CN102291574A - Complicated scene target movement tracking system based on embedded technique and light transmission and monitoring method thereof - Google Patents
Complicated scene target movement tracking system based on embedded technique and light transmission and monitoring method thereof Download PDFInfo
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Abstract
The invention relates to a complicated scene target movement tracking system based on an embedded technique and light transmission and a monitoring method thereof. A video signal collected by a front-end camera is sent to an embedded intelligent video analyzing system; a signal collecting unit of the embedded intelligent video analyzing system carries out analog-to-digital conversion on an analog signal, and then sends a digital video signal to a movement target detecting and tracking unit to detect and track a movement target; a light transmission control unit sends result data to a terminal control system through a light transmission system; and the terminal control system judges whether to alarm or not according to a previously set rule and simultaneously sends the video signal to a local video monitor to display a monitored video in real time. Relative to a conventional video monitoring system, the system and the method have low cost, high reliability, and lower alarming omission and wrong alarming rates; the alarming g is timely; and the unattended all-weather intelligent monitoring is achieved.
Description
Technical field
The present invention relates to a kind of intelligent analysis system, particularly a kind of based on complex scene target travel tracking system and method for supervising thereof embedded, optical transmission, belong to machine vision and intelligent monitoring technology field.
Background technology
Video monitoring typically refers in a particular environment some objects (as people, vehicle etc.) or incident is carried out Real Time Observation.Traditional vision monitoring is that video camera faces toward the shooting that a scene is not stopped, video signal transmission is to the Master Control Center storage, if have need adopt manual method that video image is analyzed, so not only to expend a large amount of manpowers, and in the face of countless video record, want to extract a little valuable information difficult, long preservation also is an a great problem.Along with prevailing gradually of high definition network monitoring, the drawback of high storage high bandwidth becomes short slab maximum in the supervisory control system gradually, the development intelligent monitoring system, the video image that collects is carried out real-time analysis automatically and processing, parser is embedded headend equipment can make the processing of video image carry out on hardware, only significant data need be transferred to Master Control Center, this can reduce the requirements of bandwidth and storage in a large number, can save big cost.
Traditional intelligent video monitoring system on a large scale, the video monitoring of multi-cam, realize real-time analysis, need to adopt a plurality of video servers, cost increases greatly.Therefore the technic relization scheme of the effective more front end intelligent video monitoring of research realizes that parallel intelligent video monitoring has important Research Significance and using value.Utilize embedded technology to realize that motion target detection and tracking are based on the core technology in the front end intelligent video monitoring system.In current more typical front end intelligent video monitoring system, video analysis algorithms such as target detection, tracking, classification, identification are embedded in the headend equipment, the video data of camera collection is directly analyzed at the front end of supervisory control system, and the result of analysis can be transferred to the monitoring central server end by the network system.Therefore the technic relization scheme of the effective more front end intelligent video monitoring of research realizes that parallel intelligent video monitoring has important Research Significance and using value.
Summary of the invention
The object of the present invention is to provide a kind of based on complex scene target travel tracking system and method for supervising thereof embedded, optical transmission.This system has overcome on a large scale, the field of video monitoring of multi-cam, in the time of realizing that real time kinematics is followed the tracks of, need adopt a plurality of video trackers and optical transceiver according to conventional solution, the problem that causes the hardware cost of system to increase greatly.This system can detect moving target automatically, automatic tracing moved object, and recognition objective behavior is automatically in time caught specific incident according to the rule that predefined is good, and the character of this incident is made intelligent decision, realizes unattended intelligent monitoring.
The technical scheme that the present invention takes is:
A kind of based on complex scene target travel tracking system embedded, optical transmission, comprise multichannel front end camera, multichannel front end camera connects the built-in smart video analytical system, the built-in smart video analytical system is connected with terminal control system by optical transmission system, and the built-in smart video analytical system is connected with video-frequency monitor simultaneously; Described built-in smart video analytical system, the signal gathering unit that comprises input information, signal gathering unit connects the moving object detection and tracking unit, and signal reaches optical transmission system by the optical transmission control unit after the moving object detection and tracking element analysis is handled.
Described moving object detection and tracking unit comprises YCbCr-RGB modular converter, RGB-greyscale image transitions module, moving object detection module, motion target tracking module, the YCbCr-RGB modular converter is a rgb signal with video YCbCr conversion of signals, RGB-greyscale image transitions module is a gray level image with the RGB image transitions, the moving object detection module extracts the zone of moving target from complex background, the motion target tracking module is followed the tracks of motion target area.
Described built-in smart video analytical system is the intelligent digital optical transceiver, also is provided with local LCD display interface and local VGA display interface on the intelligent digital optical transceiver.Moving object detection and tracking element analysis processing capacity is finished by fpga chip.
