtaining a second
mixed image by mosaicing or tweening, with a second processing
element, a third image with a fourth image in accordance with the
second input; providing the first user with the first mixed image
in substantially real time, thereby simulating movement along the
first path; and providing the second user with the second mixed
image substantially in real time and simultaneous to providing the
first user with the first mixed image, thereby independently and
simulating movement along the second path.
20. The method of claim 19 wherein receiving the first input
includes receiving an indication of mosaicing or tweening an
additional source output, the method further including obtaining a
third mixed output by mosaicing or tweening the second image with
the additional source output.
21. The method of claim 19 further including obtaining a third
mixed image by mosaicing or tweening the second image with a fifth
image in accordance with the first input and providing the first
use the third mixed image.
22. A telepresence system for providing a first user with a first
display of an environment and a second user with a second display
of the environment, the system comprising: a plurality of removable
arrays of cameras, each camera having an associated view of the
environment and an associated camera output representing the
associated view; at least one storage device including a plurality
of storage nodes wherein the output of each camera is stored in an
associated storage node, the storage nodes are accessible to permit
at least one path for viewing the environment; a first user
interface device associated with the first user having first user
inputs associated with movement along a first path in the
environment; a second user interface device associated with the
second user having second user inputs associated with movement
along a second path in the environment; at least one processing
element coupled to the user interface devices for receiving user
inputs including moving up down, clockwise around an environment,
counter-clockwise around an environment, forward and backward
through the environment, the processing element configured to
interpret received first inputs and select outputs of the storage
nodes forming the first path, and interpret received second inputs
and select outputs of storage nodes forming the second path
independently of the first inputs, thereby allowing the first user
and second user to navigate simultaneously and independently
through the environment.
23. The telepresence system of claim 22 wherein the outputs of the
cameras are accessible by the processing element.
24. The telepresence system of claim 22 wherein each removable
array is situated at different lengths from the environment.
25. The telepresence system of claim 23 wherein each array is
removed after the cameras in the array have transmitted the output
to the associated storage node.
26. The telepresence system of claim 25 wherein each array is of
cylindrical shape and of a varying diameter.
27. A telepresence system for providing a first user with a first
display of an environment and a second user with a second display
of the environment, the system comprising: a plurality of removable
arrays of cameras, each camera having an associated view of the
environment and an associated camera output representing the
associated view, the arrays situated at varying lengths from the
environment and including at least one path for viewing the
environment, said arrays are removed after the cameras in the array
have transmitted the output to an associated storage node; at least
one storage device including a plurality of storage nodes wherein
the output of each camera is stored in an associated storage node,
the storage nodes are accessible to permit at least one path for
viewing the environment; a first user interface device associated
with the first user having first user inputs associated with
movement along a first path in the environment; a second user
interface device associated with the second user having second user
inputs associated with movement along a second path in the
environment; at least one processing element coupled to the user
interface devices for receiving user inputs including moving up
down, clockwise around an environment, counter-clockwise around an
environment, forward and backward through the environment, the
processing element configured to interpret received first inputs
and select outputs of the storage node forming the first path, and
interpret received second inputs and select outputs of the storage
node forming the second path independently of the first inputs,
thereby allowing the first user and second user to navigate
simultaneously and independently through the environment.
28. A method of providing users with views of a remote environment,
the method comprising: receiving electronic images of the
environment from a plurality of array of cameras; storing the image
of the environment in storage nodes associated with each camera,
the storage nodes are accessible to permit at least one path for
viewing the environment; removing the array of cameras after
storing the image in the associated storage node; receiving a first
input from a first user interface device associated with a first
user, the first input indicating movement along a first path;
receiving a second input from a second user interface device
associated with a second user, the second input indicating movement
along a second path; obtaining a first mixed image by mixing, with
a first processing element, a first image with a second image in
accordance with the first input; obtaining a second mixed image by
mixing, with a second processing element, a third image with a
fourth image in accordance with the second input; providing the
first user with the first mixed image thereby simulating movement
along the first path; and providing the second user with the second
mixed image thereby independently and simulating movement along the
second path.
29. The method of claim 28 wherein one array at a time is situated
around the environment.
30. The method of claim 29 wherein the storage nodes may be
accessed to permit a plurality of navigable paths and the first
path differs from the second path.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is a continuation of commonly assigned
pending U.S. patent application Ser. No. 09/283,413 filed on Apr.
1, 1999, entitled A Navigable Telepresence Method And System
Utilizing An Array of Cameras and claims priority under 35 U.S.C.
.sctn.120 to such application which claims the benefit of U.S.
Provisional Application Serial No. 60/080,413, filed on Apr. 2,
1998, both of which are herein incorporated by reference.
BACKGROUND OF THE INVENTION
[0002] 1. Field Of The Invention
[0003] The present invention relates to a telepresence system and,
more particularly, to a navigable camera array telepresence system
and method of using same.
[0004] 2. Description Of Related Art
[0005] In general, a need exists for the development of
telepresence systems suitable for use with static venues, such as
museums, and dynamic venues or events, such as a music concerts.
The viewing of such venues is limited by time, geographical
location, and the viewer capacity of the venue. For example,
potential visitors to a museum may be prevented from viewing an
exhibit due to the limited hours the museum is open. Similarly,
music concert producers must turn back fans due to the limited
seating of an arena. In short, limited access to venues reduces the
revenue generated.
[0006] In an attempt to increase the revenue stream from both
static and dynamic venues, such venues have been recorded for
broadcast or distribution. In some instances, dynamic venues are
also broadcast live. While such broadcasting increases access to
the venues, it involves considerable production effort. Typically,
recorded broadcasts must be cut and edited, as views from multiple
cameras are pieced together. These editorial and production efforts
are costly.
[0007] In some instances, the broadcast resulting from these
editorial and production efforts provides viewers with limited
enjoyment. Specifically, the broadcast is typically based on
filming the venue from a finite number of predetermined cameras.
Thus, the broadcast contains limited viewing angles and
perspectives of the venue. Moreover, the viewing angles and
perspectives presented in the broadcast are those selected by a
producer or director during the editorial and production process;
there is no viewer autonomy. Furthermore, although the broadcast is
often recorded for multiple viewings, the broadcast has limited
content life because each viewing is identical to the first.
Because each showing looks and sounds the same, viewers rarely come
back for multiple viewings.
[0008] A viewer fortunate enough to attend a venue in person will
encounter many of the same problems. For example, a museum-goer
must remain behind the barricades, viewing exhibits from limited
angles and perspectives. Similarly, concert-goers are often
restricted to a particular seat or section in an arena. Even if a
viewer were allowed free access to the entire arena to videotape
the venue, such a recording would also have limited content life
because each viewing would be the same as the first. Therefore, a
need exists for a telepresence system that preferably provides user
autonomy while resulting in recordings with enhanced content life
at a reduced production cost.
[0009] Apparently, attempts have been made to develop telepresence
systems to satisfy some of the foregoing needs. One telepresence
system is described in U.S. Pat. No. 5,708,469 for Multiple View
Telepresence Camera Systems Using A Wire Cage Which Surrounds A
Polarity Of Multiple Cameras And Identifies The Fields Of View,
issued Jan. 13, 1998. The system disclosed therein includes a
plurality of cameras, wherein each camera has a field of view that
is space-contiguous with and at a right angle to at least one other
camera. In other words, it is preferable that the camera fields of
view do not overlap each other. A user interface allows the user to
jump between views. In order for the user's view to move through
the venue or environment, a moving vehicle carries the cameras.
[0010] This system, however, has several drawbacks. For example, in
order for a viewer's perspective to move through the venue, the
moving vehicle must be actuated and controlled. In this regard,
operation of the system is complicated. Furthermore, because the
camera views are contiguous, typically at right angles, changing
camera views results in a discontinuous image.
