CA2217366A1 - Facial recognition system - Google Patents
Facial recognition system Download PDFInfo
- Publication number
- CA2217366A1 CA2217366A1 CA002217366A CA2217366A CA2217366A1 CA 2217366 A1 CA2217366 A1 CA 2217366A1 CA 002217366 A CA002217366 A CA 002217366A CA 2217366 A CA2217366 A CA 2217366A CA 2217366 A1 CA2217366 A1 CA 2217366A1
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- CA
- Canada
- Prior art keywords
- person
- camera
- face
- facial
- image
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
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Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
- G06V40/161—Detection; Localisation; Normalisation
Abstract
A method for isolating and tracking the face of a person in a defined target area, generating a digital image of an isolated person's face, removing background artifacts contained in the digital image and confirming the person's identity through use of facial recognition logic, includes the steps of locating the person closest to the camera in the defined target area, controlling an automated camera to crop the overall size of the target face to ensure that the crown-to-chin ratio is within predefined limits and focus the camera to ensure the level of detail is within predefined limits, analyzing the video output from the camera to automatically detect and remove artifacts from the background of the generated image, leaving only the facial representation of the target person in the digitized data frame, and presenting the isolated facial image of the target person to a secondary processing step to allow identity confirmation based on use of automated facial recognition logic.
Description
FACIAL RECOGNITION SYSTEM
Field of Invention The present invention relates to facial recognition systems.
Background of the Invention Known methods include: asking the target person to stand in front of a controlled background (e.g. opaque barrier), while the camera is positioned and adjusted (zoom and focus) under manual control; use of slow and elaborate software logic performing post analysis on a captured video frame to isolate, crop, and enhance the facial representation of the target person and filter out background artifacts.
Most facial recognition systems available today can function accurately only when one face is present in the image submitted for analysis. The reality, however, is that multiple faces generally appear in the field of view when areas are being monitored where line-ups or queues occur. Examples of such situations are line-ups at immigration counters, border crossing and automated wall machines (cash dispenser, frequent traveller border crossing booth).
Summary of the Invention The present invention will automatically isolate and track the face of a person in a defined target area, generate a digital image of the isolated person's face, remove background artifacts contained in the digital image and confirm the person's identity through use of facial recognition logic.
Steps involve: 1) locating the person closest to the camera in the defined target area; 2) controlling an automated camera to crop the overall size of the target face to ensure that the crown-to-chin ratio is within predefined limits; and focus the camera to ensure the level of detail is within predefined limits; 3) analyzing the video output from the camera to automatically detect and remove artifacts from the background of the generated image, leaving only the facial representation of the target person in the digitized data frame; and presenting the isolated facial image of the target person to a secondary processing step to allow identity confirmation based on use of automated facial recognition logic.
The advantages associated with the present invention include: automated capture and tracking of a person's facial image; automated removal of artifacts from the captured image;
accelerated capture of facial images (based on predefined optimum and consistent specification; improved accuracy of secondary processing steps (such as automated facial recognition logic); reduced operating costs (such as labour costs for operators carrying out manual capture of facial images); and increased security.
According to the present invention, there is provided a method for isolating and tracking the face of a person in a defined target area, generating a digital image of isolated person's face, removing background artifacts contained in the digital image and confirming the person's identity through use of facial recognition logic, comprising the steps of:
a) locating the person closest to the camera in the defined target area; b) controlling an automated camera to crop the overall size of the target face to ensure that the crown-to-chin ratio is within predefined limits; and focus the camera to ensure the level of detail is within predefined limits; c) analyzing the video output from the camera to automatically detect and remove artifacts from the background of the generated image, leaving only the facial representation of the target person in the digitized data frame; and d) presenting the isolated facial image of the target person to a secondary processing step to allow identity confirmation based on use of automated facial recognition logic.
Other advantages, objects and features of the present invention will be readily apparent to those skilled in the art from a review of the following detailed description of the preferred embodiments in conjunction with the accompanying drawing and claims.
Brief Description of the Drawings The embodiments of the invention will now be described with reference to the accompanying drawing, Figure 1, which illustrates an embodiment of the invention.
