CN107862703B - Multi-view linkage PTZ tracking method - Google Patents

Multi-view linkage PTZ tracking method Download PDF

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CN107862703B
CN107862703B CN201711051029.2A CN201711051029A CN107862703B CN 107862703 B CN107862703 B CN 107862703B CN 201711051029 A CN201711051029 A CN 201711051029A CN 107862703 B CN107862703 B CN 107862703B
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point
moving
coordinate
ptz
image
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CN107862703A (en
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陶永亮
王景彬
张帆
马凌宇
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Tiandy Technologies Co Ltd
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    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/292—Multi-camera tracking
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    • G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
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    • G06T2207/00—Indexing scheme for image analysis or image enhancement
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Abstract

The invention provides a multi-view linkage PTZ tracking method, which specifically comprises the following steps that for each fixed-point picture, the calibration of corresponding coordinates with a moving-point picture is carried out manually or automatically; calculating a calibration parameter set C according to the coordinate set of the corresponding point pair obtained by calibration; transmitting the calibration parameter set C to a device end needing to be tracked for preparing real-time operation; detecting a moving target of the fixed point image, acquiring a specific coordinate position of the moving target at the current fixed point, and calculating the coordinate by using a parameter set C to acquire a PTZ coordinate of a moving point corresponding to the moving target; and transmitting the PTZ coordinates to a control unit of the moving point, and tracking the target by controlling the moving point PTZ. According to the invention, by forming the corresponding relation between the fixed point and the moving point image coordinates, the fixed point is used for monitoring a large scene and detecting the moving target, so that the problem that the monitoring requirements of scenes such as squares, platforms and the like cannot be met due to the limited range of the monitoring scene of the dome camera equipment is solved.

Description

Multi-view linkage PTZ tracking method
Technical Field
The invention belongs to the technical field of video monitoring, and particularly relates to a multi-view linkage PTZ tracking method.
Background
With the development of science and technology and society, video monitoring systems are more and more widely applied, and the existing monitoring systems cannot meet the requirements of practical application more and more, mainly, the current requirements need to see not only the target of a monitoring scene, but also the details of the target and the behavior track of the target, a common camera only fixedly monitors one scene, when the target leaves the monitoring scene, the target behavior cannot be continuously monitored, and the details of a far target, such as facial features, cannot be accurately seen.
The cloud platform or the spherical camera can solve the problem to a certain extent, and the purposes of tracking the target and seeing the details can be achieved by manually controlling ptz movement of the cloud platform or the spherical camera. However, in many application scenarios, a large scenario (such as a square, a platform, etc.) needs to be monitored, and a single dome camera cannot meet the requirement of large scenario golden control; in many application scenes, target details need to be captured quickly or targets need to be tracked in a large range, and the targets need to be missed as much as possible, under the condition, a method for capturing the targets by manually controlling the PTZ is limited by the physiological structure of people, and the purposes cannot be achieved quickly and accurately; when a common planet camera approaches a target, other targets in the original scene inevitably leave the monitoring picture, so that one target is tracked and many other targets are missed.
Disclosure of Invention
In view of this, the present invention aims to provide a multi-view linkage PTZ tracking method to solve the problem that the monitoring scene range of a dome camera device is limited and the monitoring requirements of scenes such as squares and platforms cannot be met.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a multi-view linkage PTZ tracking method specifically comprises the following steps
For each fixed-point picture, calibrating a corresponding coordinate manually or automatically with the moving-point picture;
(ii) calculating a calibration parameter set C by using the coordinate set of the corresponding point pair obtained by calibration in the step (i);
(iii) transferring the calibration parameter set C to a device end needing to be tracked to prepare for real-time operation;
(iv) carrying out moving target detection on the fixed point image to obtain the specific coordinate position of the moving target at the current fixed point, and calculating the coordinate by using a parameter set C to obtain the PTZ coordinate of the moving point corresponding to the moving target;
and (v) transmitting the PTZ coordinate to a control unit of the moving point, and carrying out target tracking by controlling the moving point PTZ.