[0011] Other attempts at providing a telepresence system have taken
the form of a 360 degree camera systems. One such system is
described in U.S. Pat. No. 5,745,305 for Panoramic Viewing
Apparatus, issued Apr. 28 1998. The system described therein
provides a 360 degree view of environment by arranging multiple
cameras around a pyramid shaped reflective element. Each camera,
all of which share a common virtual optical center, receives an
image from a different side of the reflective pyramid. Other types
of 360 degree camera systems employ a parabolic lens or a rotating
camera.
[0012] Such 360 degree camera systems also suffer from drawbacks.
In particular, such systems limit the user's view to 360 degrees
from a given point perspective. In other words, 360 degree camera
systems provide the user with a panoramic view from a single
location. Only if the camera system was mounted on a moving vehicle
could the user experience simulated movement through an
environment.
[0013] U.S. Pat. No. 5,187,571 for Television System For Displaying
Multiple Views of A Remote Location issued Feb. 16, 1993, describes
a camera system similar to the 360 degree camera systems described
above. The system described provides a user to select an arbitrary
and continuously variable section of an aggregate field of view.
Multiple cameras are aligned so that each camera's field of view
merges contiguously with those of adjacent cameras thereby creating
the aggregate field of view. The aggregate field of view may expand
to cover 360 degrees. In order to create the aggregate field of
view, the cameras' views must be contiguous. In order for the
camera views to be contiguous, the cameras have to share a common
point perspective, or vertex. Thus, like the previously described
360 degree camera systems, the system of U.S. Pat. No. 5,187,571
limits a user's view to a single point perspective, rather than
allowing a user to experience movement in perspective through an
environment.
[0014] Also, with regard to the system of U.S. Pat. No. 5,187,571,
in order to achieve the contiguity between camera views, a
relatively complex arrangement of mirrors is required.
Additionally, each camera seemingly must also be placed in the same
vertical plane.
[0015] Thus, a need still exists for an improved telepresence
system that provides the ability to better simulate a viewer's
actual presence in a venue, preferably in real time.
SUMMARY OF THE INVENTION
[0016] These and other needs are satisfied by the present
invention. A telepresence system according to one embodiment of the
present invention includes an array of cameras, each of which has
an associated view of an environment and an associated output
representing the view. The system also includes a first user
interface device having first user inputs associated with movement
along a first path in the array. The system further includes a
second user interface device having second user inputs associated
with movement along a second path in the array. A processing
element is coupled to the user interface devices. The processing
element receives and interprets the first inputs and selects
outputs of cameras in the first path. Similarly, the processing
element receives and interprets the second inputs and selects
outputs of cameras in the second path independently of the first
inputs. Thus, a first user and a second user are able to navigate
simultaneously and independently through the array. In another
embodiment, the system may also mix the output by mosaicing or
tweening the output images. In a further embodiment of the present
invention the telepresence system distinguishes between permissible
cameras in the array and impermissible cameras in the array. In yet
another embodiment of the present invention the telepresence system
allows a user to move forward or backward through the environment,
which provides the user the opportunity to move forward or backward
through the environment.
BRIEF DESCRIPTION OF THE DRAWINGS
[0017] FIG. 1 is an overall schematic of one embodiment of the
present invention.
[0018] FIG. 2a is a perspective view of a camera and a camera rail
section of the array according to one embodiment of the present
invention.
[0019] FIGS. 2b-2d are side plan views of a camera and a camera
rail according to one embodiment of the present invention.
[0020] FIG. 2e is a top plan view of a camera rail according to one
embodiment of the present invention.
[0021] FIG. 3 is a perspective view of a portion of the camera
array according to one embodiment of the present invention.
[0022] FIG. 4 is a perspective view of a portion of the camera
array according to an alternate embodiment of the present
invention.
[0023] FIG. 5 is a flowchart illustrating the general operation of
the user interface according to one embodiment of the present
invention.
[0024] FIG. 6 is a flowchart illustrating in detail a portion of
the operation shown in FIG. 5.
[0025] FIG. 7a is a perspective view of a portion of one embodiment
of the present invention illustrating the arrangement of the camera
array relative to objects being viewed.
[0026] FIGS. 7b-7g illustrate views from the perspectives of
selected cameras of the array in FIG. 7a.
[0027] FIG. 8 is a schematic view of an alternate embodiment of the
present invention.
[0028] FIG. 9 is a schematic view of a server according to one
embodiment of the present invention.
[0029] FIG. 10 is a schematic view of a server according to an
alternate embodiment of the present invention.
[0030] FIG. 11 is a top plan view of an alternate embodiment of the
present invention.
[0031] FIG. 12 is a flowchart illustrating in detail the image
capture portion of the operation of the embodiment shown in FIG.
11.
DESCRIPTION OF PREFERRED EMBODIMENTS
[0032] 1. General Description Of Preferred Embodiments
[0033] The present invention relates to a telepresence system that,
in a preferred embodiments, uses modular, interlocking arrays of
microcameras. The cameras are on rails, with each rail holding a
plurality of cameras. These cameras, each locked in a fixed
relation to every adjacent camera on the array and dispersed
dimensionally in a given environment, transmit image output to an
associated storage node, thereby enabling remote viewers to
navigate through such environment with the same moving light
reflections and shadows) that characterize an actual in-environment
transit.
[0034] In another preferred embodiment, the outputs of these
microcameras are linked by tiny (less than half the width of a
human hair) Vertical Cavity Surface Emitting Lasers (VCSELs) to
optical fibers, fed through area net hubs, buffered on server
arrays or server farms (either for recording or (instantaneous)
relay) and sent to viewers at remote terminals, interactive wall
screens, or mobile image appliances (like Virtual Retinal
Displays). Each remote viewer, through an intuitive graphical user
interface (GUI), can navigate effortlessly through the environment,
enabling seamless movement through the event.
[0035] This involves a multiplexed, electronic switching process
(invisible to the viewer) which moves the viewer's point
perspective from camera to camera. Rather than relying, per se, on
physically moving a microcamera through space, the system uses the
multiplicity of positioned microcameras to move the viewer's
perspective from microcamera node to adjacent microcamera node in a
way that provides the viewer with a sequential visual and
acoustical path throughout the extent of the array. This allows the
viewer to fluidly track or dolly through a 3-dimensional remote
environment, to move through an event and make autonomous real-time
decisions about where to move and when to linger.
[0036] Instead of investing the viewer with the capacity to
physically move a robotic camera, which would immediately limit the
number of viewers that could simultaneously control their own
course and navigate via storage nodes containing images of an
environment associated with a pre-existing array of cameras. The
user can move around the environment in any direction--clockwise or
counterclockwise, up, down, closer to or further away from the
environment, or some combination thereof. Moreover, image output
mixing, such as mosaicing and tweening, effectuates seamless motion
throughout the environment.
[0037] 2. Detailed Description Of Preferred Embodiments
[0038] Certain embodiments of the present invention will now be
described in greater detail with reference to the drawings. It is
understood that the operation and functionality of many of the
components of the embodiments described herein are known to one
skilled in the art and, as such, the present description does not
go into detail into such operative and functionality.
[0039] A telepresence system 100 according to the present invention
is shown in FIG. 1. The telepresence system 100 generally includes
an array 10 of cameras 14 coupled to a server 18, which in turn is
coupled to one or more users 22 each having a user
interfaced/display device 24. As will be understood to one skilled
it the art, the operation and functionality of the embodiment
described herein is provided, in part, by the server and user
interface/display device. While the operation of these components
is not described by way of particular code listings or logic
diagrams, it is to be understood that one skilled in the art will
be able to arrive at suitable implementations based on the
functional and operational details provided herein. Furthermore,
the scope of the present invention is not to be construed as
limited to any particular code or logic implementation.
