CN101072332A - Automatic mobile target tracking and shooting method - Google Patents
Automatic mobile target tracking and shooting method Download PDFInfo
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- CN101072332A CN101072332A CN 200710074708 CN200710074708A CN101072332A CN 101072332 A CN101072332 A CN 101072332A CN 200710074708 CN200710074708 CN 200710074708 CN 200710074708 A CN200710074708 A CN 200710074708A CN 101072332 A CN101072332 A CN 101072332A
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Abstract
The method includes following steps: cyclic variational dynamic markers recognizable to computer image system are installed on moving targets; based on realtime graphic shot by panorama pick-up head, image analysis module finds out position data in coordinates of dynamic markers in whole image, and sends the data to the capture module for moving target; the capture module calculates specific positions of the dynamic markers within range of panorama pick-up head, as well as controls rotation of tracking pick-up head; thus, shooting focus aims at specific positions of the dynamic markers in realtime; sending images of the dynamic markers taken in realtime to pointed monitor for display. Using current equipment, the invention increases intelligence and controllability. Moreover, ordinary user can install system by self to monitor dynamic object expediently without need of help from specialized technical personnel.
Description
Technical field
The present invention relates to the video monitor field, especially relate to a kind of method of automatically moving target being carried out the real-time tracking shooting.
Background technology
Existing from the motion tracking camera, have plenty of camera and be provided with the passive type infrared remote receiver, the passive type infrared remote receiver all separately with one independently signal amplification circuit be connected, signal amplification circuit is connected to a drive circuit, drive circuit is connected at least one drive motors, and drive motors is arranged in the bracing frame driving mechanism.When the mobiles that is taken appears within the range of receiving of infrared receiving tube, infrared ray is reflected back toward infrared receiving tube, when mobiles continues motion, the monitoring point of a plurality of settings is inverse signal respectively, can judge the direction of motion of target object, send drive signal to drive circuit then, rotatable bracing frame rotates to the direction of motion of mobiles, thereby follow the movement locus of mobiles, camera also turns to the direction of mobiles simultaneously.Though use this camera can follow the tracks of mobiles accurately, its complex structure, cost is higher.Also have a kind of on the market from the motion tracking camera, it is by carrying out pattern matching with the characteristic and the built-in initialize data of camera of camera catcher face, can capture people's face easily, and pass through the stepping motor of its inside of driving, make the camera track human faces.This camera, its structure is simpler, but its face feature by the identification people catches, because people's face feature complexity can only catch and move slower object, when object moves when very fast, it just can not accurate recognition and captures.In addition, its capture velocity is also very low.So in order to satisfy the video technique demand of high speed development, it is a kind of under the existing equipment condition to be badly in need of invention, simple operations can be carried out, cost is low, fast and accurately the method for trace trap object automatically.
Summary of the invention
The objective of the invention is for video monitoring system provides a kind of method of taking from the motion tracking moving target, this method comprises the steps:
Steps A: it is discernible dynamically labeled that installation has periodically variable computer on moving target, the dynamically labeled feature here is that its variation is automatically compared with other materials variations in its environment, very obvious characteristics is arranged, automatically identified by image processing system easily, can be the light emitting source of intermittence flicker, the luminous tube that replaces as a light and shade that exposes all the time;
Step B: a static panoramic shooting head is implemented to take continuously in the mobilizable scope of moving target, and the realtime graphic of taking is sent in the image analysis module in the computer, the shooting process here is obviously to be interrupted the picture group sheet taken or continuous to record a video when long, wherein, the scope that the panoramic shooting head can be taken is a round zone that covers moving target, it is a virtual region, just on the computer or show on the monitor, dynamically labeled coordinate position is vector representation, automatically calculated and handled by image processing system, wherein the method for expressing of vector is: with dynamically labeled coordinate position to the distance in the above-mentioned round regional center of circle and depart from the datum line angle and represent;
Step C: the image analysis module in the computer is found out dynamically labeled coordinate position in entire image according to the realtime graphic that the panoramic shooting head photographs, and this coordinate position data is sent in the moving target capture module;
Step D: but the moving target capture module calculates the particular location of moving target in panoramic shooting head coverage in real time according to dynamically labeled coordinate position, and the camera rotation is followed the tracks of in control, make it take the real-time particular location of moving target in focus, the tracking camera here can have the focusing function, control its focal length by the moving target capture module, make the moving target image of shooting reach sharpening;
Step e: follow the tracks of camera the moving target realtime graphic that photographs is sent to the image processing system of computer, and show by the monitor of appointment.
