1. A method of stitching together video streams to generate a wide field video stream, the method being implemented in a computer system comprising one or more physical processors and storage media storing machine-readable instructions, the method comprise:
determining at least one reference time instance within a reference video stream;
determining a first set of values of parameters used to generate a first panoramic image, the first panoramic image comprising a combination of images from individual video streams that correspond to the at least one reference time instance; and
generating panoramic images that comprise images of individual video streams that correspond to individual time instances within the video streams, the panoramic images being generated based on the first set of values of the parameters, wherein individual ones of the generated panoramic images are provided as a frame of the wide field video stream.
2. The method of claim 1, further comprising:
evaluating a quality of the first panoramic image; and
responsive to the quality of the first panoramic image being unsatisfactory:
determining at least one other reference time instance within the reference video stream;
determining a second set of values of parameters used to generate a second panoramic image, the second panoramic image comprising images from individual video streams that correspond to the at least one other reference time instance; and
generating the panoramic images based on the second set of values and not the first set of values.
3. The method of claim 1, wherein the at least one reference time instance comprises a first reference time instance, the first reference time instance being determined based on user input into a user interface, the first panoramic image comprising a combination of images from individual video streams that correspond to the first reference time instance, and wherein the method further comprises:
effectuating presentation of the first panoramic image on the user interface.
4. The method of claim 1, wherein the at least one reference time instance comprises a first reference time instance, and wherein the method further comprises:
determining a set of reference time instances distributed around the first reference time instance;
determining intermediate sets of values of parameters used to generate intermediate panoramic images, individual ones of the intermediate panoramic images comprising a combination of images from individual video streams that correspond to individual ones of the reference time instances in the set of reference time instances;
determining a second set of values of the parameters based on averaging values included in the intermediate sets of values for individual ones of the parameters; and
generating the panoramic images based on the second set of values and not the first set of values.
5. The method of claim 1, wherein the at least one reference time instance comprises a plurality of reference time instances, the plurality of reference time instances being within a predetermined duration of the reference video stream, and wherein the method further comprises:
determining intermediate sets of values of parameters used to generate intermediate panoramic images, individual ones of the intermediate panoramic images comprising a combination of images from individual video streams that correspond to individual ones of the reference time instances in the plurality of reference time instances;
determining a second set of values of parameters based on averaging values included in the intermediate sets of values for individual ones of the parameters; and
generating the panoramic images based on the second set of values and not the first set of values.
6. The method of claim 1, further comprising repeating the following operations for individual time instances sequentially over a duration of the reference video stream:
decoding, from the video streams, individual images corresponding to a given time instance within the individual video streams;
generating a given panoramic image using decoded images that correspond to the given time instance; and
generating the wide field video stream by providing the given panoramic image as a given frame of the wide field video stream.
7. The method of claim 6, further comprising video coding the wide field video stream either at the end of each iteration of the repeated operations, or at the end of a set of iterations.
8. The method of claim 1, further comprising:
determining a temporal offset between individual ones of the video streams and the reference video stream based on audio information associated with individual ones of the video streams, the determination being based on identifying an identical sound within audio information of the video streams; and
synchronizing the video streams based on the temporal offset by associating individual images within individual video streams with other individual images within the reference video stream that are closest in time.
9. The method of claim 8, further comprising:
obtaining user selection of a start time instance and an end time instance within the reference video stream.
10. The method of claim 1, further comprising obtaining audio information associated with at least one of the video streams; and
providing the audio information as audio information for the wide field video stream.
11. The method of claim 1, further comprising:
positioning at least one multi-camera holder, the positioning comprising one or more of level with an event stage, in a sporting arena, on an athlete during a sporting event, on a vehicle, on a drone, or on a helicopter;
obtaining the video streams from visual information captured by cameras fastened on the at least one multi-camera holder; and
presenting, on at least one display space of at least one screen, the wide field video stream.
12. A device configured for stitching together video streams to generate a wide field video stream, the device comprising:
a memory; and
one or more physical processors configured by machine-readable instructions to:
determine at least one reference time instance within a reference video stream;
determine a first set of values of parameters used to generate a first panoramic image, the first panoramic image comprising a combination of images from individual video streams that correspond to the at least one reference time instance; and
generate panoramic images that comprise images of individual video streams that correspond to individual time instances within the video streams, the panoramic images being generated based on the first set of values of the parameters, wherein individual ones of the panoramic images are provided as a frame of the wide field video stream.