[0040] In the present embodiment, the camera array 10 is
conceptualized as being in an X, Z coordinate system. This allows
each camera to have an associated, unique node address comprising
an X, and Z coordinate (X, Z). In the present embodiment, for
example, a coordinate value corresponding to an axis of a
particular camera represents the number of camera positions along
that axis the particular camera is displaced from a reference
camera. In the present embodiment, from the user's perspective the
X axis runs left and right, and the Z axis runs down and up. Each
camera 14 is identified by its X, Z coordinate. It is to be
understood, however, that other methods of identifying cameras 14
can be used. For example, other coordinate systems, such as those
noting angular displacement from a fixed reference point as well as
coordinate systems that indicate relative displacement from the
current camera node may be used. In another alternate embodiment,
the array is three dimensional, located in an X, Y, Z coordinate
system.
[0041] The array 10 comprises a plurality of rails 12, each rail 12
including a series of cameras 14. In the present preferred
embodiment, the cameras 14 are microcameras. The output from the
microcameras 14 are coupled to the server 18 by means of local area
hubs 16. The local area hubs 16 gather the outputs and, when
necessary, amplify the outputs for transmission to the server 18.
In an alternate embodiment, the local area hubs 16 multiplex the
outputs for transmission to the server 18. Although the figure
depicts the communication links 15 between the cameras 14 and the
server 18 as being hardwired, it is to be understood that wireless
links may be employed. Thus, it is within the scope of the present
invention for the communication links 15 to take the form of fiber
optics, cable, satellite, microwave transmission, internet, and the
like.
[0042] Also coupled to the server 18 is an electronic storage
device 20. The server 18 transfers the outputs to the electronic
storage device 20. The electronic (mass) storage device 20, in
turn, transfers each camera's output onto a storage medium or
means, such as CD-ROM, DVD, tape, platter, disk array, or the like.
The output of each camera 14 is stored in a particular location on
the storage medium associated with that camera 14 or is stored with
an indication to which camera 14 each stored output corresponds.
For example, the output of each camera 14 is stored in contiguous
locations on a separate disk, tape, CD-ROM, or platter. As is known
in the art, the camera output may be stored in a compressed format,
such as JPEG, MPEG1, MPEG2, and the like. Having stored each output
allows a user to later view the environment over and over again,
each time moving through the array 10 in a new path, as described
below. In some embodiments of the present invention, such as those
providing only real-time viewing, no storage device is
required.
[0043] As will be described in detail below, the server 18 receives
output from the cameras 14 in the array. The server 18 processes
these outputs for either storage in the electronic storage device
20, transmission to the users 22 or both.
[0044] It is to be understood that although the server 18 is
configured to provide the functionality of the system 100 in the
present embodiment, it is to be understood that other processing
elements may provide the functionality of the system 100. For
example, in alternate embodiments, the user interface device is a
personal computer programmed to interpret the user input and
transmit an indication of the desired current node address, buffer
outputs from the array, and provide other of the described
functions.
[0045] As shown, the system 100 can accommodate (but does not
require) multiple users 22. Each user 22 has associated therewith a
user interface device including a user display device (collectively
24). For example, user 22-1 has an associated user interface device
and a user display device in the form of a computer 24-1 having a
monitor and a keyboard. User 22-2 has associated therewith an
interactive wall screen 24-2 which serves as a user interface
device and a user display device. The user interface device and the
user display device of user 22-3 includes a mobile audio and image
appliance 24-3. A digital interactive TV 24-4 is the user interface
device and user display device of user 22-4. Similarly, user 22-5
has a voice recognition unit and monitor 24-5 as the user interface
and display devices. It is to be understood that the foregoing user
interface devices and user display devices are merely exemplary;
for example, other interface devices include a mouse, touch screen,
biofeedback devices, as well as those identified in U.S.
Provisional Patent Application Serial No. 60/080,413 and the
like.
[0046] As described in detail below, each user interface device 24
has associated therewith user inputs. These user inputs allow each
user 22 to move or navigate independently through the array 10. In
other words, each user 22 enters inputs to generally select which
camera outputs are transferred to the user display device.
Preferably, each user display device includes a graphical
representation of the array 10. The graphical representation
includes an indication of which camera in the array the output of
which is being viewed. The user inputs allow each user to not only
select particular cameras, but also to select relative movement or
navigational paths through the array 10.
[0047] As shown in FIG. 1, each user 22 may be coupled to the
server 18 by an independent communication link. Furthermore, each
communication link may employ different technology. For example, in
alternate embodiments, the communication links include an internet
link, a microwave signal link, a satellite link, a cable link, a
fiber optic link, a wireless link, and the like.
[0048] It is to be understood that the array 10 provides several
advantages. For example, because the array 10 employs a series of
cameras 14, no individual camera, or the entire array 10 for that
matter, need be moved in order to obtain a seamless view of the
environment. Instead, the user navigates through the array 10,
which is strategically placed through and around the physical
environment to be viewed. Furthermore, because the cameras 14 of
the array 10 are physically located at different points in the
environment to be viewed, a user is able to view changes in
perspective, a feature unavailable to a single camera that merely
changes focal length.
[0049] Microcameras
[0050] Each camera 14 is preferably a microcamera. The
microcameras--microlenses mounted on thumbnail-sized CMOS active
pixel sensor (APS) microchips--are arranged in patterns that enable
viewers to move radically, in straight lines, or in fluid
combinations thereof. The cameras are produced in a mainstream
manufacturing process, by several companies, including Photobit,
Pasadena, Calif.; Sarnoff Corporation, Princeton, N.J.; and VLSI
Vision, Ltd., Edinburgh, Scotland.
[0051] Structure of the Array
[0052] The structure of the array 10 will now be described in
greater detail with reference to FIGS. 2a-2e. In general, the
camera array 10 of the present embodiment comprises a series of
modular rails 12 carrying microcameras 14. The structure of the
rails 12 and cameras 14 will now be discussed in greater detail
with reference to FIGS. 2a through 2d. Each camera 14 includes
registration pins 34. In the preferred embodiment, the cameras 14
utilize VCSELs to transfer their outputs to the rail 12. It is to
be understood that the present invention is not limited to any
particular type of camera 14, however, or even to an array 10
consisting of only one type of camera 14.
[0053] Each rail 12 includes two sides, 12a, 12b, at least one of
which 12b is hingeably connected to the base 12c of the rail 12.
The base 12c includes docking ports 36 for receiving the
registration pins 34 of the camera 14. When the camera 14 is seated
on a rail 12 such that the registration pins 34 are fully engaged
in the docking ports 36, the hinged side 12b of the rail 12 is
moved against the base 32 of the camera 14, thereby securing the
camera 14 to the rail 12.
[0054] Each rail 12 further includes a first end 38 and a second
end 44. The first end 38 includes, in the present embodiment, two
locking pins 40 and a protected transmission relay port 42 for
transmitting the camera outputs. The second end 44 includes two
guide holes 46 for receiving the locking pins 40, and a
transmission receiving port 48. Thus, the first end 38 of one rail
12 is engagable with a second end 44 of another rail 12. Therefore,
each rail 12 is modular and can be functionally connected to
another rail to create the array 10.
[0055] Once the camera 14 is securely seated to the rail 12, the
camera 14 is positioned such that the camera output may be
transmitted via the VCSEL to the rail 12. Each rail 12 includes
communication paths for transmitting the output from each camera
14.
[0056] Although the array 10 is shown having a particular
configuration, it is to be understood that virtually any
configuration of rails 12 and cameras 14 is within the scope of the
present invention. For example, the array 10 may be a linear array
of cameras 14, a 2-dimensional array of cameras 14, a 3-dimensional
array of cameras 14, or any combination thereof. Furthermore, the
array 10 need not be comprised solely of linear segments, but
rather may include curvilinear sections.