Further optimization to technique scheme is: the quantity of moving target can be one or more, correspondingly, also there is the tracking camera of equal number to follow the tracks of each moving target, here a panoramic shooting head finds all moving targets in its coverage, follow the tracks of camera by each again and follow the tracks of a moving target, the dynamic image of moving target is shown on monitor, can be that a monitor split screen shows, also can be that a plurality of displays show respectively.
Further optimization to technique scheme is: the position of panoramic shooting head and adjustable focal length are whole, by the scope of activities automatic setting of image processing system according to moving target, begin to take to be fixed up after the moving target and no longer change.The static of panoramic shooting head among the present invention is relative, only it is static when moving target is caught, moving target is only movable in the zone that the panoramic shooting head is covered, in general, moving target is an autonomic activities, before shooting, at first to determine the scope of activities of moving target, again the shooting area of panoramic shooting head is adjusted to the scope of activities that covers moving target, this adjustment can manually be set according to the concrete condition of moving target, also can be by the image processing system automatic setting of computer, when automatic setting, earlier the coverage of panoramic shooting head is adjusted to maximum, moving target is included in its shooting area, and the image processing system by computer detects the maximum border that moving target can reach in the regular period again, obtains enough boundary points, the round zone that forms with these boundary points is exactly the static shooting area of taking head, and it is just passable by the camera control system shooting area of static camera to be adjusted to above-mentioned requirements.
Further optimization to technique scheme is: follow the tracks of the double freedom rotation that camera can carry out two-dimensional space, control rotation amount on two degree of freedom by the moving target capture module, with the alignment activity target, double freedom is generally realized by camera is installed on the The Cloud Terrace, the activity of The Cloud Terrace is controlled by computer system, the camera that carries the double freedom rotation that also has.
Further optimization to technique scheme is: in the present invention, generally realize supervision to moving target by two cameras, the panoramic shooting head is caught the dynamic position of moving target, follows the tracks of camera Moving Target Tracking is taken.If the user is less demanding to the supervision of moving target, as only seeing its profile clearly, less demanding to the concrete precision of images, just can realize with a camera, concrete grammar is: in the whole realtime graphic that the image analysis module in the computer photographs according to the panoramic shooting head, with dynamically labeled is the realtime graphic that datum mark expansion certain limit intercepts moving target automatically, and its dynamic real-time video recording is played back in monitor.Here, because what camera was taken is the plane picture of moving target, it is the view of a direction of three-dimensional moving target, ideal situation is that the view of moving target is circular, and the dynamically labeled middle position that just in time is in view plane, be that center of circle border circular areas of expansion is just passable then with this position.But reality often is not like this, as moving target is a people, and dynamically labeled be certain moving point on the object in the staff, in this case, just need the scope of a moving target of User Defined, as draw a border circular areas and just in time moving target is included.
In the technical scheme of above-mentioned optimization, if the panoramic shooting head has highly sensitive control system, and has the double freedom spinfunction and the focusing function of significantly stretching, also can allow this camera bear the dual-use function of panoramic shooting head and tracking camera, carry out the switching of its function by the cam movement state control system, concrete grammar is: when moving target above the regular hour visibility point variation does not take place, the panoramic shooting head can be automatically aimed at coverage and focal length and is dynamically labeledly taken for the moving target of basic point, when the generation significant change of moving target position exceeds coverage, the panoramic shooting head recovers original state automatically, again catch the moving target position and take, and repeat said process.