Further, the manual calibration method in step (i) is as follows: selecting 1 characteristic point on the fixed point image to record the horizontal and vertical coordinates on the image, then controlling the moving point PTZ, moving the image center of the moving point to the position of the selected characteristic point on the fixed point, repeating the steps, selecting not less than 4 groups of fixed point characteristic point coordinates and moving point PTZ coordinates in total, and converting the moving point PTZ coordinates into the image coordinates of the moving point.
Further, the automatic calibration method in step (i) comprises: controlling the moving point PTZ, enabling the picture of the moving point to coincide with the fixed point picture which is calibrated at present, recording the current PTZ coordinate, finding 4 groups of matched characteristic point pairs with the highest confidence coefficient in the fixed point and moving point images by using a known image characteristic point matching algorithm, and recording the coordinates of the 4 groups of characteristic point pairs.
Further, the parameter set C in step (ii) refers to a parameter set C matched with the motion point calculated for each fixed point, where the parameter C is expressed by 5 members { dx, dy, fx, fy, PT }, and respectively represents a horizontal offset, a vertical offset, a horizontal scaling ratio, a vertical scaling ratio, and a reference point PT coordinate of the fixed point image and the motion point image.
Further, in the step (iv), the parameter set C is used for performing calculation, PTZ coordinates of the moving point corresponding to the moving object are obtained, and the PTZ of the moving point is calculated by using the coordinates of the moving object detected at the fixed point through the value of the parameter set C, so that the moving object is located at the center of the moving point picture.
Compared with the prior art, the multi-view linkage PTZ tracking method has the following advantages: the method carries out tracking and detail snapshot of the moving target through the PTZ of the linkage moving point, solves the problems that the monitoring scene range of the dome camera equipment is limited and the monitoring requirements of scenes such as a wide field, a platform and the like cannot be met, solves the problem that other targets cannot be monitored in the process of tracking and snapshot details, and solves the problem that the targets cannot be accurately and timely controlled by manually controlling the PTZ to track and snapshot.
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The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic flow chart of a multi-view linkage PTZ tracking method according to an embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments of the present invention may be combined with each other without conflict.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1, a multi-view linkage PTZ tracking method is characterized in that: the method comprises the following steps:
and (i) for each fixed-point picture, manually or automatically calibrating the corresponding coordinates with the moving-point picture.
The manual calibration method comprises the following steps: selecting 1 characteristic point on the fixed point image to record the horizontal and vertical coordinates on the image, then controlling the moving point PTZ, and moving the image center of the moving point to the position of the selected characteristic point on the fixed point. And repeating the steps, selecting not less than 4 groups of fixed point characteristic point coordinates and moving point PTZ coordinates in total, and converting the moving point PTZ coordinates into image coordinates of the moving point.
According to the trigonometry principle, the calculation formula for converting the motion point PTZ coordinate into the image coordinate is as follows:
dP＝sP-iP
b＝asin(sin(PI/2-sT)*sin(dP))
a＝atan(cos(dP)*tan(PI/2-sT))
dtY＝ImgHeight/2*tan(PI/2-a-iT)/tan(viewT)
dtX＝ImgWidth/2*tan(b)/tan(viewP)
y＝ImgHeight/2+dtY
x＝ImgWidth/2+dtX
wherein PI is a circumferential rate, and dP is a change value of a PTZ coordinate P, namely, a P coordinate iP of an initial position is subtracted from a current P coordinate sP; sT is a T value of a moving point PTZ coordinate, iT is an initial value of the T coordinate, viewT and viewP are a field angle in the vertical direction and a field angle in the horizontal direction, and are inherent parameters of a moving point camera image; the ImgHeight and the ImgWidth are respectively the vertical size and the horizontal size of the image, the unit is a pixel, and x and y are finally calculated to obtain the image coordinates.
And (ii) calculating a calibration parameter set C by using the coordinate set of the corresponding point pair obtained by calibration in the step (i).