[0057] The array 10 is supported by any of a number of support
means. For example, the array 10 can be fixedly mounted to a wall
or ceiling; the array 10 can be secured to a moveable frame that
can be wheeled into position in the environment or supported from
cables.
[0058] FIG. 3 illustrates an example of a portion of the array 10.
As shown, the array 10 comprises five rows of rails 12a, through
12e. Each of these rails 12a-12e is directed towards a central
plane, which substantially passes through the center row 12c.
Consequently, for any object placed in the same plane as the middle
row 12c, a user would be able to view the object essentially from
the bottom, front, and top.
[0059] As noted above, the rails 12 of the array 10 need not have
the same geometry. For example, some of the rails 12 may be
straight while others may be curved. For example, FIG. 4
illustrates the camera alignment that results from utilizing curved
rails. It should be noted that rails in FIG. 4 have been made
transparent so that the arrangement of cameras 14 may be easily
seen.
[0060] In an alternate embodiment, each rail is configured in a
step-like fashion or an arc with each camera above (or below) and
in front of a previous camera. In such an arrangement, the user has
the option of moving forward through the environment.
[0061] It is to be understood that the spacing of the microcameras
14 depends on the particular application, including the objects
being viewed, the focal length of the microcameras 14, and the
speed of movement through the array 10. In one embodiment the
distance between microcameras 14 can be approximated by analogy to
a conventional movie reel recording projector. In general, the
speed of movement of a projector through an environment divided by
the frames per unit of time second results in a frame-distance
ratio.
[0062] For example, as shown by the following equations, in some
applications a frame is taken ever inch. A conventional movie
projector records twenty-four frames per second. When such a
projector is moved through an environment at two feet per second, a
frame is taken approximately every inch. 1 2 ft sec 24 frames sec =
2 ft 24 frames = 1 ft 12 frames = 12 inches 12 frames = 1 inch 1
frame = 1 frame per inch .
[0063] A frame of the projector is analogous to a camera 14 in the
present invention. Thus, where one frame per inch results in a
movie having a seamless view of the environment, so too does one
camera 14 per inch. Thus, in one embodiment of the present
invention the cameras 14 are spaced approximately one inch apart,
thereby resulting in a seamless view of the environment.
[0064] Navigation Through the System
[0065] The general operation of the present embodiment will now be
described with reference to FIG. 5 and continuing reference to FIG.
1. As shown in step 110, the user is presented with a predetermined
starting view of the environment corresponding to a starting
camera. It is to be understood that the operation of the system is
controlled, in part, by software residing in the server. As noted
above, the system associates each camera in the array with a
coordinate. Thus, the system is able to note the coordinates of the
starting camera node. The camera output and, thus the corresponding
view, changes only upon receiving a user input.
[0066] When the user determines that they want to move or navigate
through the array, the user enters a user input through the user
interface device 24. As described below, the user inputs of the
present embodiment generally include moving to the right, to the
left, up, or down in the array. Additionally, a user may jump to a
particular camera in the array. In alternate embodiments, a subset
of these or other inputs, such as forward, backward, diagonal,
over, and under, are used. The user interface device, in turn,
transmits the user input to the server in step 120.
[0067] Next, the server receives the user input in step 130 and
proceeds to decode the input. In the present embodiment, decoding
the input generally involves determining whether the user wishes to
move to the right, to the left, up, or down in the array.
[0068] On the other hand, if the received user input does not
correspond to backward, then The server 18 proceeds to determine
whether the input corresponds to moving to the user's right in the
array 10. This determination is shown in step 140. If the received
user input does correspond to moving to the right, the current node
address is incremented along the X axis in step 150 to obtain an
updated address.
[0069] If the received user input does not correspond to moving to
the right in the array, the server 18 then determines whether the
input corresponds to moving to the user's left in the array 10 in
step 160. Upon determining that the input does correspond to moving
to the left, the server 18 then decrements the current node address
along the X axis to arrive at the updated address. This is shown in
step 170.
[0070] If the received user input does not correspond to either
moving to the right or to the left, the server 18 then determines
whether the input corresponds to moving up in the array. This
determination is made in step 180. If the user input corresponds to
moving up, in step 190, the server 18 increments the current node
address along the Z axis, thereby obtaining an updated address.
[0071] Next, the server 18 determines whether the received user
input corresponds to moving down in the array 10. This
determination is made in step 200. If the input does correspond to
moving down in the array 10, in step 210 the server 18 decrements
the current node address along the Z axis.
[0072] Lastly, in step 220 the server 18 determines whether the
received user input corresponds to jumping or changing the view to
a particular camera 14. As indicated in FIG. 5, if the input
corresponds to jumping to a particular camera 14, the server 18
changes the current node address to reflect the desired camera
position. Updating the node address is shown as step 230. In an
alternate embodiment, the input corresponds to jumping to a
particular position in the array 10, not identified by the user as
being a particular camera but by some reference to the venue, such
as stage right.
[0073] It is to be understood that the server 18 may decode the
received user inputs in any of a number of ways, including in any
order. For example, in an alternate embodiment the server 18 first
determines whether the user input corresponds to up or down. In
another alternate, preferred embodiment, user navigation includes
moving forward, backward, to the left and right, and up and down
through a three dimensional array.
[0074] If the received user input does not correspond to any of the
recognized inputs, namely to the right, to the left, up, down, or
jumping to a particular position in the array 10 then in step 240,
the server 18 causes a message signal to be transmitted to the user
display device 24, causing a message to be displayed to the user 22
that the received input was not understood. Operation of the system
100 then continues with step 120, and the server 18 awaits receipt
of the next user input.
[0075] After adjusting the current node address, either by
incrementing or decrementing the node address along an axis or by
jumping to a particular node address, the server 18 proceeds in
step 250 to adjust the user's view. Once the view is adjusted,
operation of the system 100 continues again with step 120 as the
server 18 awaits receipt of the next user input.
[0076] In an alternate embodiment, the server 18 continues to
update the node address and adjust the view based on the received
user input. For example, if the user input corresponded to "moving
to the right", then operation of the system 100 would continuously
loop through steps 140, 150, and 250, checking for a different
input. When the different input is received, the server 18
continuously updates the view accordingly.
[0077] It is to be understood that the foregoing user inputs,
namely, to the right, to the left, up, and down, are merely general
descriptions of movement through the array. Although the present
invention is not so limited, in the present preferred embodiment,
movement in each of these general directions is further defined
based upon the user input.
[0078] Accordingly, FIG. 6 is a more detailed diagram of the
operation of the system according to steps 140, 150, and 250 of
FIG. 5. Moreover, it is to be understood that while FIG. 6
describes more detailed movement one direction i.e., to the right,
the same detailed movement can be applied in any other direction.
As illustrated, the determination of whether the user input
corresponds to moving to the right actually involves several
determinations. As described in detail below, these determinations
include moving to the right through the array 10 at different
speeds, moving to the right into a composited additional source
output at different speeds, and having the user input overridden by
the system 100.
[0079] The present invention allows a user 22 to navigate through
the array 10 at the different speeds. Depending on the speed (i.e.
number of camera nodes transversed per unit of time) indicated by
the user's input, such as movement of a pointing device (or other
interface device), the server 18 will apply an algorithm that
controls the transition between camera outputs either at critical
speed (n nodes/per unit of time), under critical speed (n-1
nodes/per unit of time), or over critical speed (n+1 nodes/per unit
of time).
[0080] It is to be understood that speed of movement through the
array 10 can alternatively be expressed as the time to switch from
one camera 14 to another camera 14.