The present invention can bring following beneficial effect:
After adopting technical scheme of the present invention, utilizing under the existing appointed condition surveillance operation target accurately and efficiently.If utilize the present invention to develop special video monitoring system equipment, just more increased surveillance equipment intellectuality and can be handling, need not be by the professional and technical personnel, surveillance just can be installed voluntarily by domestic consumer, and the moving target thing is monitored in real time easily.If technical scheme of the present invention is integrated into other application system, more can improve the intelligent level of application system and enrich its function, as be applied in the remote multi-media Online Video conference system, can catch the people that each is made a speech automatically in this video conferencing system in meeting, and the realization of its speech video recording sent to other conference terminals, when the spokesman changes, operating personnel's manual switching camera lens that need not be special, system can adjust automatically.
Figure of description
Fig. 1 is the dual camera Moving Target Tracking image pickup method flow chart among the present invention;
Fig. 2 is the single camera Moving Target Tracking image pickup method flow chart among the present invention.
Embodiment
Understand and enforcement the present invention for the ease of those of ordinary skills, the present invention is described in further detail below in conjunction with embodiment.
Certain video conferencing system has adopted moving target auto-tracking shooting technical scheme of the present invention, in the on-the-spot meeting of reality, the spokesman of camera in the motion tracking meeting, and the field image of its speech is passed through video conferencing system be sent on the meeting display screen or on other long-range meeting persons' of watching the display screen.The moving target here is exactly the meeting spokesman, the LED of an outstanding colour flicker of installing on the microphone surface that the dynamically labeled spokesman of being exactly handed (mark 1 of Fig. 1 or the mark 11 of Fig. 2), this LED can be installed on the top of microphone, LED begins flicker when opening the microphone speech, in any direction can obviously see, after camera is taken the picture comprise this LED and is transferred to the image analysis system of computer, system can discern and locate the position of this LED immediately, thereby moving target (being the meeting spokesman) is positioned.The present invention is described in detail below by 4 embodiment.
Embodiment 1: the dual camera Moving Target Tracking is taken
See Figure of description Fig. 1, the dual camera Moving Target Tracking is taken in meeting room, a panoramic shooting head has been installed has been aimed at the rostrum, and adjust panoramic shooting head shooting area (mark 2 among Fig. 1), make the coverage of panoramic shooting head just cover all spokesmans on the whole rostrum, will keep this camera to maintain static later on.Speed up the tracking camera that the activity of a band double freedom also has been installed with the panoramic shooting head in addition, the coverage of its shooting is spokesman's a upper part of the body feature image.After meeting begins, the meeting presider gives spokesman on the rostrum with microphone, the spokesman open microphone begin the speech after, LED on the microphone begins flicker, the panoramic shooting head can capture dynamically labeled and definite its position (mark 3) from the dynamic menu of the whole rostrum that photographs, here dynamically labeled is exactly the LED of flicker, because before and after the whole rostrum that the panoramic shooting head is taken in the different picture, have only the front and back of LED position picture to change maximum, just identify easily.Whole rostrum picture is placed coordinate system, just can determine dynamically labeled particular location.Wherein following the tracks of camera can scan in the shooting area of panoramic shooting head covering, follow the tracks of the camera control system just can by above-mentioned dynamically labeled particular location the shooting focus of tracking camera can be moved to dynamically labeled on, make the above-mentioned dynamically labeled particular location of centrally aligned of the shooting area of following the tracks of camera, it is spokesman's (mark 4) that the tracking camera has just been aimed at moving target, (mark 5) taken and transmitted to spokesman's upper part of the body feature activity video just by following the tracks of camera, in shooting process, whether the panoramic shooting head is also monitored dynamically labeled position in real time significant change (mark 6), an amplitude of variation can be set, when exceeding the shooting radius of following the tracks of camera as displacement when microphone, think above-mentioned variation has taken place, this moment, the spokesman arrived the edge of following the tracks of the camera shooting area, need reorientate the particular location of activity mark (LED promptly glimmers).System turns back to mark 3 described steps, and repeats all the other processes, thereby when the position that guarantees moving target changes, follows the tracks of that camera all can in time be caught and track up.