Detailed Description of the Invention The present invention will automatically isolate and track the face of a person in a defined target area, generate a digital image of the isolated person's face, remove background artifacts contained in the digital image and confirm the person's identity through use of facial recognition logic.
Steps involve: 1) locating the person closest to the camera in the defined target area; 2) controlling an automated camera to crop the overall size of the target face to ensure that the crown-to-chin ratio is within predefined limits; and focus the camera to ensure the level of detail is within predefined limits; 3) analyzing the video output from the camera to automatically detect and remove artifacts from the background of the generated image, leaving only the facial representation of the target person in the digitized data frame; and presenting the isolated facial image of the target person to a secondary processing step to allow identity confirmation based on use of automated facial recognition logic.
The invention allows a wide range of processes and systems which use a person's facial image as part of their business process, to operate more efficiently and effectively. Steps 1 through 5 above reflect an identity confirmation application, while steps 1 through 3 reflect use in a variety of wide spread applications where automated delivery of an isolated facial image minus background artifacts would provide significant advantages. Examples of the latter are: capturing a facial image to include on an identification card (e.g. drivers license, health benefits card); and capturing a facial image to determine the acceptability of a person to access a restricted area.
The invention uses a variety of sensors 4 to detect and provide position and control information for a camera 3 with electronic exposure control, motor driven zoom lens and auto-iris. Control logic 5 uses information from the sensors 4 to accurately position and focus the camera 3 to ensure that the closest person 1 is and remains the target within the overall field of view 2.
Once the camera 3 has been positioned and adjusted, guided by pre-defined limits, thereby ensuring the target face is the required percentage of the full video frame and consistent with the required crown-to-chin ratio, the resultant video frame 7 is processed by analysis logic 8. The analysis logic 8 automatically determines the presence of unwanted artifacts in the image and removes these; i.e. making the background in the digitized image conform to a predefined pattern and/or colour/hue.
An altered image 9 minus background artifacts (e.g.
representations of other persons standing near the isolated person) is then delivered to additional processing step 10.
Examples of additional steps are display of the isolated image on a video display unit, facial recognition logic or system, and document issuance system requiring a cropped image of the person for printing on the issued document.
The present invention enables: automatic location and tracking of a person's face (within a larger and cluttered field of view); automated cropping of the person's face consistent with predefined specifications; automatic isolation of the primary facial image and the background details;
automatic removal of artifacts in the background that will negatively effect the secondary process 10 being performed;
automatic conversion of the background in the video frame to a predefined representation; faster capture of facial images (for example, avoiding manual adjustments of a camera);
accurate identity confirmation in a crowded environment; and improved performance of secondary processes such as printing of cropped facial images on identity documents and secure access control systems.
The present invention will detect the nearest face in a wide field of view and zoom in on it until this face fills the screen consistent with pre-defined specifications.
Most facial recognition systems available today can function accurately only when one face is present in the image submitted for analysis. The reality, however, is that multiple faces generally appear in the field of view when areas are being monitored where line-ups or queues occur. Examples of such situations are line-ups at immigration counters, border crossing and automated wall machines (cash dispenser, frequent traveller border crossing booth). By isolating and focusing on the nearest person on a target field of view, followed by removal of background details from the capture video image, a high quality image may be obtained of a person's face. Any facial recognition system will benefit from high-resolution images without interfering objects and consequently the recognition rate is expected to increase significantly.
The camera system will consist of a high resolution CCD
with electronic exposure control and auto-iris. An ultra-sonic distance measuring device and an infrared detection sensor will augment this camera.
Both the ultra-sonic and infra-red detector will be set up in such a manner that they cover the camera default position which is the wide field of view (zoomed out). Upon detection of body heat radiation (infrared sensor) and the presence of it within a pre-determined range (ultra-sonic device) the camera will be pointed in that direction by means of a pan and tilt mechanism. Next the camera will be focused and zoomed based on the distance information obtained from the ultra-sonic range finder so that the person's face will nominally fill the field of view. Pre-defined specifications will control the operation to achieve the required size of a face with respect to the overall field of view, the required crown-to-chin ratio, and accuracy of focus.