Described terminal control system comprises the reception optical transceiver, video surveillance, central server, receiving optical transceiver receives the light signal that sends from front end built-in smart video analytical system and is converted into the corresponding signal of telecommunication, central server is finished judgement and the choice that startup is reported to the police according to tracking fruit data and the predetermined rule received, perhaps produce the tracking system that feedback control signal is transferred to the built-in smart video analytical system more thus, be used for controlling The Cloud Terrace and make camera pursuit movement target.
Above-mentioned based on embedded, the method for supervising of the complex scene target travel tracking system of optical transmission, step is: the front end camera collection to vision signal is delivered to the built-in smart video analytical system, the signal gathering unit of built-in smart video analytical system is carried out analog-to-digital conversion to vision signal, then the digital video signal after the conversion is delivered to the moving object detection and tracking unit and carry out motion target detection and tracking, the optical transmission control unit is delivered to terminal control system with result data by optical transmission system, whether terminal control system is alarmed according to the rule judgment that configures in advance, and vision signal sends to the local real-time display monitoring video of video-frequency monitor simultaneously.
Described motion target detection adopts the inter-frame difference algorithm, is gray level image with the video color image transitions earlier, and current time frame of video and background image are carried out calculus of differences, extracts the position of motion target area.
The tracking of described moving target particle filter algorithm is specially: in the two dimension target tracking system, k system mode vector constantly is:
X wherein
kAnd y
kRepresent of the displacement of k moment target respectively at level and vertical direction,
With
Be respectively the speed of target at level and vertical direction.K observation vector constantly is
System noise and observation noise are the white Gaussian noise of zero-mean.Adopt the SIRF algorithm to realize motion tracking according to system state equation, observational equation, its flow process as shown in Figure 5: produce the primary collection by initialization earlier
Obtain the particle assembly of current time (k constantly) again through over-sampling
And calculate the normalized weight of each particle; By resampling current particle collection is upgraded then, as next primary constantly, simultaneously according to the particle collection of current time and the state of weight estimation current time
Be the speed of current time moving target and the estimated value of displacement.
The allomeric function of system of the present invention is: by the video information of built-in smart video analytical system reception from multichannel front end camera, the analyzing and testing moving target is also followed the tracks of, result data is carried out real-time broadcasting by local display terminal, and result data is sent to central server by optical transmission system.Central server is finished the startup warning according to result data of following the tracks of and predetermined rule.
The present invention's research is suitable for the moving object detection and tracking algorithm of complex scene, improves the robustness and the speed of algorithm.Moving object detection adopts the inter-frame difference algorithm, be gray level image with the video color image transitions earlier, current time frame of video and background image are carried out calculus of differences, extract the position of motion target area, noise jamming is removed in the moving region, and then filter out because light changes, leaf shakes, the non-real motion body target that the factor of shadow of object causes obtains detailed target image information by the key information secondary extraction algorithm then.In practice, the moving target scene is complicated and changeable often, for example, blocking etc. of the shade of the variation of light luminance, the clutter in the scene, object and object, in existing track algorithm, the particle filter method has superior tracking performance in complex environment, but its algorithm structure complexity, operand are big, it is high that hardware resource is required, and have limited its application in real-time system.At this problem, by improved particle filter algorithm suspicious object is locked and follows the tracks of incessantly, analyze the movement locus of moving target, provide the vertical and horizontal shift length of moving target, design a kind of fast operation, dependable performance, take the few particle filter of hardware resource, to improve the real-time of track algorithm.
The invention has the beneficial effects as follows: built a kind ofly, utilized FPGA and SOPC technology to realize that the collection real time kinematics is followed the tracks of and optical transmission motion tracking equipment that optical transmission is controlled to be one is front end intelligent digital optical transceiver based on complex scene real time kinematics tracking system embedded, optical transmission.Low with respect to traditional video monitoring system cost, the reliability height has the lower rate of false alarm of failing to report, and alarm in time realizes the round-the-clock intelligent monitoring of unattended operation.
Description of drawings
Fig. 1 is that system hardware of the present invention constitutes schematic diagram;
Fig. 2 is a front end intelligent digital optical transceiver module principle block diagram of the present invention;
Fig. 3 is motion tracking analytical system module principle figure of the present invention;
Fig. 4 is an inter-frame difference algorithm flow chart of the present invention;
Fig. 5 is a particle filter algorithm flow chart of the present invention;
Wherein: 1. front end camera, 2. intelligent digital optical transceiver, 3. optical transmission system (fiber optic network) 4. receives optical transceiver, 5. central server, 6. video-frequency monitor.
Embodiment
The invention will be further described below in conjunction with accompanying drawing.