The situation that above-mentioned moving target position changes has:
(1) spokesman's speech finishes, and microphone is passed to another spokesman;
(2) microphone is all arranged on the rostrum in face of each spokesman who sits, the microphone that moment only obtains the floor is opened, and the LED above it begins flicker;
(3) spokesman walks about on the rostrum, is equivalent to follow the tracks of host, teaching teacher, singer's walking about on platform.
Under above-mentioned various situations, the system of employing technical solution of the present invention all can follow the tracks of moving target timely and accurately and take.When live meeting, the two pictures of feature picture split screen on video conference displays of big picture of panorama and tracking can be shown that the meeting spectator can see the on-the-spot panorama of meeting and each spokesman's expression like this.
In the flow chart of present embodiment, do not have end step, refer to that the process of taking is that the circulation in indefinite duration is carried out, need the user manually to stop, later embodiment is all identical.
Embodiment 2: single camera moving target digitized processing shows
Present embodiment does not have accompanying drawing, just the captured picture of panoramic shooting head is carried out digitized processing by computer, identify dynamically labeled zone from the whole dynamic menu of taking, this zone is exactly spokesman's a dynamic image, should the zone amplification show just passable.If dynamically labeled position changes, can reorientate new spokesman, and amplify its region of demonstration.May descend to some extent owing to amplify the quality that shows the back picture, therefore can adopt high-resolution camera and cooperate image processing techniques, to reach satisfied effect, this method is fairly simple, and implementation cost is low, can automatically carry out.
Embodiment 3: the single camera Moving Target Tracking is taken
See Figure of description Fig. 2, adopt the meeting scene identical with embodiment 1, only adopt a camera, this camera also has dolly camera except having double freedom rotates, and can carry out the optical zoom of two kinds of multiples.The initial position of camera is equivalent to a panoramic shooting head and aims at the rostrum, and adjusts its initial parameter (mark 12 among Fig. 2) in advance, makes the initial coverage of camera just cover all spokesmans on the whole rostrum.The coverage of its shooting is spokesman's a upper part of the body feature image behind the camera zoom in addition.After meeting begins, the meeting presider gives spokesman on the rostrum with microphone, the spokesman open microphone begin the speech after, LED on the microphone begins flicker, camera can capture dynamically labeled and definite its position (mark 13) from the dynamic menu of the whole rostrum that the position initial position photographs, here dynamically labeled is exactly the LED of flicker, because before and after the whole rostrum that camera is taken in the different picture, have only the front and back of LED position picture to change maximum, just identify easily.Whole rostrum picture is placed coordinate system, just can determine dynamically labeled particular location.Be equivalent to follow the tracks of camera behind the camera zoom, can be from whole meeting picture be scanned, by above-mentioned dynamically labeled particular location the shooting focus of camera behind the zoom can be moved to dynamically labeled on, make the above-mentioned dynamically labeled particular location of centrally aligned of its shooting area, it has just aimed at moving target is spokesman's (mark 14), (mark 15) just taken and transmit to spokesman's upper part of the body feature activity video by camera, in shooting process, camera is also monitored dynamically labeled whether disappear (mark 16) in real time in picture, if disappear, illustrate that the spokesman has left the shooting area of camera, need reorientate the particular location of activity mark (LED promptly glimmers), camera need return initial position parameters to moving target focus again (mark 17).Continue mark 15 and follow-up step thereof among Fig. 2 after finding the new position of moving target.When thereby the position that guarantees moving target changed, camera all can in time be caught and track up.