13. The device of claim 12, wherein the one or more physical processors are further configured by machine-readable instructions to:
effectuate presentation of a user interface, the user interface being configured to receive user input of the at least one reference time instance.
14. The device of claim 13, wherein the user interface comprises one or more of:
a first window configured for presenting video streams for stitching, and having a functionality enabling video streams to be added or removed;
one or more user interface elements configured for receiving user input of one or more of the at least one reference time instance, a reference start time instance, or a reference end time instance within the reference video stream;
a second window configured for presenting the first panoramic image; or
a third window configured for presenting the wide field video stream.
15. The device of claim 12, wherein the one or more physical processors are further configured by machine-readable instructions to:
evaluate a quality of the first panoramic image; and
responsive to the quality of the first panoramic image being unsatisfactory:
determine at least one other reference time instance within the reference video stream;
determine a second set of values of parameters used to generate a second panoramic image, the second panoramic image comprising images from individual video streams that correspond to the at least one other reference time instance; and
generate the panoramic images based on the second set of values and not the first set of values.
16. The device of claim 12, wherein the at least one reference time instance comprises a first reference time instance, and wherein the one or more physical processors are further configured by machine-readable instructions to:
determine a set of reference time instances distributed around the first reference time instance;
determine intermediate sets of values of parameters used to generate intermediate panoramic images, individual ones of the intermediate panoramic images comprising a combination of images from individual video streams that correspond to individual ones of the reference time instances in the set of reference time instances;
determine a second set of values of the parameters based on averaging values included in the intermediate sets of values for individual ones of the parameters; and
generate the panoramic images based on the second set of values and not the first set of values.
17. A system for stitching video streams, the system comprising:
a device configured to stitching together video streams, the device comprising:
a memory;
one or more physical processors configured by machine-readable instructions to:
determine at least one reference time instance within a reference video stream;
determine a first set of values of parameters used to generate a first panoramic image, the first panoramic image comprising a combination of images from individual video streams that correspond to the at least one reference time instance; and
generate panoramic images that comprise images of individual video streams that correspond to individual time instances within the video streams, the panoramic images being generated based on the first set of values of the parameters, wherein individual ones of the panoramic images are provided as a frame of the wide field video stream; and
a multi-camera holder, the multi-camera holder comprising at least two housings for fastening cameras, wherein two of the at least two housings are configured such that two adjacent cameras fastened to the two housings are oriented substantially perpendicular to one another.
18. The system of claim 17, further comprising a reader, the reader being configured to read the wide field video stream resulting from the generated panoramic images.
19. The system of claim 17, wherein the one or more physical processors are further configured by machine-readable instructions to:
evaluate a quality of the first panoramic image; and
responsive to the quality of the first panoramic image being unsatisfactory:
determine at least one other reference time instance within the reference video stream;
determine a second set of values of parameters used to generate a second panoramic image, the second panoramic image comprising images from individual video streams that correspond to the at least one other reference time instance; and
generate the panoramic images based on the second set of values and not the first set of values.
20. The system of claim 17, wherein the at least one reference time instance comprises a first reference time instance, and wherein the one or more physical processors are further configured by machine-readable instructions to:
determine a set of reference time instances distributed around the first reference time instance;
determine intermediate sets of values of parameters used to generate intermediate panoramic images, individual ones of the intermediate panoramic images comprising a combination of images from individual video streams that correspond to individual ones of the reference time instances in the set of reference time instances;
determine a second set of values of the parameters based on averaging values included in the intermediate sets of values for individual ones of the parameters; and
generate the panoramic images based on the second set of values and not the first set of values.
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 motor control system comprising:
an electric motor;
a motor position detecting device for detecting a rotational angle of the electric motor;
an output shaft connected to a rotor shaft of the electric motor via a rotation transmitting system;
a controlled device connected to the output shaft via a coupling device; and
a motor control apparatus for setting a target rotational angle for the electric motor, which corresponds to a target operational position of the controlled device when moving an operational position of the controlled device to the target operational position, and the motor control apparatus further driving the electric motor until a detected rotational angle of the electric motor detected by the motor position detecting device becomes equal to or closer to the target rotational angle for the electric motor,
wherein the motor control apparatus has a motor position setting portion for setting the target rotational angle for the electric motor so that the target rotational angle for the electric motor includes a basic rotational angle for the output shaft necessary for moving the operational position of the controlled device to the target operational position and a correction amount.