[0081] Specifically, as shown in step 140a, the server 18 makes the
determination whether the user input corresponds to moving to the
right at a critical speed. The critical speed is preferably a
predetermined speed of movement through the array 10 set by the
system operator or designer depending on the anticipated
environment being viewed. Further, the critical speed depends upon
various other factors, such as focal length, distance between
cameras, distance between the cameras and the viewed object, and
the like. The speed of movement through the array 10 is controlled
by the number of cameras 14 traversed in a given time period. Thus,
the movement through the array 10 at critical speed corresponds to
traversing some number, "n", camera nodes per millisecond, or
taking some amount of time, "s", to switch from one camera 14 to
another. It is to be understood that in the same embodiment the
critical speed of moving through the array 10 in one dimension need
not equal the critical speed of moving through the array in another
dimension. Consequently, the server 18 increments the current node
address along the X axis at n nodes per millisecond.
[0082] In the present preferred embodiment the user traverses
twenty-four cameras 14 per second. As discussed above, a movie
projector records twenty-four frames per second. Analogizing
between the movie projector and the present invention, at critical
the user traverses (and the server 18 switches between)
approximately twenty-four cameras 14 per second, or a camera 14
approximately every 0.04167 seconds.
[0083] As shown in FIG. 6, the user 22 may advance not only at
critical speed, but also at over the critical speed, as shown in
step 140b, or at under the critical speed, as shown in step 140c.
Where the user input "I" indicates movement through the array 10 at
over the critical speed, the server 18 increments the current node
address along the X axis by a unit of greater than n, for example,
at n+2 nodes per millisecond. The step of incrementing the current
node address at n+1 nodes per millisecond along the X axis is shown
in step 150b. Where the user input "I" indicates movement through
the array 10 at under the critical speed, the server 18 proceeds to
increment the current node address at a variable less than n, for
example, at n-1 nodes per millisecond. This operation is shown as
step 150c.
[0084] Scaleable Arrays
[0085] The shape of the array 10 can also be electronically scaled
and the system 100 designed with a "center of gravity" that will
ease a user's image path back to a "starting" or "critical
position" node or ring of nodes, either when the user 22 releases
control or when the system 100 is programmed to override the user's
autonomy; that is to say, the active perimeter or geometry of the
array 10 can be pre-configured to change at specified times or
intervals in order to corral or focus attention in a situation that
requires dramatic shaping. The system operator can, by real-time
manipulation or via a pre-configured electronic proxy sequentially
activate or deactivate designated portions of the camera array 10.
This is of particular importance in maintaining authorship and
dramatic pacing in theatrical or entertainment venues, and also for
implementing controls over how much freedom a user 22 will have to
navigate through the array 10.
[0086] In the present embodiment, the system 100 can be programmed
such that certain portions of the array 10 are unavailable to the
user 22 at specified times or intervals. Thus, continuing with step
140d of FIG. 6, the server 18 makes the determination whether the
user input corresponds to movement to the right through the array
but is subject to a navigation control algorithm. The navigation
control algorithm causes the server 18 to determine, based upon
navigation control factors, whether the user's desired movement is
permissible.
[0087] More specifically, the navigation control algorithm, which
is programmed in the server 18, determines whether the desired
movement would cause the current node address to fall outside the
permissible range of node coordinates. In the present embodiment,
the permissible range of node coordinates is predetermined and
depends upon the time of day, as noted by the server 18. Thus, in
the present embodiment, the navigation control factors include
time. As will be appreciated by those skilled in the art,
permissible camera nodes and control factors can be correlated in a
table stored in memory.
[0088] In an alternate embodiment, the navigation control factors
include time as measured from the beginning of a performance being
viewed, also as noted by the server. In such an embodiment, the
system operator can dictate from where in the array a user will
view certain scenes. In another alternate embodiment, the
navigation control factor is speed of movement through the array.
For example, the faster a user 22 moves or navigates through the
array, the wider the turns must be. In other alternate embodiments,
the permissible range of node coordinates is not predetermined. In
one embodiment, the navigation control factors and, therefore, the
permissible range, is dynamically controlled by the system operator
who communicates with the server via an input device.
[0089] Having determined that the user input is subject to the
navigation control algorithm, the server 18 further proceeds, in
step 150d, to increment the current node address along a
predetermined path. By incrementing the current node address along
a predetermined path, the system operator is able to corral or
focus the attention of the user 22 to the particular view of the
permissible cameras 14, thereby maintaining authorship and dramatic
pacing in theatrical and entertainment venues.
[0090] In an alternate embodiment where the user input is subject
to a navigation control algorithm, the server 18 does not move the
user along a predetermined path. Instead, the server 18 merely
awaits a permissible user input and holds the view at the current
node. Only when the server 18 receives a user input resulting in a
permissible node coordinate will the server 18 adjust the user's
view.
[0091] Additional Source Output
[0092] In addition to moving through the array 10, the user 22 may,
at predetermined locations in the array 10, choose to leave the
real world environment being viewed. More specifically, additional
source outputs, such as computer graphic imagery, virtual world
imagery, applets, film clips, and other artificial and real camera
outputs, are made available to the user 22. In one embodiment, the
additional source output is composited with the view of the real
environment. In an alternate embodiment, the user's view transfers
completely from the real environment to that offered by the
additional source output.
[0093] More specifically, the additional source output is stored
(preferably in digital form) in the electronic storage device 20.
Upon the user 22 inputting a desire to view the additional source
output, the server 18 transmits the additional source output to the
user interface/display device 24. The present embodiment, the
server 18 simply transmits the additional source output to the user
display device 24. In an alternate embodiment, the server 18 first
composites the additional source output with the camera output and
then transmits the composited signal to the user interface/display
device 24.
[0094] As shown in step 140e, the server 18 makes the determination
whether the user input corresponds to moving in the array into the
source output. If the user 22 decides to move into the additional
source output, the server 18 adjusts the view by substituting the
additional source output for the updated camera output identified
in either of steps 150a-d.
[0095] Once the current node address is updated in either of steps
150a-d, the server 18 proceeds to adjust the user's view in step
250. When adjusting the view, the server 18 "mixes" the existing or
current camera output being displayed with the output of the camera
14 identified by the updated camera node address. Mixing the
outputs is achieved differently in alternate embodiments of the
invention. In the present embodiment, mixing the outputs involves
electronically switching at a particular speed from the existing
camera output to the output of the camera 14 having the new current
node address.
[0096] It is to be understood that in this and other preferred
embodiments disclosed herein, the camera outputs are synchronized.
As is well known in the art, a synchronizing signal from a "sync
generator" is supplied to the cameras. The sync generator may take
the form of those used in video editing and may comprise, in
alternate embodiments, part of the server, the hub, and/or a
separate component coupled to the array.
[0097] As described above, at critical speed, the server 18
switches camera outputs approximately at a rate of 24 per second,
or one every 0.04167 seconds. If the user 22 is moving through the
array 10 at under the critical speed, the outputs of the
intermediate cameras 14 are each displayed for a relatively longer
duration than if the user is moving at the critical speed.
Similarly, each output is displayed for a relatively shorter
duration when a user navigates at over the critical speed. In other
words, the server 18 adjusts the switching speed based on the speed
of the movement through the array 10.
[0098] Of course, it is to be understood that in a simplified
embodiment of the present invention, the user may navigate at only
the critical speed.
[0099] In another alternate embodiment, mixing the outputs is
achieved by compositing the existing or current output and the
updated camera node output. In yet another embodiment, mixing
involves dissolving the existing view into the new view. In still
another alternate embodiment, mixing the outputs includes adjusting
the frame refresh rate of the user display device. Additionally,
based on speed of movement through the array, the server may add
motion blur to convey the realistic sense of speed.
[0100] In yet another alternate embodiment, the server causes a
black screen to be viewed instantaneously between camera views.
Such an embodiment is analogous to blank film between frames in a
movie reel. Furthermore, although not always advantageous, such
black screens reduce the physiologic "carrying over" of one view
into a subsequent view.
