KR20120125037A - Method for controlling surveillance system - Google Patents

Abstract

Disclosed is a method of controlling a surveillance system in which a controller controls the operation of a PTZ (panning, tilting and zooming) camera, a mobile camera, and a camera-mounted robot. The monitoring system control method according to the embodiment of the present invention includes steps (a) to (e). In step (a), for each image of the three-dimensional map of the surveillance area where the PTZ camera, the mobile camera, and the camera-mounted robot are present, actual three-dimensional coordinates are set in each pixel. In step (b), the actual three-dimensional coordinates of the current position of the PTZ camera, the mobile camera, and the camera-mounted robot are obtained. In step (c) an image of the three-dimensional map of the surveillance area is displayed. In step (d), the corresponding icons are displayed at points of the current location of the PTZ camera, the mobile camera, and the camera-mounted robot on the map of the display screen. In step (e), the operation of the PTZ camera, the mobile camera, and the camera-mounted robot is controlled according to user input signals through the map of the display screen.

Description

Method for controlling surveillance system

The present invention relates to a method for controlling a surveillance system, and more particularly, to a method for controlling a surveillance system in which a controller controls the operation of a PTZ (panning, tilting and zooming) camera, a mobile camera, and a camera-mounted robot. It is about.

Surveillance System For example, in a closed-circuit television (CCTV) system in which a communication network is formed, a controller in a control station may operate a PTZ, panning, tilting and zooming (PTZ) camera, a mobile camera, and a camera-mounted robot. To control.

Hereinafter, the PTZ camera refers to a camera that performs panning of left and right rotation, tilting of up and down rotation, and zooming of magnification. In addition, a mobile camera means a camera provided with a moving means to enable vertical movement and horizontal movement. The camera-mounted robot means a robot on which a camera is mounted.

Video signals from PTZ cameras, mobile cameras, and camera-mounted robots are displayed via a controller at the control station, while stored in a recording device within the controller.

In the controller of such a surveillance system, conventionally, operation buttons corresponding to each of a PTZ camera, a mobile camera, and a camera-mounted robot are provided. That is, control is performed by the user operating manipulation buttons corresponding to each of the PTZ camera, the mobile camera, and the camera-mounted robot.

The conventional surveillance system control method has the following problems.

First, it is difficult for the user of the controller to quickly find the corresponding operation buttons for controlling the operation of the PTZ camera, the mobile camera, and the camera-mounted robot.

Second, it is difficult for the user of the controller to quickly know the current position of each of the PTZ camera, the mobile camera, and the camera-mounted robot.

Therefore, according to the conventional surveillance system control method, the user of the controller cannot immediately and conveniently control the operation of each of the PTZ camera, the mobile camera, and the camera-mounted robot.

Embodiments of the present invention seek to provide a surveillance system control method that enables a user of a controller to immediately and conveniently control the operation of each of a PTZ camera, a mobile camera, and a camera-mounted robot.

According to an aspect of the present invention, a method for controlling a surveillance system for controlling a motion of a PITJET (PTZ) camera, a mobile camera, and a camera-mounted robot, comprising steps (a) to (e ) May be included.

In the step (a), the actual three-dimensional coordinates are set for each pixel with respect to the image of the three-dimensional map of the surveillance area in which the PTZ camera, the mobile camera, and the camera-mounted robot exist.

In step (b), actual three-dimensional coordinates of the current position of the PTZ camera, the mobile camera, and the camera-mounted robot are obtained.

In step (c), an image of a 3D map of the surveillance area is displayed.

In the step (d), in the map of the display screen, the PTZ camera, the mobile camera, and the camera at the points of the current position of the PTZ camera, the mobile camera, and the camera-mounted robot. Icons of the onboard robot are displayed.

In the step (e), the operations of the PTZ camera, the mobile camera, and the camera-mounted robot are controlled according to user input signals through the map of the display screen.

Meanwhile, in controlling the operation of the PTZ camera in the step (e), if any PTZ camera and one point on the map of the display screen are selected by user input signals, The control signals of the panning angle, tilting angle, and zoom magnification with respect to the actual three-dimensional coordinates of the selection point may be transmitted to the selected PTZ camera.