2. The motor control system according to the claim 1, wherein
the correction amount is such an amount calculated based on a mechanical gap, which is included at least one of the electric motor, the rotation transmitting system and the coupling device.
3. The motor control system according to the claim 2, wherein
the correction amount corresponds to such a correction, according to which the rotational angle of the electric motor is increased, so that the operational position of the controlled device is further moved to be closer to a basic position corresponding to the basic rotational angle of the output shaft or beyond the basic position.
4. The motor control system according to the claim 2, wherein
the correction amount is such an amount calculated based on the mechanical gap, which is included in the coupling device.
5. A motor control system comprising:
an electric motor;
a motor position detecting device for detecting a rotational angle of the electric motor;
an output shaft connected to a rotor shaft of the electric motor via a rotation transmitting system;
a controlled device connected to the output shaft via a coupling device having a play; and
a motor control apparatus for setting a target rotational angle for the electric motor, which corresponds to a target operational position of the controlled device when moving an operational position of the controlled device to the target operational position, and the motor control apparatus further driving the electric motor until a detected rotational angle of the electric motor detected by the motor position detecting device becomes equal to or closer to the target rotational angle for the electric motor,
wherein the motor control apparatus has a motor position setting portion for setting the target rotational angle for the electric motor by use of a correction amount which is calculated based on a predetermined amount of the play.
6. The motor control system according to the claim 5, further comprising:
an output-shaft position detecting device for detecting a rotational angle of the output shaft; and
an output-shaft position setting portion for setting a target rotational angle for the output shaft, corresponding to the target operational position,
wherein the motor position setting portion corrects the target rotational angle for the output shaft by use of the correction amount, calculates a deviation between a corrected target rotational angle for the output shaft and a detected rotational angle of the output shaft detected by the output-shaft position detecting device, multiplies the deviation by a reduction ratio of the rotation transmitting system, and calculates the target rotational angle for the electric motor by use of such a multiplied value.
7. The motor control system according to the claim 6, wherein,
the correction amount is set at such an amount of the rotational angle, which corresponds to a half of the play,
the motor position setting portion corrects the target rotational angle for the output shaft in such a manner that the output shaft is further rotated by the correction amount in addition to the target rotational angle for the output shaft, when the motor position setting portion corrects the target rotational angle for the output shaft by use of the correction amount.
8. The motor control system according to the claim 5, wherein,
the predetermined amount of the play is set to be a value, which corresponds to an amount of a play included in the coupling device having a maximum production tolerance.
9. A motor control system comprising:
an electric motor;
a motor position detecting device for detecting a rotational angle \u201c\u03b81\u201d of the electric motor;
an output shaft connected to a rotor shaft of the electric motor via a rotation transmitting system;
an output-shaft position detecting device for detecting a rotational angle \u201c\u03b82\u201d of the output shaft;
a controlled device connected to the output shaft via a coupling device having a play; and
a motor control apparatus for controlling the rotational angle \u201c\u03b81\u201d of the electric motor so that an operational position of the controlled device is moved to a target operational position,
wherein
the motor control apparatus calculates a target rotational angle \u201c\u03b83tg\u201d for the output shaft, which corresponds to the target operational position,
the motor control apparatus calculates a virtual target rotational angle \u201c\u03b82tg\u201d in accordance with a following formula 1;
\u03b82tg=\u03b83tg\xb1\u03b8Bmax2 \u2003\u2003formula 1:
wherein \u201c\u03b8Bmax2\u201d is a correction amount calculated based on a predetermined amount of the play included in the coupling device,
the motor control apparatus calculates a target rotational angle \u201c\u03b81tg\u201d for the electric motor in accordance with a following formula 2;
\u03b81tg=(\u03b82\u2212\u03b82tg)\xd7Kg+74 1 \u2003\u2003formula 2:
wherein \u201cKg\u201d is a reduction ratio of the rotation transmitting system, and
the motor control apparatus drives the electric motor in a feed-back control so that a detected rotational angle \u201c\u03b81\u201d of the electric motor becomes equal to or closer to the target rotational angle \u201c\u03b81tg\u201d for the electric motor.