[0101] It is to be understood that the user inputs corresponding to
movements through the array at different speeds may include either
different keystrokes on a keypad, different positions of a
joystick, positioning a joystick in a given position for a
predetermined length of time, and the like. Similarly, the decision
to move into an additional source output may be indicated by a
particular keystroke, joystick movement, or the like.
[0102] In another embodiment, mixing may be accomplished by
"mosaicing" the outputs of the intermediate cameras 14. U.S. Pat.
No. 5,649,032 entitled System For Automatically Aligning Images To
Form A Mosaic Image to Peter J. Burt et al. discloses a system and
method for generating a mosaic from a plurality of images and is
hereby incorporated by reference. The server 18 automatically
aligns one camera output to another camera output, a camera output
to another mosaic (generated-from previously occurring camera
output) such that the output can be added to the mosaic, or an
existing mosaic to a camera output.
[0103] Once the mosaic alignment is complete, the present
embodiment utilizes a mosaic composition process to construct (or
update) a mosaic. The mosaic composition comprises a selection
process and a combination process. The selection process
automatically selects outputs for incorporation into the mosaic and
may include masking and cropping functions to select the region of
interest in a mosaic. Once the selection process selects which
output(s) are to be included in the mosaic, the combination process
combines the various outputs to form the mosaic. The combination
process applies various output processing techniques, such as
merging, fusing, filtering, output enhancement, and the like, to
achieve a seamless combination of the outputs. The resulting mosaic
is a smooth view that combines the constituent outputs such that
temporal and spatial information redundancy are minimized in the
mosaic. In one embodiment of the present invention, the mosaic may
be formed as the user moves through the system (on the fly) and the
output image displayed close to real time. In another embodiment,
the system may form the mosaic from a predetermined number of
outputs or during a predetermined time interval, and then display
the images pursuant to the user's navigation through the
environment.
[0104] In yet another embodiment, the server 18 enables the output
to be mixed by a "tweening" process. One example of the tweening
process is disclosed in U.S. Pat. No. 5,529,040 entitled Method For
Determining Sensor Motion And Scene Structure And Image Processing
System Therefor to Keith J. Hanna, herein incorporated by
reference. Tweening enables the server 18 to process the structure
of a view from two or more camera outputs of the view.
[0105] Applying the Hanna patent to the telepresence method/system
herein, tweening is now described. The server monitors the movement
among the intermediate cameras 14 through a scene using local scene
characteristics such as brightness derivatives of a pair of camera
outputs. A global camera output movement constraint is combined
with a local scene characteristic constancy constraint to relate
local surface structures with the global camera output movement
model and local scene characteristics. The method for determining a
model for global camera output movement through a scene and scene
structure model of the scene from two or more outputs of the scene
at a given image resolution comprises the following steps:
[0106] (a) setting initial estimates of local scene models and a
global camera output movement model;
[0107] (b) determining a new value of one of the models by
minimizing the difference between the measured error in the outputs
and the error predicted by the model;
[0108] (c) resetting the initial estimates of the local scene
models and the image sensor motion model using the new value of one
of the models determined in step (b);
[0109] (d) determining a new value of the second of the models
using the estimates of the models determined in step (b) by
minimizing the difference between the measured error in the outputs
and the error predicted by the model;
[0110] (e) warping one of the outputs towards the other output
using the current estimates of the models at the given image
resolution; and
[0111] (f) repeating steps (b), (c), (d) and (e) until the
differences between the new values of the models and the values
determined in the previous iteration are less than a certain value
or until a fixed number of iterations have occurred.
[0112] It should be noted that where the Hanna patent effectuates
the tweening process by detecting the motion of an image sensor
(e.g., a video camera), an embodiment of the present invention
monitors the user movement among live cameras or storage nodes.
[0113] In an alternate embodiment, although not always necessary,
to ensure a seamless progression of views, the server 18 also
transmits to the user display device 24 outputs from some or all of
the intermediate cameras, namely those located between the current
camera node and the updated camera node. Such an embodiment will
now be described with reference to FIGS. 7a-7g. Specifically, FIG.
7a illustrates a curvilinear portion of an array 10 that extends
along the X axis or to the left and right from the user's
perspective. Thus, the coordinates that the server 18 associates
with the cameras 14 differ only in the X coordinate. More
specifically, for purposes of the present example, the cameras 14
can be considered sequentially numbered, starting with the
left-most camera 14 being the first, i.e., number "1". The X
coordinate of each camera 14 is equal to the camera's position in
the array. For illustrative purposes, particular cameras will be
designate 14-X, where X equals the camera's position in the array
10 and, thus, its associated X coordinate.
[0114] In general, FIGS. 7a-7g illustrate possible user movement
through the array 10. The environment to be viewed includes three
objects 602, 604, 606, the first and second of which include
numbered surfaces. As will be apparent, these numbered surface
allow a better appreciation of the change in user perspective.
[0115] In FIG. 7a, six cameras 14-2, 14-7, 14-11, 14-14, 14-20,
14-23 of the array 10 are specifically identified. The boundaries
of each camera's view is identified by the pair of lines 14-2a,
14-7a, 14-11a, 14-14a, 14-20a, 14-23a, radiating from each
identified camera 14-2, 14-7, 14-11, 14-14, 14-20, 14-23,
respectively. As described below, in the present example the user
22 navigates through the array 10 along the X axis such that the
images or views of the environment are those corresponding to the
identified cameras 14-2, 14-7, 14-11, 14-14, 14-20, 14-23.
[0116] The present example provides the user 22 with the starting
view from camera 14-2. This view is illustrated in FIG. 7b. The
user 22, desiring to have a better view of the object 702, pushes
the "7" key on the keyboard. This user input is transmitted to and
interpreted by the server 18.
[0117] Because the server 18 has been programmed to recognized the
"7" key as corresponding to moving or jumping through the array to
camera 14-7. The server 18 changes the X coordinate of the current
camera node address to 7, selects the output of camera 14-7, and
adjusts the view or image sent to the user 22. Adjusting the view,
as discussed above, involves mixing the outputs of the current and
updated camera nodes. Mixing the outputs, in turn, involves
switching intermediate camera outputs into the view to achieve the
seamless progression of the discrete views of cameras 14-2 through
14-7, which gives the user 22 the look and feel of moving around
the viewed object. The user 22 now has another view of the first
object 702. The view from camera 14-7 is shown in FIG. 7c. As noted
above, if the jump in camera nodes is greater than a predetermined
limit, the server 18 would omit some or all of the intermediate
outputs.
[0118] Pressing the "right arrow" key on the keyboard, the user 22
indicates to the system 100 a desire to navigate to the right at
critical speed. The server 18 receives and interprets this user
input as indicating such and increments the current camera node
address by n=4. Consequently, the updated camera node address is
14-11. The server 18 causes the mixing of the output of camera
14-11 with that of camera 14-7. Again, this includes switching into
the view the outputs of the intermediate cameras (i.e., 14-8, 14-9,
and 14-10) to give the user 22 the look and feel of navigating
around the viewed object. The user 22 is thus presented with the
view from camera 14-11, as shown in FIG. 7d.
[0119] Still interested in the first object 702, the user 22 enters
a user input, for example, "alt-right arrow," indicating a desire
to move to the right at less than critical speed. Accordingly, the
server 18 increments the updated camera node address by n-1 nodes,
namely 3 in the present example, to camera 14-14. The outputs from
cameras 14-11 and 14-14 are mixed, and the user 22 is presented
with a seamless view associated with cameras 14-11 through 14-14.
FIG. 7e illustrates the resulting view of camera 14-14.
[0120] With little to see immediately after the first object 702,
the user 22 enters a user input such as "shift-right arrow,"
indicating a desire to move quickly through the array 10, i.e., at
over the critical speed. The server 18 interprets the user input
and increments the current node address by n+2, or 6 in the present
example. The updated node address thus corresponds to camera 14-20.