Embodiment 4: single camera roundtable conference track up
Present embodiment does not have accompanying drawing, when carrying out a roundtable conference, the common camera that only needs a single-degree-of-freedom 360 degree to horizontally rotate is just passable, need not zoom, camera is placed the on-the-spot central authorities of roundtable conference, can photograph each meeting personnel's feature image when camera horizontally rotates.After meeting began, camera began to horizontally rotate, and the realtime graphic of taking is sent in the computer analyzed, in case occur the LED of flicker in the image in taking, illustrate that camera has captured the spokesman, just stopped the rotation immediately, and aimed at spokesman's shooting.And whether detected activity mark (LED of flicker) disappears in picture in real time, in case disappear, just starts the camera rotation once more, catches activity mark again.
Claims (10)
1, a kind of method of taking from the motion tracking moving target comprises the steps:
Steps A: it is discernible dynamically labeled that installation has periodically variable computer on moving target;
Step B: static panoramic shooting head is implemented to take continuously in the mobilizable scope of moving target, and the realtime graphic of taking is sent in the image analysis module in the computer;
Step C: the image analysis module in the computer is found out dynamically labeled coordinate position in entire image according to the realtime graphic that the panoramic shooting head photographs, and this coordinate position data is sent in the moving target capture module;
Step D: but the moving target capture module calculates the particular location of moving target in panoramic shooting head coverage in real time according to dynamically labeled coordinate position, and the rotation of control tracking camera, make it take the real-time particular location of moving target in focus;
Step e: follow the tracks of camera the moving target realtime graphic that photographs is sent to the image processing system of computer, and show by the monitor of appointment.
2, method of taking according to claim 1 from the motion tracking moving target, it is characterized in that described dynamically labeled be the light emitting source of intermittence flicker.
3, method of taking from the motion tracking moving target according to claim 1, the quantity that it is characterized in that described moving target can be one or more, correspondingly, also has the tracking camera of equal number to follow the tracks of each moving target.
4, method of taking from the motion tracking moving target according to claim 1 is characterized in that described shooting is for obviously being interrupted the picture group sheet taken or continuous recording a video when long.
5, method of taking according to claim 1 from the motion tracking moving target, it is characterized in that the scope that the panoramic shooting head can be taken is a round zone that covers moving target, dynamically labeled coordinate position is vector representation, is calculated automatically and is handled by image processing system.
6, method of taking according to claim 1 from the motion tracking moving target, the position and the adjustable focal length that it is characterized in that described panoramic shooting head are whole, by the scope of activities automatic setting of image processing system, begin to take to be fixed up after the moving target and no longer change according to moving target.
7, method of taking according to claim 1 from the motion tracking moving target, it is characterized in that described tracking camera can carry out the double freedom rotation of two-dimensional space, control rotation amount on two degree of freedom by the moving target capture module, with the alignment activity target.
8, method of taking from the motion tracking moving target according to claim 1 is characterized in that described tracking camera has the focusing function, controls its focal length by the moving target capture module, makes the moving target image of shooting reach sharpening.
9, method of taking according to claim 1 from the motion tracking moving target, it is characterized in that, in the whole realtime graphic that image analysis module in the computer photographs according to the panoramic shooting head, with dynamically labeled is the realtime graphic that datum mark expansion certain limit intercepts moving target automatically, and its dynamic real-time video recording is played back in monitor.
10, method of taking according to claim 9 from the motion tracking moving target, it is characterized in that, when the visibility point variation does not take place above the regular hour in moving target, the panoramic shooting head can be automatically aimed at coverage and focal length and is dynamically labeledly taken for the moving target of basic point, when the generation significant change of moving target position exceeds coverage, the panoramic shooting head recovers original state automatically, catches the moving target position again and takes, and repeat said process.
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| CN115499584A (en) * | 2022-09-02 | 2022-12-20 | 四川新视创伟超高清科技有限公司 | Dynamic capturing method for monitored object |
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2007
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