In addition, when the control signals are transmitted to the selected PTZ camera, panning may be performed based on a difference between an actual 3D coordinate of a current position of the selected PTZ camera and an actual 3D coordinate of the selection point. Angle, tilt angle and zoom magnification can be obtained.

In addition, the panning angle, tilting angle, and zoom magnification are obtained, wherein the panning angle and tilting angle according to the direction in which the selected PTZ camera views the selection point is obtained, and the selection The zoom magnification according to the distance between the PTZ camera and the selection point may be obtained.

In addition, if any one of the PTZ cameras and a plurality of points on the map of the display screen is selected by the user input signals in the step (e), a panning angle and a tilting angle for each of the plurality of points. And a zoom magnification may be stored so that the selected PTZ camera may repeatedly photograph the plurality of points in order.

In addition, in controlling the operation of the PTZ camera in the step (e), when a plurality of PTZ cameras are selected together by user input signals, the selected PTZ cameras are simultaneously Can be controlled.

Further, in controlling the operation of the mobile camera in step (e), if a mobile camera and a point on the map of the display screen are selected by the user input signals, the selected mobile camera is connected to the selected mobile camera. At least one control signal among a movement height and a movement position with respect to the actual three-dimensional coordinates may be transmitted.

In addition, when the control signal is transmitted to the selective moving camera, if the selection point is not included in the angle of view area at the current height of the selective moving camera, a control signal having a moving height corresponding to the position of the selection point is provided. Can be sent.

In addition, when the control signal is transmitted to the selective moving camera, if an obstacle exists on the connection straight line between the selective moving camera and the selection point, a control signal of a movement position corresponding to the position of the selection point may be transmitted. Can be.

Further, in controlling the operation of the camera-mounted robot in the step (e), if one camera-mounted robot and one shooting range are selected in the map of the display screen by the user input signals, the selected camera Control signals of movement and imaging of the selected shooting range can be transmitted to the onboard robot.

Further, in the control signals of movement and shooting of the selective shooting range are transmitted to the selective camera-mounted robot, all of the selective shooting ranges are shot with a minimum number of shots according to the camera angle of view of the selective camera-mounted robot. Setting the possible shooting robot positions, setting the shortest path via all of the set shooting robot positions, and transmitting the control signals of the movement and the shooting according to the set shortest path and the shooting robot positions. Can be.

According to an embodiment of the present invention, an actual three-dimensional coordinate is set for each pixel with respect to the image of the three-dimensional map of the surveillance area, and the PTZ camera, the mobile camera, and the camera- are displayed on the map of the display screen. Corresponding icons are displayed at points of the current location of the onboard robot, and the operations of the PTZ camera, the mobile camera, and the camera-mounted robot are controlled according to user input signals through a map of the display screen.

Therefore, according to the embodiment of the present invention, there are the following effects.

First, as the actual three-dimensional coordinates are set for each pixel with respect to the image of the three-dimensional map of the surveillance area, through the image of the three-dimensional map of the PTZ camera, the mobile camera, and the camera-mounted robot The operation can be controlled.

Second, the user of the controller can immediately activate any one of the icons of the PTZ camera, the mobile camera, and the camera-mounted robot on the map of the display screen to control the operation of the control target. have.

Third, the corresponding icons are displayed at the points of the current position of the PTZ camera, the mobile camera, and the camera-mounted robot on the map of the display screen, so that the user of the controller can quickly know the current position of the control target. Can be.

In conclusion, according to an embodiment of the present invention, an image of a 3D map is used so that a user of a controller can immediately and conveniently control the operation of each of the PTZ camera, the mobile camera, and the camera-mounted robot. Can be.

1 is a view showing a monitoring system to which the monitoring system control method according to an embodiment of the present invention is applied.
2 is a flowchart illustrating a monitoring system control method according to an embodiment of the present invention.
FIG. 3 is a view showing images and icons of a 3D map of a surveillance area displayed by a controller in the control station of FIG. 1.
4 is a flowchart illustrating detailed processes of step S25 of FIG. 2.
FIG. 5 is a flowchart illustrating detailed processes of step S42 of FIG. 4.
FIG. 6 is a diagram for describing steps S52 and S53 of FIG. 5.
FIG. 7 is a diagram for describing steps S55 to S57 of FIG. 5.
FIG. 8 is a diagram for describing steps S43 and S44 of FIG. 4.
9 is a flowchart showing detailed processes of step S46 of FIG.
FIG. 10 is a flowchart illustrating detailed processes of step S48 of FIG. 4.