As the person moves within the tracking range the camera will track the person and keep their face in focus and zoomed-in to the required degree.
The camera will have a high resolution CCD sensor with electronic exposure control and will be equipped with a zoom lens. This zoom lens has a facility to set it to a particular magnification setting based on distance information provided by the ultra-sonic range finding sensor.
Using mirrors in front of the lens driven by small motors will effect pan and tilt. The lightweight of these mirrors enables a fast response time and minimizes wear and tear on the rest of the camera. The motors will be DC motors operated in a closed servo loop based on signals from the infrared sensor and indirectly also from the distant sensor.
Although at least one patent describes the use of ultra-sonic and infrared sensors to activate a camera system the essential difference here is the type of infrared sensor employed. Unlike the common pyro-electric infrared sensor used in motion detectors, an altogether different type, thin film thermopile, sensor is employed here. The essential difference is that the first kind only responds to movement of an object that has a different temperature than its surroundings. The object if cooler, warmer or much hotter than the ambient environment will trigger this kind of sensor while it moves.
If the object is positioned more or less stationary it will fail to detect such an object. The second kind differs in the sense that it can be "tuned" to detect only infrared radiation emitted by objects having a temperature of a human body (37.5 degrees Celsius). Moreover, and perhaps more importantly, this type of sensor does not sense temperature variations caused by movement of an object having a different temperature from its surroundings but the actual temperature even while the object is at complete rest. For our intended application, where people may be more or less stationary while queuing, a sensor of the first type could not be relied upon to provide the necessary information whereas a sensor of the second type will.
As mentioned above, a sensor of the second type also will not respond to object other than those having a human body like temperature further decreasing the change of "false triggering".
Important elements of the invention are: 1) the types of sensors and their integration to allow detection and provide position/control/tracking information for an automated camera required to isolate and track the face of a target person; 2) the method for accomplishing pan and tilt; and 3) processing logic designed to locate, remove and/or replace artifact data contained in output video from a camera.
Numerous modifications, variations and adaptations may be made to the particular embodiments of the invention described above without departing from the scope of the invention, which is defined in the claims.
Field of Invention The present invention relates to facial recognition systems.
Background of the Invention Known methods include: asking the target person to stand in front of a controlled background (e.g. opaque barrier), while the camera is positioned and adjusted (zoom and focus) under manual control; use of slow and elaborate software logic performing post analysis on a captured video frame to isolate, crop, and enhance the facial representation of the target person and filter out background artifacts.
Most facial recognition systems available today can function accurately only when one face is present in the image submitted for analysis. The reality, however, is that multiple faces generally appear in the field of view when areas are being monitored where line-ups or queues occur. Examples of such situations are line-ups at immigration counters, border crossing and automated wall machines (cash dispenser, frequent traveller border crossing booth).
Summary of the Invention The present invention will automatically isolate and track the face of a person in a defined target area, generate a digital image of the isolated person's face, remove background artifacts contained in the digital image and confirm the person's identity through use of facial recognition logic.
Steps involve: 1) locating the person closest to the camera in the defined target area; 2) controlling an automated camera to crop the overall size of the target face to ensure that the crown-to-chin ratio is within predefined limits; and focus the camera to ensure the level of detail is within predefined limits; 3) analyzing the video output from the camera to automatically detect and remove artifacts from the background of the generated image, leaving only the facial representation of the target person in the digitized data frame; and presenting the isolated facial image of the target person to a secondary processing step to allow identity confirmation based on use of automated facial recognition logic.
The advantages associated with the present invention include: automated capture and tracking of a person's facial image; automated removal of artifacts from the captured image;
accelerated capture of facial images (based on predefined optimum and consistent specification; improved accuracy of secondary processing steps (such as automated facial recognition logic); reduced operating costs (such as labour costs for operators carrying out manual capture of facial images); and increased security.