As shown in Figure 1, a kind of based on complex scene target travel tracking system embedded, optical transmission, comprise multichannel front end camera 1, multichannel front end camera 1 connects built-in smart video analytical system (intelligent digital optical transceiver 2), the built-in smart video analytical system is connected with terminal control system by optical transmission system 3, and the built-in smart video analytical system is connected with video-frequency monitor 6 by its local VGA display interface simultaneously; Described built-in smart video analytical system, the signal gathering unit that comprises input information, signal gathering unit connects the moving object detection and tracking unit, and signal reaches optical transmission system 3 by the optical transmission control unit after the moving object detection and tracking element analysis is handled.
(1) multichannel front end camera is used to obtain required complex scene video information;
(2) built-in smart video analytical system, it is the intelligent digital optical transceiver, be used to receive the vision signal of multichannel front end camera, to moving object detection and tracking in the multi-channel video signal, the optical transmission control module that detection and tracking results are passed through is sent to central server with the form of light signal.The intelligent digital optical transceiver also is provided with local VGA display interface, is used for the real-time display monitoring video image in this locality, also disposes local LCD DCI simultaneously, is used for showing in real time the related parameter that has of moving target.This part combines traditional optical transceiver and intelligent video analysis;
(3) optical transmission system, promptly fiber optic network connects built-in smart video analytical system and terminal and receives optical transceiver, and between transmits light signal;
(4) terminal control system comprises the reception optical transceiver as required, video surveillance, central server.Receiving optical transceiver is traditional optical transceiver, receives the light signal that sends from front end intelligent digital optical transceiver and is converted into the corresponding signal of telecommunication.Central server is finished judgement and the choice that startup is reported to the police according to tracking fruit data and the predetermined rule received, also can produce feedback control signal thus and be transferred to the tracking system front end again, is used for controlling The Cloud Terrace and makes camera pursuit movement target.
As shown in Figure 2, the front end camera collection to vision signal is delivered to the intelligent digital optical transceiver, the video acquisition module of intelligent digital optical transceiver is carried out analog-to-digital conversion to the vision signal of simulation, then digital video signal is delivered to the moving object detection and tracking unit and carry out motion target detection and tracking, this module can be gathered 4 road analog video signals at least.The optical transmission control unit is delivered to central server with result data by fiber optic network, and whether central server is alarmed according to the rule judgment that configures in advance.The intelligent digital optical transceiver disposes local video VGA display interface, vision signal can be sent to the real-time display monitoring video of local video monitor.The intelligent digital optical transceiver disposes local LCD display interface, can show the related parameter that has of moving target in local LCD display in real time.
As shown in Figure 3, the moving object detection and tracking unit, i.e. the theory diagram of intelligent digital optical transceiver core, this system is divided into the YCbCr-RGB modular converter, RGB-greyscale image transitions module, moving object detection module, motion target tracking module.The YCbCr-RGB modular converter is a rgb signal with video YCbCr conversion of signals.RGB-greyscale image transitions module is that gray level image is so that do subsequent treatment with the RGB image transitions.The moving object detection module adopts the inter-frame difference algorithm that the zone of moving target is extracted from complex background.The motion target tracking module adopts improved particle filter algorithm that motion target area is followed the tracks of.
As shown in Figure 4, moving object detection algorithm in the intelligent digital optical transceiver: the flow chart of inter-frame difference algorithm.
Moving object detection is by motion detection target to be extracted from background image from the sequence image signal, and tries to achieve the position and the velocity information of target.Its flow process is as shown in the figure: at first current time frame of video and background image are carried out calculus of differences, and will obtain difference image and carry out binaryzation and be partitioned into the target area; After then binary image being carried out the mathematical morphology filter processing, carry out regional connectivity analysis and mark again, extract the position of target area; At last, according to the position of current time and the movement velocity of a last moment position calculation target current time.If not existing, the target area do not utilize current frame image to follow new background image.This algorithm adopts the FPGA hardware circuit to realize.
As shown in Figure 5, motion target tracking algorithm in the intelligent digital optical transceiver: the flow chart of particle filter algorithm.
The Monte Carlo simulation that particle filter algorithm comes down to recurrence Bayes filtering realizes.Sequential importance sampling algorithm (SIS, Sequential Importance Sampling) is the basis of particle filter.In sequential importance sampling algorithm, a ubiquitous problem is a degradation phenomena, may be through after the iteration several times, have only particle weights very big, remaining particle has only small weights, can ignore, make the result of algorithm can not give full expression to out desired posterior probability density function.