The server 18 mixes the outputs of cameras 14-14 and 14-20, which
includes switching into the view the outputs of the intermediate
cameras 14-15 through 14-19. The resulting view of camera 14-20 is
displayed to the user 22. As shown in FIG. 7f, the user 22 now
views the second object 704.
[0121] Becoming interested in the third object 704, the user 22
desires to move slowly through the array 10. Accordingly, the user
22 enters "alt-right arrow" to indicate moving to the right at
below critical speed. Once the server 18 interprets the received
user input, it updates the current camera node address along the X
axis by 3 to camera 14-23. The server 18 then mixes the outputs of
camera 14-20 and 14-23, thereby providing the user 22 with a
seamless progression of views through camera 14-23. The resulting
view 14-23a is illustrated in FIG. 7g.
[0122] Other Data Devices
[0123] It is to be understood that devices other than cameras may
be interspersed in the array. These other devices, such as motion
sensors and microphones, provide data to the server(s) for
processing. For example, in alternate embodiments output from
motion sensors or microphones are fed to the server(s) and used to
scale the array. More specifically, permissible camera nodes (as
defined in a table stored in memory) are those near the sensor or
microphone having a desired output e.g., where there is motion or
sound. As such, navigation control factors include output from
other such devices. Alternatively, the output from the sensors or
microphones are provided to the user.
[0124] An alternate embodiment in which the array of cameras
includes multiple microphones interspersed among the viewed
environment and the cameras will now be described with reference to
FIG. 8. The system 800 generally includes an array of cameras 802
coupled to a server 804, which, in turn, is coupled to one or more
user interface and display devices 806 and an electronic storage
device 808. A hub 810 collects and transfers the outputs from the
array 802 to the server 804. More specifically, the array 802
comprises modular rails 812 that are interconnected. Each rail 812
carries multiple microcameras 814 and a microphone 816 centrally
located at rail 812. Additionally, the system 800 includes
microphones 818 that are physically separate from the array 802.
The outputs of both the cameras 814 and microphones 816, 818 are
coupled to the server 804 for processing.
[0125] In general, operation of the system 800 proceeds as
described with respect to system 100 of FIGS. 1-2d and 5-6. Beyond
the operation of the previously described system 100, however, the
server 804 receives the sound output from the microphones 816, 818
and, as with the camera output, selectively transmits sound output
to the user. As the server 804 updates the current camera node
address and changes the user's view, it also changes the sound
output transmitted to the user. In the present embodiment, the
server 804 has stored in memory an associated range of camera nodes
with a given microphone, namely the cameras 814 on each rail 810
are associated with the microphone 816 on that particular rail 810.
In the event a user attempts to navigate beyond the end of the
array 802, the server 804 determines the camera navigation is
impermissible and instead updates the microphone node output to
that of the microphone 818 adjacent to the array 802.
[0126] In an alternate embodiment, the server 804 might include a
database in which camera nodes in a particular area are associated
with a given microphones. For example, a rectangle defined by the
(X, Y, Z) coordinates (0,0,0), (10,0,0), (10,5,0), (0,5,0),
(0,0,5), (10,0,5), (10,5,5) and (0,5,5) are associated with a given
microphone. It is to be understood that selecting one of the series
of microphones based on the user's position (or view) in the array
provides the user with a sound perspective of the environment that
coincides with the visual perspective.
[0127] It is to be understood that the server of the embodiments
discussed above may take any of a number of known configurations.
Two examples of server configurations suitable for use with the
present invention will be described with reference to FIGS. 9 and
10. Turning first to FIG. 9, the server 902, electronic storage
device 20, array 10, users (1,2,3, . . . N) 22-1-22-N, and
associated user interface/display devices 24-1-24-N are shown
therein.
[0128] The server 902 includes, among other components, a
processing means in the form of one or more central processing
units (CPU) 904 coupled to associated read only memory (ROM) 906
and a random access memory (RAM) 908. In general, ROM 906 is for
storing the program that dictates the operation of the server 902,
and the RAM 908 is for storing variables and values used by the CPU
904 during operation. Also coupled to the CPU 904 are the user
interface/display devices 24. It is to be understood that the CPU
may, in alternate embodiments, comprise several processing units,
each performing a discrete function.
[0129] Coupled to both the CPU 904 and the electronic storage
device 20 is a memory controller 910. The memory controller 910,
under direction of the CPU 904, controls accesses (reads and
writes) to the storage device 20. Although the memory controller
910 is shown as part of the server 902, it is to be understood that
it may reside in the storage device 20.
[0130] During operation, the CPU 904 receives camera outputs from
the array 10 via bus 912. As described above, the CPU 904 mixes the
camera outputs for display on the user interface/display device 24.
Which outputs are mixed depends on the view selected by each user
22. Specifically, each user interface/display devices 24 transmits
across bus 914 the user inputs that define the view to be
displayed. Once the CPU 904 mixes the appropriate outputs, it
transmits the resulting output to the user interface/display device
24 via bus 916. As shown, in the present embodiment, each user 22
is independently coupled to the server 902.
[0131] The bus 912 also carries the camera outputs to the storage
device 20 for storage. When storing the camera outputs, the CPU 904
directs the memory controller 910 to store the output of each
camera 14 in a particular location of memory in the storage device
20.
[0132] When the image to be displayed has previously been stored in
the storage device 20, the CPU 904 causes the memory controller 910
to access the storage device 20 to retrieve the appropriate camera
output. The output is thus transmitted to the CPU 904 via bus 918
where it is mixed. Bus 918 also carries additional source output to
the CPU 904 for transmission to the users 22. As with outputs
received directly from the array 10, the CPU 904 mixes these
outputs and transmits the appropriate view to the user
interface/display device 24.
[0133] FIG. 10 shows a server configuration according to an
alternate embodiment of the present invention. As shown therein,
the server 1002 generally comprises a control central processing
unit (CPU) 1004, a mixing CPU 1006 associated with each user 22,
and a memory controller 1008. The control CPU 1004 has associated
ROM 1010 and RAM 1012. Similarly, each mixing CPU 1006 has
associated ROM 1014 and RAM 1016.
[0134] To achieve the functionality described above, the camera
outputs from the array 10 are coupled to each of the mixing CPUs 1
through N 1006-1, 1006-N via bus 1018. During operation, each user
22 enters inputs in the interface/display device 24 for
transmission (via bus 1020) to the control CPU 1004. The control
CPU 1004 interprets the inputs and, via buses 1022-1, 1022-N,
transmits control signals to the mixing CPUs 1006-1, 1006-N
instructing them which camera outputs received on bus 1018 to mix.
As the name implies, the mixing CPUs 1006-1, 1006-N mix the outputs
in order to generate the appropriate view and transmit the
resulting view via buses 1024-1, 1024-N to the user
interface/display devices 24-1, 24-N.
[0135] In an alternate related embodiment, each mixing CPU 1006
multiplexes outputs to more than one user 22. Indications of which
outputs are to mixed and transmitted to each user 22 comes from the
control CPU 1004.
[0136] The bus 1018 couples the camera outputs not only to the
mixing CPUs 1006-1, 1006-N, but also to the storage device 20.
Under control of the memory controller 1008, which in turn is
controlled by the control CPU 1004, the storage device 20 stores
the camera outputs in known storage locations. Where user inputs to
the control CPU 1004 indicate a users' 22 desire to view stored
images, the control CPU 1004 causes the memory controller 1008 to
retrieve the appropriate images from the storage device 20. Such
images are retrieved into the mixing CPUs 1006 via bus 1026.
Additional source output is also retrieved to the mixing CPUs
1006-1, 1006-N via bus 1026. The control CPU 1004 also passes
control signals to the mixing CPUs 1006-1, 1006-N to indicate which
outputs are to be mixed and displayed.
[0137] Stereoscopic Views
[0138] It is to be understood that it is within the scope of the
present invention to employ stereoscopic views of the environment.