According to the present invention, there is provided a method for isolating and tracking the face of a person in a defined target area, generating a digital image of isolated person's face, removing background artifacts contained in the digital image and confirming the person's identity through use of facial recognition logic, comprising the steps of:
a) locating the person closest to the camera in the defined target area; b) controlling an automated camera to crop the overall size of the target face to ensure that the crown-to-chin ratio is within predefined limits; and focus the camera to ensure the level of detail is within predefined limits; c) analyzing the video output from the camera to automatically detect and remove artifacts from the background of the generated image, leaving only the facial representation of the target person in the digitized data frame; and d) presenting the isolated facial image of the target person to a secondary processing step to allow identity confirmation based on use of automated facial recognition logic.
Other advantages, objects and features of the present invention will be readily apparent to those skilled in the art from a review of the following detailed description of the preferred embodiments in conjunction with the accompanying drawing and claims.
Brief Description of the Drawings The embodiments of the invention will now be described with reference to the accompanying drawing, Figure 1, which illustrates an embodiment of the invention.
Detailed Description of the Invention The present invention will automatically isolate and track the face of a person in a defined target area, generate a digital image of the isolated person's face, remove background artifacts contained in the digital image and confirm the person's identity through use of facial recognition logic.
Steps involve: 1) locating the person closest to the camera in the defined target area; 2) controlling an automated camera to crop the overall size of the target face to ensure that the crown-to-chin ratio is within predefined limits; and focus the camera to ensure the level of detail is within predefined limits; 3) analyzing the video output from the camera to automatically detect and remove artifacts from the background of the generated image, leaving only the facial representation of the target person in the digitized data frame; and presenting the isolated facial image of the target person to a secondary processing step to allow identity confirmation based on use of automated facial recognition logic.
The invention allows a wide range of processes and systems which use a person's facial image as part of their business process, to operate more efficiently and effectively. Steps 1 through 5 above reflect an identity confirmation application, while steps 1 through 3 reflect use in a variety of wide spread applications where automated delivery of an isolated facial image minus background artifacts would provide significant advantages. Examples of the latter are: capturing a facial image to include on an identification card (e.g. drivers license, health benefits card); and capturing a facial image to determine the acceptability of a person to access a restricted area.
The invention uses a variety of sensors 4 to detect and provide position and control information for a camera 3 with electronic exposure control, motor driven zoom lens and auto-iris. Control logic 5 uses information from the sensors 4 to accurately position and focus the camera 3 to ensure that the closest person 1 is and remains the target within the overall field of view 2.
Once the camera 3 has been positioned and adjusted, guided by pre-defined limits, thereby ensuring the target face is the required percentage of the full video frame and consistent with the required crown-to-chin ratio, the resultant video frame 7 is processed by analysis logic 8. The analysis logic 8 automatically determines the presence of unwanted artifacts in the image and removes these; i.e. making the background in the digitized image conform to a predefined pattern and/or colour/hue.
An altered image 9 minus background artifacts (e.g.
representations of other persons standing near the isolated person) is then delivered to additional processing step 10.
Examples of additional steps are display of the isolated image on a video display unit, facial recognition logic or system, and document issuance system requiring a cropped image of the person for printing on the issued document.
The present invention enables: automatic location and tracking of a person's face (within a larger and cluttered field of view); automated cropping of the person's face consistent with predefined specifications; automatic isolation of the primary facial image and the background details;
automatic removal of artifacts in the background that will negatively effect the secondary process 10 being performed;
automatic conversion of the background in the video frame to a predefined representation; faster capture of facial images (for example, avoiding manual adjustments of a camera);
accurate identity confirmation in a crowded environment; and improved performance of secondary processes such as printing of cropped facial images on identity documents and secure access control systems.
The present invention will detect the nearest face in a wide field of view and zoom in on it until this face fills the screen consistent with pre-defined specifications.
Most facial recognition systems available today can function accurately only when one face is present in the image submitted for analysis. The reality, however, is that multiple faces generally appear in the field of view when areas are being monitored where line-ups or queues occur. Examples of such situations are line-ups at immigration counters, border crossing and automated wall machines (cash dispenser, frequent traveller border crossing booth). By isolating and focusing on the nearest person on a target field of view, followed by removal of background details from the capture video image, a high quality image may be obtained of a person's face. Any facial recognition system will benefit from high-resolution images without interfering objects and consequently the recognition rate is expected to increase significantly.