The parameter set C refers to a parameter set C matched with the moving point to be calculated for each fixed point, where the parameter C is represented by { dx, dy, fx, fy, PT } with 5 members, and represents the horizontal offset, vertical offset, horizontal scaling ratio, vertical scaling ratio, reference point PT coordinates of the fixed point image and the moving point image, respectively, and the member calculation process of the parameter set C is as follows:
Figure RE-GDA0001540492080000041
Figure RE-GDA0001540492080000042
Figure RE-GDA0001540492080000043
Figure RE-GDA0001540492080000051
where n represents the total number of successfully calibrated points, X1 represents the X coordinate of the calibration coordinates of the fixed points, X1iX-coordinate of the ith pointing coordinate, Y1 represents the Y-coordinate of the pointing coordinate, Y1iThe Y coordinate of the ith pointing index point, X2 represents the X coordinate of the index coordinate of the moving point, X2iThe X coordinate of the index point of the ith moving point, Y2 represents the Y coordinate of the index coordinate of the moving point, Y2iY coordinate of the ith moving point calibration point; PT in the parameter set indicates P, T values of PTZ coordinates at which the calibration time point is located, and needs to be recorded at the calibration time.
(iii) transmitting the calibration parameter set C obtained in the step (ii) to a device end needing to be tracked for real-time operation;
(iv) carrying out moving target detection on the fixed point image to obtain the specific coordinate position of the moving target at the current fixed point, and calculating the coordinate by using a parameter set C to obtain the PTZ coordinate of the moving point corresponding to the moving target;
obtaining the PTZ coordinate of a moving point corresponding to the moving target, calculating the PTZ of the moving point according to a calculation formula by using the coordinate of the moving target detected by a fixed point through the value of a parameter set C, wherein the specific calculation process is as follows:
first, the coordinates of the moving object detected by the fixed point are converted into the image coordinates of the moving point image.
Xb＝(Xg-dx)/fx
Yb＝(Yg-dY)/fy
Wherein XbFor the converted image X-coordinate, X, of the moving pointgIs the X coordinate, Y, of the moving object at the moving pointbFor the image Y-coordinate of the moving point obtained after conversion, YgIs a Y coordinate d of a moving object on a moving pointx、fx、dy、fyAre parameters in parameter set C.
Second, the image coordinates of the moving point are converted into PTZ coordinates of the moving point.
According to the trigonometry principle, the calculation method of the PTZ coordinate of the moving point comprises the following steps:
dP＝atan((Xb-ImgWidth/2)/ImgWidth*tan(viewP))
dT＝atan((Yb-ImgHeight)/ImgHeight*tan(viewT))
T＝PI/2-acos(cos(dP)*cos(PI/2-(cT+dT)))
P＝cP+acos(tan(PI/2-(cT+dT))/tan(PI/2-T))
wherein ImgWidth and ImgHeight are the horizontal size and the vertical size of the moving point image, and the unit is a pixel; xb、YbThe pixel coordinates of the moving point obtained by the calculation in the previous step; viewT and viewP are vertical field angles and horizontal field angles, and are intrinsic parameters of the moving point camera image; cP and cT are the last parameter in the parameter set C and the coordinate of a moving point PT during calibration; and P and T are the finally obtained PT coordinates for placing the moving object in the center of the moving point picture.