The following description and the annexed drawings are for understanding the operation according to the present invention, and a part that can be easily implemented by those skilled in the art may be omitted.

In addition, the specification and drawings are not provided to limit the invention, the scope of the invention should be defined by the claims. Terms used in the present specification should be interpreted as meanings and concepts corresponding to the technical spirit of the present invention so as to best express the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

1 illustrates a monitoring system to which a monitoring system control method according to an exemplary embodiment of the present invention is applied.

Referring to FIG. 1, the PTZ cameras 121 to 124, the mobile cameras 131 and 132, and the camera-mounted robot 141 communicate with the controller 11a in the control station 11. The video signals of the live-view are transmitted to the controller 11a. The video signals received at the controller 11a are displayed via a display device, while being stored in a recording device, for example a hard disk drive.

In FIG. 1, reference numerals 131c and 132c denote camera portions of the mobile cameras 131 and 132. Reference numeral 141c denotes a camera portion of the camera-mounted robot 141.

Here, the controller 11a is a PITJET (PTZ) cameras 121 to 124, mobile cameras 131 and 132, and a camera-mounted robot according to a surveillance system control method according to an embodiment of the present invention. 141) Control each operation. Related contents will be described in detail with reference to FIGS. 2 to 10.

2 shows a monitoring system control method according to an embodiment of the present invention. FIG. 3 shows images and icons 121i to 124i, 131i, 132i and 141i of the three-dimensional map of the surveillance area displayed by the controller 11a in the control station 11 of FIG. In FIG. 3, reference numeral 3 denotes a display screen, 121i to 124i denotes Pizjet (PTZ) camera icons, 131i and 132i denote mobile camera icons, and 141i denotes a camera-mounted robot icon, respectively.

1 to 3, the monitoring system control method of FIG. 2 will be described.

First, the controller 11a, according to the user input, is a three-dimensional map of the surveillance area in which the Pizjet (PTZ) cameras 121 to 124, the mobile cameras 131 and 132, and the camera-mounted robot 141 are present. 3, actual three-dimensional coordinates are set for each pixel (step S21).

The controller 11a then, according to the user input, the actual three-dimensional coordinates of the current position of the Pizjet (PTZ) cameras 121 to 124, the mobile cameras 131, 132, and the camera-mounted robot 141. Is obtained (step S22).

Next, the controller 11a displays an image (FIG. 3) of the three-dimensional map of the surveillance area (step S23).

Next, the controller 11a, on the map of the display screen 3, of the current position of the Pizjet (PTZ) cameras 121-124, the mobile cameras 131, 132, and the camera-mounted robot 141. Display the icons 121i to 124i, 131i, 132i and 141i of the PTZ cameras 121 to 124, the mobile cameras 131 and 132, and the camera-mounted robot 141 at the points (step) S24).

In addition, the controller 11a may include PTZ cameras 121 to 124, mobile cameras 131 and 132, and a camera-mounted robot 141 according to user input signals through a map of the display screen 3. (Step S25).

4 shows detailed processes of step S25 of FIG. 2. Referring to Figures 1, 3 and 4 will be described in detail the process of step S25 of FIG.

As the user clicks a mouse on the map of the display screen 3, if any one of the PTZ cameras 121 to 124 has been selected (step S41), the controller ( 11a) controls the selection pijet (PTZ) camera according to the user input signals (step S42).

When a user drags a mouse on a map of the display screen 3, a plurality of PTZ cameras adjacent to each other may be selected among the PTZ cameras 121 to 124. (Step S43). Alternatively, a plurality of PTZ cameras may be selected as the user clicks a mouse on the map of the display screen 3 while pressing the control button of the keyboard (step S43). In this case, the controller 11a simultaneously controls the selection pijet (PTZ) cameras according to the user input signals (step S44).

As the user clicks the mouse on the map of the display screen 3, if any one of the movable cameras 131 and 132 is selected (step S45), the controller 11a uses the selected movable camera as a user. Control is performed in accordance with the input signals (step S46).

Similarly, as a user clicks a mouse on the map of the display screen 3, if any camera-mounted robot 141 has been selected (step S47), the controller 11a selects the selected camera-mounted robot ( 141 is controlled according to the user input signals (step S48).