The camera system will consist of a high resolution CCD
with electronic exposure control and auto-iris. An ultra-sonic distance measuring device and an infrared detection sensor will augment this camera.
Both the ultra-sonic and infra-red detector will be set up in such a manner that they cover the camera default position which is the wide field of view (zoomed out). Upon detection of body heat radiation (infrared sensor) and the presence of it within a pre-determined range (ultra-sonic device) the camera will be pointed in that direction by means of a pan and tilt mechanism. Next the camera will be focused and zoomed based on the distance information obtained from the ultra-sonic range finder so that the person's face will nominally fill the field of view. Pre-defined specifications will control the operation to achieve the required size of a face with respect to the overall field of view, the required crown-to-chin ratio, and accuracy of focus.
As the person moves within the tracking range the camera will track the person and keep their face in focus and zoomed-in to the required degree.
The camera will have a high resolution CCD sensor with electronic exposure control and will be equipped with a zoom lens. This zoom lens has a facility to set it to a particular magnification setting based on distance information provided by the ultra-sonic range finding sensor.
Using mirrors in front of the lens driven by small motors will effect pan and tilt. The lightweight of these mirrors enables a fast response time and minimizes wear and tear on the rest of the camera. The motors will be DC motors operated in a closed servo loop based on signals from the infrared sensor and indirectly also from the distant sensor.
Although at least one patent describes the use of ultra-sonic and infrared sensors to activate a camera system the essential difference here is the type of infrared sensor employed. Unlike the common pyro-electric infrared sensor used in motion detectors, an altogether different type, thin film thermopile, sensor is employed here. The essential difference is that the first kind only responds to movement of an object that has a different temperature than its surroundings. The object if cooler, warmer or much hotter than the ambient environment will trigger this kind of sensor while it moves.
If the object is positioned more or less stationary it will fail to detect such an object. The second kind differs in the sense that it can be "tuned" to detect only infrared radiation emitted by objects having a temperature of a human body (37.5 degrees Celsius). Moreover, and perhaps more importantly, this type of sensor does not sense temperature variations caused by movement of an object having a different temperature from its surroundings but the actual temperature even while the object is at complete rest. For our intended application, where people may be more or less stationary while queuing, a sensor of the first type could not be relied upon to provide the necessary information whereas a sensor of the second type will.
As mentioned above, a sensor of the second type also will not respond to object other than those having a human body like temperature further decreasing the change of "false triggering".
Important elements of the invention are: 1) the types of sensors and their integration to allow detection and provide position/control/tracking information for an automated camera required to isolate and track the face of a target person; 2) the method for accomplishing pan and tilt; and 3) processing logic designed to locate, remove and/or replace artifact data contained in output video from a camera.
Numerous modifications, variations and adaptations may be made to the particular embodiments of the invention described above without departing from the scope of the invention, which is defined in the claims.
Claims
PROPERTY OR PRIVILEGE IS CLAIMED ARE DEFINED AS FOLLOWS:
1. A method for isolating and tracking the face of a person in a defined target area, generating a digital image of an isolated person's face, removing background artifacts contained in the digital image and confirming the person's identity through use of facial recognition logic, comprising the steps of:
a) locating the person closest to the camera in the defined target area;
b) controlling an automated camera to crop the overall size of the target face to ensure that the crown-to-chin ratio is within predefined limits; and focus the camera to ensure the level of detail is within predefined limits;
c) analyzing the video output from the camera to automatically detect and remove artifacts from the background of the generated image, leaving only the facial representation of the target person in the digitized data frame; and d) presenting the isolated facial image of the target person to a secondary processing step to allow identity confirmation based on use of automated facial recognition logic.