(v) for the PTZ coordinate of the moving point in step (iv), transmitting the coordinate to the control unit of the moving point, and performing target tracking by controlling the moving point PTZ
The invention forms the corresponding relation of the fixed point pixel coordinate and the moving point PTZ coordinate by matching and calibrating the multi-view fixed point and the moving point, can realize the detection of a moving target on a fixed point image, and can realize the linkage of the moving point to grasp and shoot and track the target, can realize the full scene monitoring of the fixed point camera without losing any target in the scene, and the moving point camera tracks the target and grasps the details of the target by zooming to a proper size, thereby solving the problem that the common dome camera and the pan-tilt miss the target and limiting the time and the accuracy when the PTZ grasp shooting is manually controlled.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (5)

1. A multi-view linkage PTZ tracking method is characterized in that: comprises the following steps
For each fixed-point picture, calibrating a corresponding coordinate manually or automatically with the moving-point picture;
(ii) calculating a calibration parameter set C by using the coordinate set of the corresponding point pair obtained by calibration in the step (i);
(iii) transferring the calibration parameter set C to a device end needing to be tracked to prepare for real-time operation;
(iv) carrying out moving target detection on the fixed point image to obtain the specific coordinate position of the moving target at the current fixed point, and calculating the coordinate by using a parameter set C to obtain the PTZ coordinate of the moving point corresponding to the moving target;
(v) transmitting the PTZ coordinate to a control unit of the moving point, and tracking the target by controlling the moving point PTZ;
the specific process in step (iv) is as follows:
obtaining the PTZ coordinate of a moving point corresponding to the moving target, calculating the PTZ of the moving point according to a calculation formula by using the coordinate of the moving target detected by a fixed point through the value of a parameter set C, wherein the specific calculation process is as follows:
firstly, converting a moving target coordinate detected by a fixed point into an image coordinate of a moving point image;
Xb＝(Xg-dx)/fx
Yb＝(Yg-dY)/fy
wherein XbFor the converted image X-coordinate, X, of the moving pointgIs the X coordinate, Y, of the moving object at the moving pointbFor the image Y-coordinate of the moving point obtained after conversion, YgAs Y-coordinate of moving object at moving point, dx、fx、dy、fyIs a parameter in parameter set C;
secondly, converting the image coordinates of the moving point into PTZ coordinates of the moving point;
according to the trigonometry principle, the calculation method of the PTZ coordinate of the moving point comprises the following steps:
dP＝atan((Xb-ImgWidth/2)/ImgWidth*tan(viewP))
dT＝atan((Yb-ImgHeight)/ImgHeight*tan(viewT))
T＝PI/2-acos(cos(dP)*cos(PI/2-(cT+dT)))
P＝cP+acos(tan(PI/2-(cT+dT))/tan(PI/2-T))
wherein ImgWidth and ImgHeight are the horizontal size and the vertical size of the moving point image, and the unit is a pixel; xb、YbThe pixel coordinates of the moving point obtained by the calculation in the previous step; viewT and viewP are vertical field angles and horizontal field angles, and are intrinsic parameters of the moving point camera image; cP and cT are the last parameter in the parameter set C and the coordinate of a moving point PT during calibration; and P and T are the finally obtained PT coordinates for placing the moving object in the center of the moving point picture.
2. The multi-view linkage PTZ tracking method according to claim 1, wherein: the manual calibration method in the step (i) comprises the following steps: selecting 1 characteristic point on the fixed point image to record the horizontal and vertical coordinates on the image, then controlling the moving point PTZ, moving the image center of the moving point to the position of the selected characteristic point on the fixed point, repeating the steps, selecting not less than 4 groups of fixed point characteristic point coordinates and moving point PTZ coordinates in total, and converting the moving point PTZ coordinates into the image coordinates of the moving point.
3. The multi-view linkage PTZ tracking method according to claim 1, wherein: the automatic calibration method in the step (i) comprises the following steps: controlling the moving point PTZ, enabling the picture of the moving point to coincide with the fixed point picture which is calibrated at present, recording the current PTZ coordinate, finding 4 groups of matched characteristic point pairs with the highest confidence coefficient in the fixed point and moving point images by using a known image characteristic point matching algorithm, and recording the coordinates of the 4 groups of characteristic point pairs.
4. The multi-view linkage PTZ tracking method according to claim 1, wherein: the parameter set C in step (ii) refers to a parameter set C which is matched with the moving point and is calculated for each fixed point, and the parameter C is represented by 5 members { dx, dy, fx, fy, PT }, and respectively represents the horizontal offset, the vertical offset, the horizontal scaling ratio, the vertical scaling ratio and the reference point PT coordinate of the fixed point image and the moving point image.
5. The multi-view linkage PTZ tracking method according to claim 1, wherein: and (iv) performing operation by using the parameter set C to obtain the PTZ coordinate of the moving point corresponding to the moving target, and calculating the PTZ of the moving point by using the coordinate of the moving target detected by the fixed point through the value of the parameter set C so that the moving target is positioned at the center of the moving point picture.
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