All of the above steps S41 to S48 are repeatedly performed until the end signal is generated (step S49).

FIG. 5 shows detailed processes of step S42 of FIG. 4. Referring to Figures 1, 3 and 5 will be described in detail the process of step S42 of FIG.

In response to the user input signals, for example, if a point on the map of the display screen 3 is selected by the user clicking a mouse on the map of the display screen 3 (step S51), the PITJET ( PTZ) Control signals of panning angle, tilting angle and zoom magnification with respect to the actual three-dimensional coordinates of the selection point are transmitted to the selection pizette (PTZ) camera among the cameras 121 to 124 (steps S52 to S54). ).

In the control signals being transmitted to the selected PZJT cameras among the PZJT cameras 121 to 124 (steps S52 to S54), the actual three-dimensional coordinates of the current position of the selected PZJT camera. By the difference between the actual three-dimensional coordinates of the selection point and the panning angle, tilting angle and zoom magnification are obtained (steps S52 and S53).

More specifically, panning according to the direction in which the selected PTZ camera views the selection point by a difference between the actual three-dimensional coordinates of the current position of the selection PTZ camera and the actual three-dimensional coordinates of the selection point. The angle and tilting angle are obtained (step S52).

In addition, the zoom magnification according to the distance between the selected PTZ camera and the selection point by a difference between the actual three-dimensional coordinates of the current position of the selected PTZ camera and the actual three-dimensional coordinates of the selection point. Is obtained (step S53).

Accordingly, control signals of a panning angle, tilting angle, and zoom magnification with respect to the actual three-dimensional coordinates of the selection point may be transmitted to the selected PTZ camera among the PTZ cameras 121 to 124. It may be (step S54).

On the other hand, due to user input signals, for example, a user clicks a mouse on a map of the display screen 3 while holding down a control button of a keyboard, and thus the plurality of maps on the map of the display screen 3. May be selected (step S55).

In this case, the controller 11a applies steps S52 and S53 to obtain and store the panning angle, tilting angle, and zoom magnification for each of the plurality of points (step S56). In addition, the controller 11a transmits control signals to the selection pijet (PTZ) camera so that the selection pijet (PTZ) camera repeatedly photographs the plurality of points in order (step S57).

All the above steps S51 to S57 are repeatedly performed until the end signal is generated (step S58).

FIG. 6 is a diagram for describing steps S52 and S53 of FIG. 5.

In FIG. 6, reference numeral 122 denotes a selection pizette (PTZ) camera, and 62 denotes a selection point. Reference numeral A denotes a point where the X-Z coordinate is the same as that of the selection pizette (PTZ) camera and the Y coordinate is the same as that of the selection point 62. Reference numeral B denotes a point where the Z coordinate is the same as that of the selection pizette (PTZ) camera and the X-Y coordinate is the same as that of the selection point 62. Reference numeral C denotes a point where the Y-Z coordinate is the same as that of the selection pizette (PTZ) camera and the X coordinate is the same as that of the selection point 62.

5 and 6, in step S52, the actual three-dimensional coordinates (Xc, Yc, Zc) of the current position of the selection pijet (PTZ) camera 122 and the actual three-dimensional coordinates of the selection point 62 ( By the difference between Xp, Yp, and Zp, the panning angle θp and the tilting angle θt corresponding to the direction in which the selected PZJT camera 122 views the selection point are obtained.

Further, in step S53, the actual three-dimensional coordinates (Xc, Yc, Zc) of the current position of the selection pijet (PTZ) camera 122 and the actual three-dimensional coordinates (Xp, Yp, Zp) of the selection point 62. According to the difference, the zoom factor according to the distance between the selection point 62 (PTZ) camera 122 and the selection point 62 is obtained.

FIG. 7 is a diagram for describing steps S55 to S57 of FIG. 5. The steps S55 to S57 of FIG. 5 will be described with reference to FIGS. 1, 4, 5, and 7 as follows.

In operation S41 of FIG. 4, after the user selects an icon 71i of one PTZ camera on the map of the display screen 3, a plurality of points may be selected in operation S55 of FIG. 5.