a) locating the person closest to the camera in the defined target area;
b) controlling an automated camera to crop the overall size of the target face to ensure that the crown-to-chin ratio is within predefined limits; and focus the camera to ensure the level of detail is within predefined limits;
c) analyzing the video output from the camera to automatically detect and remove artifacts from the background of the generated image, leaving only the facial representation of the target person in the digitized data frame; and d) presenting the isolated facial image of the target person to a secondary processing step to allow identity confirmation based on use of automated facial recognition logic.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA002217366A CA2217366A1 (en) | 1997-09-30 | 1997-09-30 | Facial recognition system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA002217366A CA2217366A1 (en) | 1997-09-30 | 1997-09-30 | Facial recognition system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA2217366A1 true CA2217366A1 (en) | 1999-03-30 |
Family
ID=4161577
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA002217366A Abandoned CA2217366A1 (en) | 1997-09-30 | 1997-09-30 | Facial recognition system |
Country Status (1)
| Country | Link |
|---|---|
| CA (1) | CA2217366A1 (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080240516A1 (en) * | 2007-03-27 | 2008-10-02 | Seiko Epson Corporation | Image Processing Apparatus and Image Processing Method |
| WO2009101153A2 (en) * | 2008-02-13 | 2009-08-20 | Ubisoft Entertainment S.A. | Live-action image capture |
| CN101848337A (en) * | 2009-03-25 | 2010-09-29 | 索尼公司 | Image processing equipment, image processing method and program |
| US20130169783A1 (en) * | 2011-12-30 | 2013-07-04 | Samsung Electronics Co., Ltd. | Display apparatus and control method thereof |
| WO2019041569A1 (en) * | 2017-09-01 | 2019-03-07 | 歌尔科技有限公司 | Method and apparatus for marking moving target, and unmanned aerial vehicle |
| WO2019083509A1 (en) * | 2017-10-24 | 2019-05-02 | Hewlett-Packard Development Company, L.P. | Person segmentations for background replacements |
| CN113034541A (en) * | 2021-02-26 | 2021-06-25 | 北京国双科技有限公司 | Target tracking method and device, computer equipment and storage medium |
| US11252399B2 (en) | 2015-05-28 | 2022-02-15 | Microsoft Technology Licensing, Llc | Determining inter-pupillary distance |
-
1997
- 1997-09-30 CA CA002217366A patent/CA2217366A1/en not_active Abandoned
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8781258B2 (en) * | 2007-03-27 | 2014-07-15 | Seiko Epson Corporation | Image processing apparatus and image processing method |
| US20080240516A1 (en) * | 2007-03-27 | 2008-10-02 | Seiko Epson Corporation | Image Processing Apparatus and Image Processing Method |
| WO2009101153A2 (en) * | 2008-02-13 | 2009-08-20 | Ubisoft Entertainment S.A. | Live-action image capture |
| WO2009101153A3 (en) * | 2008-02-13 | 2009-10-08 | Ubisoft Entertainment S.A. | Live-action image capture |
| CN101848337A (en) * | 2009-03-25 | 2010-09-29 | 索尼公司 | Image processing equipment, image processing method and program |
| CN101848337B (en) * | 2009-03-25 | 2012-07-04 | 索尼公司 | Image processing device, image processing method, and program |
| US20130169783A1 (en) * | 2011-12-30 | 2013-07-04 | Samsung Electronics Co., Ltd. | Display apparatus and control method thereof |
| US11252399B2 (en) | 2015-05-28 | 2022-02-15 | Microsoft Technology Licensing, Llc | Determining inter-pupillary distance |
| WO2019041569A1 (en) * | 2017-09-01 | 2019-03-07 | 歌尔科技有限公司 | Method and apparatus for marking moving target, and unmanned aerial vehicle |
| WO2019083509A1 (en) * | 2017-10-24 | 2019-05-02 | Hewlett-Packard Development Company, L.P. | Person segmentations for background replacements |
| US11176679B2 (en) | 2017-10-24 | 2021-11-16 | Hewlett-Packard Development Company, L.P. | Person segmentations for background replacements |
| CN113034541A (en) * | 2021-02-26 | 2021-06-25 | 北京国双科技有限公司 | Target tracking method and device, computer equipment and storage medium |
| CN113034541B (en) * | 2021-02-26 | 2021-12-14 | 北京国双科技有限公司 | Target tracking method and device, computer equipment and storage medium |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| FZDE | Discontinued |