To achieve the stereoscopic view, the system retrieves from the
array (or the electronic storage device) and simultaneously
transmits to the user at least portions of outputs from two
cameras. The server processing element mixes these camera outputs
to achieve a stereoscopic output. Each view provided to the user is
based on such a stereoscopic output. In one stereoscopic
embodiment, the outputs from two adjacent cameras in the array are
used to produce one stereoscopic view. Using the notation of FIGS.
7a-7g, one view is the stereoscopic view from cameras 14-1 and
14-2. The next view is based on the stereoscopic output of cameras
14-2 and 14-3 or two other cameras. Thus, in such an embodiment,
the user is provided the added feature of a stereoscopic seamless
view of the environment.
[0139] Multiple Users
[0140] As described above, the present invention allows multiple
users to simultaneously navigate through the array independently of
each other. To accommodate multiple users, the systems described
above distinguish between inputs from the multiple users and
selects a separate camera output appropriate to each user's inputs.
In one such embodiment, the server tracks the current camera node
address associated with each user by storing each node address in a
particular memory location associate with that user. Similarly,
each user's input is differentiated and identified as being
associated with the particular memory location with the use of
message tags appended to the user inputs by the corresponding user
interface device.
[0141] In an alternate embodiment, two or more users may choose to
be linked, thereby moving in tandem and having the same view of the
environment. In such an embodiment, each includes identifying
another user by his/her code to serve as a "guide". In operation,
the server provides the outputs and views selected by the guide
user to both the guide and the other user selecting the guide.
Another user input causes the server to unlink the users, thereby
allowing each user to control his/her own movement through the
array.
[0142] Multiple Arrays
[0143] In certain applications, a user may also wish to navigate
forward and backward through the environment, thereby moving closer
to or further away from an object. Although it is within the scope
of the present invention to use cameras with zoom capability,
simply zooming towards an object does not change the user's image
point perspective. One such embodiment in which users can move
dimensionally forward and backward through the environment with a
changing image point perspective will now be described with respect
to FIG. 11 and continuing reference to FIG. 1. As will be
understood by those skilled in the art, the arrays described with
reference to FIG. 11 may be used with any server, storage device
and user terminals described herein.
[0144] FIG. 11 illustrates a top plan view of another embodiment
enabling the user to move left, right, up, down, forward or
backwards through the environment. A plurality of cylindrical
arrays (121-1-121-n) of differing diameters comprising a series of
cameras 14 may be situated around an environment comprising one or
more objects 1200, one cylindrical array at a time. Cameras 14
situated around the object(s) 1100 are positioned along an X and Z
coordinate system. Accordingly, an array 12 may comprise a
plurality of rings of the same circumference positioned at
different positions (heights) throughout the z-axis to form a
cylinder of cameras 14 around the object(s) 1100. This also allows
each camera in each array 12 to have an associated, unique storage
node address comprising an X and Z coordinate--i.e., array1(X, Z).
In the present embodiment, for example, a coordinate value
corresponding to an axis of a particular camera represents the
number of camera positions along that axis the particular camera is
displaced from a reference camera. In the present embodiment, from
the user's perspective, the X axis runs around the perimeter of an
array 12, and the Z axis runs down and up. Each storage node is
associated with a camera view identified by its X, Z
coordinate.
[0145] As described above, the outputs of the cameras 14 are
coupled to one or more servers for gathering and transmitting the
outputs to the server 18.
[0146] In one embodiment, because the environment is static, each
camera requires only one storage location. The camera output may be
stored in a logical arrangement, such as a matrix of n arrays,
wherein each array has a plurality of (X,Z) coordinates. In one
embodiment, the node addresses may comprise of a specific
coordinate within an array--i.e., Array.sub.1(X.sub.n, Z.sub.n),
Array.sub.2(X.sub.n, Z.sub.n) through Array.sub.n(X.sub.n, Z.sub.n)
. As described below, users can navigate the stored images in much
the same manner as the user may navigate through an environment
using live camera images.
[0147] The general operation of one embodiment of inputting images
in storage device 20 for transmission to a user will now be
described with reference to FIG. 12 and continuing reference to
FIG. 11. As shown in step 1210, a cylindrical array 12-1 is
situated around the object(s) located in an environment 1100. The
view of each camera 14 is transmitted to server 18 in step 1220.
Next, in step 1220, the electronic storage device 20 of the server
18 stores the output of each camera 14 at the storage node address
associated with that camera 14. Storage of the images may be
effectuated serially, from one camera 14 at a time within the array
12, or by simultaneous transmission of the image data from all of
the cameras 14 of each array 12. Once the output for each camera 14
of array 12-1 is stored, cylindrical array 12-1 is removed from the
environment (step 1240). In step 1250, a determination is made as
to the availability of additional cylindrical arrays 12 of
differing diameters to those already situated. If additional
cylindrical arrays 12 are desired, the process repeats beginning
with step 1210. When no additional arrays 12 are available for
situating around the environment, the process of inputting images
into storage devices 20 is complete (step 1260). At the end of the
process, a matrix of addressable stored images exist.
[0148] Upon storing all of the outputs associated with the arrays
12-1 through 12-n, a user may navigate through the environment.
Navigation is effectuated by accessing the input of the storage
nodes by a user interface device 24. In the present embodiment, the
user inputs generally include moving around the environment or
object 1100 by moving to the left or right, moving higher or lower
along the z-axis, moving through the environment closer or further
from the object 1100, or some combination of moving around and
through the environment. For example, a user may access the image
stored in the node address Array.sub.3(0,0) to view an object from
the camera previously located at coordinate (0,0) of Array.sub.3.
The user may move directly forward, and therefore closer to the
object 1100, by accessing the image stored in Array.sub.2(0,0) and
then Array.sub.1(0,0). To move further away from the object and to
the right and up, the user may move from the image stored in node
address Array.sub.1(0,0) and access the images stored in node
address Array.sub.2(1,1), followed by accessing the image stored in
node address Array.sub.3(2,2), an so on. A user may, of course,
move among arrays and/or coordinates by any increments changing the
point perspective of the environment with each node. Additionally,
a user may jump to a particular camera view of the environment.
Thus, a user may move throughout the environment in a manner
similar to that described above with respect to accessing output of
live cameras. This embodiment, however, allows user to access
images that are stored in storage nodes as opposed to accessing
live cameras. Moreover, this embodiment provides a convenient
system and method to allow a user to move forward and backward in
an environment.
[0149] It should be noted that although each storage node is
associated with a camera view identified by its X, Z coordinate of
a particular array, other methods of identifying camera views and
storage nodes can be used. For example, other coordinate systems,
such as those noting angular displacement from a fixed reference
point as well as coordinate systems that indicate relative
displacement from the current camera node may be used. It should
also be understood that the camera arrays 12 may be other shapes
other than cylindrical. Moreover, it is not essential, although
often advantageous, that the camera arrays 12 surround the entire
environment.
[0150] It is to be understood that the foregoing user inputs,
namely, move clockwise, move counter-clockwise, up, down, closer to
the environment, and further from the environment, are merely
general descriptions of movement through the environment. Although
the present invention is not so limited, in the present preferred
embodiment, movement in each of these general directions is further
defined based upon the user input. Moreover the output generated by
the server to the user may be mixed when moving among adjacent
storage nodes associated with environment views (along the x axis,
z axis, or among juxtaposed arrays) to generate seamless movement
throughout the environment. Mixing may be accomplished by, but are
not limited to, the processes described above.
[0151] Embodiments Covered
[0152] Although the present invention has been described in terms
of certain preferred embodiments, other embodiments that are
apparent to those of ordinary skill in the art are also intended to
be within the scope of this invention. Accordingly, the scope of
the present invention is intended to be limited only by the claims
appended hereto.
* * * * *