In this case, the controller 11a applies steps S52 and S53 to obtain and store the panning angle, tilting angle, and zoom magnification for each of the plurality of points (step S56). In addition, the controller 11a transmits control signals to the selection pijet (PTZ) camera so that the selection pijet (PTZ) camera repeatedly photographs the plurality of points in order (step S57).

FIG. 8 is a diagram for describing steps S43 and S44 of FIG. 4. The steps S43 and S44 of FIG. 4 will be described with reference to FIGS. 4 and 8 as follows.

When a user drags a mouse on a map of the display screen 3, a plurality of PTZ cameras C1 to C4 adjacent to each other may be selected among the PTZ cameras. It may be (step S43). In FIG. 8, reference numeral 91 denotes a drag window by a user's mouse operation.

Alternatively, a plurality of PTZ cameras C5 to C7 may be selected as the user clicks a mouse on a map of the display screen 3 while pressing a control button of a keyboard. (Step S43). In this case, the controller 11a simultaneously controls the selection pijet (PTZ) cameras according to the user input signals (step S44).

9 is a flowchart showing detailed processes of step S46 of FIG. A detailed process of step S46 of FIG. 4 will be described with reference to FIGS. 1 and 9 as follows.

In the controller 11a controlling the selective moving camera 131 or 132 according to the user input signals, the selective moving camera 131 or 132 has at least any of a moving height and a moving position with respect to the actual three-dimensional coordinates of the selection point. One control signal is transmitted (steps S93 and S94).

More specifically, if the selection point is not included in the angle of view area at the current height of the selection movable camera 131 or 132 (step S91), the controller 11a controls the control signal of the movement height corresponding to the position of the selection point. Is transmitted to the selected mobile camera 131 or 132 (step S93).

In addition, if there is an obstacle on the connection straight line between the selection movable camera 131 or 132 and the selection point (step S92), the controller 11a selects a control signal of the movement position corresponding to the position of the selection point. 131 or 132) (step S94).

FIG. 10 shows detailed processes of step S48 of FIG. 4. Referring to Figures 1, 3 and 10 will be described in detail the process of step S48 of FIG.

In controlling the operation of the camera-mounted robot 141, if any camera-mounted robot and one shooting range are selected on the map of the display screen 3 by user input signals (steps S47 and FIG. S48), control signals of movement and shooting for the selective shooting range are transmitted to the selective camera-mounted robot.

More specifically, the controller 11a sets the imaging robot positions at which all of the selected shooting ranges can be taken with a minimum number of shooting times, according to the camera angle of view of the selection camera-mounted robot 141 (step S101). .

Next, the controller 11a sets the shortest path via all the set imaging robot positions (step S102).

Then, the controller 11a transmits control signals of movement and shooting to the selection camera-mounted robot 141 according to the set shortest path and shooting robot positions (step S103).

As described above, according to an embodiment of the present invention, the actual three-dimensional coordinates are set to each pixel with respect to the image of the three-dimensional map of the surveillance area, the PTZ camera, the mobile camera on the map of the display screen And icons are displayed at points of the current position of the camera-mounted robot, and the operation of the PTZ camera, the mobile camera, and the camera-mounted robot is controlled according to user input signals through a map on the display screen. do.

Therefore, according to the embodiment of the present invention, there are the following effects.

First, as the actual three-dimensional coordinates are set for each pixel of the image of the three-dimensional map of the surveillance area, the operation of the PTZ camera, the mobile camera, and the camera-mounted robot through the image of the three-dimensional map This can be controlled.

Secondly, the user of the controller may immediately activate any one icon among the icons of the PTZ camera, the mobile camera, and the camera-mounted robot on the map of the display screen to control the operation of the control target.

Third, the corresponding icons are displayed at points of the current position of the PTZ camera, the mobile camera, and the camera-mounted robot on the map of the display screen, so that the user of the controller can quickly know the current position of the control target. .

In conclusion, according to an embodiment of the present invention, the image of the three-dimensional map is used, the user of the controller can immediately and conveniently control the operation of each of the PTZ camera, mobile camera, and camera-mounted robot have.

The present invention has been described above with reference to preferred embodiments. It will be understood by those skilled in the art that the present invention may be embodied in various other forms without departing from the spirit or essential characteristics thereof. Therefore, the disclosed embodiments should be considered in descriptive sense only and not for purposes of limitation. The scope of the present invention is defined by the appended claims rather than by the foregoing description, and the inventions claimed by the claims and the inventions equivalent to the claimed invention are to be construed as being included in the present invention.

