1. A control system, comprising:
a light source;
a first active sensor comprising a transmitter arranged to transmit a first probe signal, wherein the first active sensor is a portable sensor;
a second active sensor comprising a transmitter arranged to transmit a second probe signal, wherein the second active sensor is a fixed sensor, and further comprising a receiver sensor array arranged to receive said first probe signal and an echo of said second probe signal; and
a processing unit configured to predictively estimate a location of said first active sensor within the receiver sensor array based on said received first probe signal, and further configured to control a lighting function of said light source in accordance with said predictively estimated location of said first active sensor;
wherein said first probe signal is different from said second probe signal such that interference at said receiving sensor array between said first probe signal and said second probe signal is avoided, the waveform of the first probe signal being chosen to be uncorrelated to the waveform of the second probe signal.
2. The control system according to claim 1, wherein said second active sensor is a fixed infrastructure sensor.
3. The control system according to claim 1, wherein said light source comprises said second active sensor.
4. The control system according to claim 1, wherein said receiving sensor array is arranged to perform direction of arrival measurements in order to estimate the location of said first active sensor.
5. The control system according to claim 4, wherein said sensor array is arranged to perform correlation in order to detect said first probe signal.
6. The control system according to claim 5, wherein said first active sensor and said second active sensor are either ultrasound based sensors or radar based sensors.
7. The control system according to claim 6, wherein said first active sensor is arranged to transmit at most one first probe signal for every three transmissions of said second probe signal.
8. The control system according to claim 7, wherein a version of said first probe signal is accessible by said second active sensor.
9. The control system according to claim 8, wherein said version of said first probe is an exact copy of said first probe signal.
10. The control system according to claim 9, wherein said first active sensor further comprises a receiver arranged to receive said second probe signal, and wherein said transmitter of said first active sensor is arranged to transmit said first probe signal in response to reception of said second probe signal by said receiver.
11. The control system according to claim 10, wherein said receiver of said first active sensor is an array sensor.
12. The control system according to claim 11, wherein said first probe signal is transmitted within the bandwidth of said transmitter of said second active sensor.
13. The control system according to claim 11, wherein said first probe signal is transmitted outside the bandwidth of said transmitter of said second active sensor.
14. A method in a control system comprising a light source, a first active sensor, and a second active sensor, the method comprising the steps of:
transmitting, by a transmitter of said first active sensor, a first probe signal;
transmitting, by a transmitter of said second active sensor, a second probe signal;
receiving, by a receiver sensor array of said second active sensor, said first probe signal and an echo of said second probe signal;
estimating, based on said received first probe signal, a location of said first active sensor within the receiver sensor array; and
controlling a lighting function of said light source in accordance with said estimated location of said first active sensor;
wherein said first probe signal is different from said second probe signal such that interference at said receiving sensor array between said first probe signal and said second probe signal is avoided, the waveform of the first probe signal being chosen to be uncorrelated to the waveform of the second probe signal.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A method for collinearly aligning focal points of multiple cameras, comprising:
directing a first light plane to hit a non-flat scenery in a first bright shape; directing a second light plane to hit the scenery in a second bright shape;
bringing the first light plane into a position where a first camera captures the first bright shape as a first straight line and a second camera captures the first bright shape as a second straight line;
bringing the second light plane into a position not coplanar with the first light plane, where the first camera captures the second bright shape as a third straight line and the second camera captures the second bright shape as a fourth straight line; and followed by
aligning a third camera into a position relative to the first camera and the second camera such that the third camera captures the first bright shape as a fifth straight line and the second bright shape as a sixth straight line.
2. The method according to claim 1, forming the non-flat scenery to be comprised of a grid that is positioned in front of a background, and wherein the first bright shape and the second bright shape each comprises bright spots on the grid and a curve on the background.
3. The method according to claim 2, wherein each step of capturing a respective bright shape as a straight line comprises capturing the bright spots of the respective bright shape as coinciding with the curve of the respective bright shape.
4. The method according to claim 1, wherein the multiple cameras are positioned side-by-side, an origin of the first light plane is positioned above the multiple cameras, and an origin of the second light plane is positioned below the multiple cameras.
5. A system for collinearly aligning focal points of multiple cameras, comprising:
a first light source generating a first light plane hitting a non-flat scenery in a first bright shape;
a second light source, arranged at a distance from the first light source, generating a second light plane not co-planar with the first light plane and hitting the scenery in a second bright shape;
a first, second, and third camera arranged to capture the scenery and at least parts of the first bright shape and the second bright shape;
means for changing the position and orientation of the first light source;
means for changing the position and orientation of the second light source; and
means for dislocating the third camera.
6. The system according to claim 5, wherein the scenery comprises a grid positioned in front of a background, wherein the first and second light sources project the first and second light planes onto the grid and the background behind the grid, and where the first bright shape and the second bright shape each comprise bright spots on the grid and a curve on the background.
7. The system according to claim 5, wherein the first, second, and third cameras are positioned horizontally side-by-side, the first light source is positioned above the cameras, and the second light source is positioned below the cameras.