Method of tracking a plurality of point-shaped objects in a three-dimensional space

A method of tracking a plurality of point-shaped objects in a three-dimensional space, the method comprising

• recording two-dimensional pictures of the plurality of objects by means of at least two black and white cameras out of at least two different imaging directions;
• wherein at least first and second pictures of the at least two black and white cameras are each exposed at at least two points in time in equal ways in that the objects are illuminated with short light pulses at the at least two points in time,
• wherein the first pictures are exposed simultaneously for a first time at a first point in time of a first light pulse of the short light pulses and for a last time at a second point in time of a second light pulse of the short light pulses following to the first point in time of the first light pulse of the short light pulses at a first inner-picture interval of time,
• wherein the second pictures are exposed simultaneously for a first time at a third point in time of a third light pulse of the short light pulses and for a last time at a fourth point in time of a fourth light pulse of the short light pulses following to the third point in time of the third light pulse of the short light pulses at a second inner-picture interval of time, and
• wherein the third point in time of the third light pulse of the short light pulses follows to the second point in time of the second light pulse of the short light pulses at an inner-picture interval of time of not more than 50% of the first inner-picture interval of time and of not more than 50% of the second inner-picture interval of time;
• determining a first distribution and a second distribution of real positions of the individual objects of the plurality of objects in the three-dimensional space from their images in the first pictures and from their images in the second pictures, respectively,
• wherein at least the first or the second distribution of the real positions of the individual objects of the plurality of objects in the three-dimensional space is determined from the images of the individual objects of the plurality of objects in the first or second pictures, respectively, in that an estimated distribution of the real positions of the individual objects in the three-dimensional space is adapted to their images in the first or second pictures, respectively, and
• wherein the estimated distribution of the real positions of the individual objects in the three-dimensional space is an object distribution of all of the individual objects in the three-dimensional space for which trajectories in the three-dimensional space have been determined before;
• and
• determining temporally resolved trajectories of the individual objects of the plurality of objects in the three-dimensional space from the determined first and second distributions of the real positions of the individual objects,
• wherein different real positions of the same individual objects of the plurality of objects in the first distribution are interrelated,
• wherein different real positions of the same individual objects of the plurality of objects in the second distribution are interrelated, and
• wherein different real positions of the same individual objects of the plurality of objects in the first and second distributions are interrelated.

A method of tracking a plurality of point-shaped objects in a three-dimensional space, the method comprising

• recording two-dimensional pictures of the plurality of objects by means of at least two black and white cameras out of at least two different imaging directions;
• wherein at least first and second pictures of the at least two black and white cameras are each exposed at at least two points in time in equal ways in that the objects are illuminated with short light pulses at the at least two points in time,
• wherein the first pictures are exposed simultaneously for a first time at a first point in time of a first light pulse of the short light pulses and for a last time at a second point in time of a second light pulse of the short light pulses following to the first point in time of the first light pulse of the short light pulses at a first inner-picture interval of time,
• wherein the second pictures are exposed simultaneously for a first time at a third point in time of a third light pulse of the short light pulses and for a last time at a fourth point in time of a fourth light pulse of the short light pulses following to the third point in time of the third light pulse of the short light pulses at a second inner-picture interval of time, and
• wherein the third point in time of the third light pulse of the short light pulses follows to the second point in time of the second light pulse of the short light pulses at an inner-picture interval of time of not more than 20% of the first inner-picture interval of time and of not more than 20% of the second inner-picture interval of time;
• determining a first distribution and a second distribution of real positions of the individual objects of the plurality of objects in the three-dimensional space from their images in the first pictures and from their images in the second pictures, respectively;
• and
• determining temporally resolved trajectories of the individual objects of the plurality of objects in the three-dimensional space from the determined first and second distributions of the real positions of the individual objects,
• wherein different real positions of the same individual objects of the plurality of objects in the first distribution are interrelated,
• wherein different real positions of the same individual objects of the plurality of objects in the second distribution are interrelated, and
• wherein different real positions of the same individual objects of the plurality of objects in the first and second distributions are interrelated.