It can be used for a general live-view network system.

11 control station, 11a controller,
121 to 124 ... PTZ cameras, 131, 132 ... mobile cameras,
141 ... camera-mounted robot, 3 ...
121i to 124i ... PTZ camera icons,
131i, 132i ... mobile camera icons,
141i ... Camera-mounted robot icon, 62 ... Selection point,
71i ...... PTZ camera icon,
C1 to C7 ... PTZ camera icons,
91 ... drag window.

Claims (11)

In the surveillance system control method for the controller to control the operation of the PTZ (panning, tilting and zooming) camera, mobile camera, and camera-mounted robot,
(a) setting actual three-dimensional coordinates of each pixel with respect to an image of a three-dimensional map of a surveillance area in which the PTZ camera, a mobile camera, and a camera-mounted robot exist;
(b) obtaining actual three-dimensional coordinates of the current position of the PTZ camera, the mobile camera, and the camera-mounted robot;
(c) displaying an image of a 3D map of the surveillance area;
(d) In the map of the display screen, the PTZ camera, the mobile camera, and the camera-mounted robot at points of the current position of the PTZ camera, the mobile camera, and the camera-mounted robot. Displaying icons; And
and (e) controlling the operation of the PTZ camera, the mobile camera, and the camera-mounted robot according to user input signals through a map of the display screen. The method of claim 1, wherein in controlling the operation of the PTZ camera in step (e),
According to user input signals, if either PTZ camera and any point are selected on the map of the display screen, the tilting angle of the selected PTZ camera to the actual three-dimensional coordinates of the selected point is tilted. A method of controlling a surveillance system in which control signals of angle and zoom magnification are transmitted. The method of claim 2, wherein the control signals are transmitted to the selected PTZ camera.
And a panning angle, a tilting angle, and a zoom magnification are obtained by a difference between an actual three-dimensional coordinate of a current position of the selected PTZ camera and an actual three-dimensional coordinate of the selection point. The method according to claim 3, wherein the panning angle, tilting angle and zoom magnification are obtained.
The panning angle and the tilting angle according to the direction in which the selected PTZ camera views the selection point are obtained.
And a zoom magnification according to a distance between the selected PTZ camera and the selection point. The method of claim 4, wherein, in step (e), if any one of the PTZ cameras and the plurality of points in the map of the display screen is selected by the user input signals,
The panning angle, tilting angle and zoom magnification for each of the plurality of points are stored,
A method of controlling a surveillance system, wherein a selective pijet (PTZ) camera is controlled to repeatedly photograph the plurality of points in sequence. The method of claim 1, wherein in controlling the operation of the PTZ camera in step (e),
If the plurality of PTZ cameras are selected together by the user input signals, the selected system is controlled simultaneously. The method of claim 1, wherein in controlling the operation of the mobile camera in step (e),
According to user input signals, if any one mobile camera and one point on the map of the display screen are selected, at least one control signal among the moving height and the moving position with respect to the actual three-dimensional coordinates of the selection point to the selected moving camera. Surveillance system control method is transmitted. The method of claim 7, wherein the control signal is transmitted to the selected mobile camera,
And if the selection point is not included in the field of view area at the current height of the selection moving camera, a control signal of a moving height corresponding to the position of the selection point is transmitted. The method of claim 8, wherein the control signal is transmitted to the selected mobile camera,
And a control signal of a movement position corresponding to the position of the selection point is transmitted when an obstacle exists on the connection straight line between the selection movement type camera and the selection point. The method of claim 1, wherein in controlling the operation of the camera-mounted robot in the step (e),
Surveillance system in which control signals of movement and shooting for the selected shooting range are transmitted to the selected camera-mounted robot when a camera-mounted robot and a shooting range are selected on the map of the display screen by user input signals. Control method. The method according to claim 10, wherein the control signals of movement and shooting for the selective shooting range are transmitted to the selective camera-mounted robot.
Setting photographic robot positions in which all of the selected photographing ranges can be photographed with a minimum number of photographing times according to a camera angle of view of the selected camera-mounted robot;
Setting a shortest path via all of the set photographing robot positions; And
And transmitting control signals of the movement and the imaging according to the set shortest path and the imaging robot positions.

Images