Resampling is the another kind of effective ways of eliminating degradation phenomena.The purpose that resamples is exactly to abandon the little particle of weight, the particle that reproduction right is great.Can reduce degradation phenomena though resample, also brought another negative effect: particle exhausts phenomenon, is called the exhausted problem of sampling again.The particle that promptly has big weights is repeatedly chosen, and has comprised the particle of many repetitions in the sampled result, thereby has reduced the diversity of particle.Become SIRF (Sampling Importance Resampling Filter) algorithm after adding resamples to the SIS algorithm.Be the flow chart of this algorithm among Fig. 4.Its implementation method is as follows:
(1) initialization: from priori probability density function p (x
o) middle sampling generation primary collection
N is a number of particles, and the initial weight of all particles all is 1/N;
(2) particle sampler: sampling obtains k particle (new state that k obtains constantly) constantly according to the state transition equation formula, joins in the primary set, obtains the current time particle assembly;
(3) weights calculate: calculate the k pairing weights of particle collection constantly according to k measured value, observational equation, importance function and last weights constantly constantly, again with particle weights normalized, obtain the weights after the normalization;
(4) resample: according to certain resampling criterion current (k constantly) particle collection is resampled, produce one group of new particle collection, this is organized the primary collection of new particle collection as next moment (k+1 constantly);
(5) obtain state estimation: obtain k state estimation value constantly according to k particle collection and weight constantly;
(6) make k=k+1, repeating step (2)～(5) obtain next state estimation value of (k+1 constantly) constantly.
This algorithm adopts the SOPC technology based on the soft nuclear of FPGA embedding IP to realize being cured in the hardware of intelligent digital optical transceiver.
Motion tracking and transfer of data are the Core Features of video motion tracking system, be to satisfy requirement in real time fast, utilize that FPGA device, SOPC technology and peripheral hardware circuit design are a kind of can be realized simultaneously to the motion tracking of multi-channel video and the equipment of optical transmission control.Wherein comprise motion tracking algoritic module, optical transmission control module and light emission module.The track algorithm module is carried out motion detection and tracking to the multi-channel video that collects; The optical transmission control module is carried out the result data of motion tracking module output and go here and there conversion, and light emission module converts serial data to light signal and exports.A video motion of this method design is followed the tracks of transmitter and can be realized the real time kinematics of multi-channel video is followed the tracks of and transmission, thereby on a large scale, the video monitoring of the distributed complex scene of many control points, the outstanding advantage of this implementation is exactly that cost is low, real-time is high.
Claims (7)
1. one kind based on complex scene target travel tracking system embedded, optical transmission, it is characterized in that, comprise multichannel front end camera, multichannel front end camera connects the built-in smart video analytical system, the built-in smart video analytical system is connected with terminal control system by optical transmission system, and the built-in smart video analytical system is connected with video-frequency monitor by its local VGA display interface simultaneously; Described built-in smart video analytical system, the signal gathering unit that comprises input information, signal gathering unit connects the moving object detection and tracking unit, and signal reaches optical transmission system by the optical transmission control unit after the moving object detection and tracking element analysis is handled.
2. according to claim 1 based on embedded, the complex scene target travel tracking system of optical transmission, it is characterized in that, described moving object detection and tracking unit comprises the YCbCr-RGB modular converter, RGB-greyscale image transitions module, the moving object detection module, the motion target tracking module, the YCbCr-RGB modular converter is a rgb signal with video YCbCr conversion of signals, RGB-greyscale image transitions module is a gray level image with the RGB image transitions, the moving object detection module extracts the zone of moving target from complex background, the motion target tracking module is followed the tracks of motion target area.
3. according to claim 1 and 2 based on complex scene target travel tracking system embedded, optical transmission, it is characterized in that, described built-in smart video analytical system is the intelligent digital optical transceiver, also is provided with local LCD display interface and local VGA display interface on the intelligent digital optical transceiver.
4. according to claim 1 based on embedded, the complex scene target travel tracking system of optical transmission, it is characterized in that, described terminal control system comprises the reception optical transceiver, video surveillance, central server, receiving optical transceiver receives the light signal that sends from front end built-in smart video analytical system and is converted into the corresponding signal of telecommunication, central server is finished judgement and the choice that startup is reported to the police according to tracking fruit data and the predetermined rule received, perhaps produce the tracking system that feedback control signal is transferred to the built-in smart video analytical system more thus, be used for controlling The Cloud Terrace and make camera pursuit movement target.
5. claim 1 is described based on embedded, the method for supervising of the complex scene target travel tracking system of optical transmission, it is characterized in that, step is: the front end camera collection to vision signal is delivered to the built-in smart video analytical system, the signal gathering unit of built-in smart video analytical system is carried out analog-to-digital conversion to vision signal, then the digital video signal after the conversion is delivered to the moving object detection and tracking unit and carry out motion target detection and tracking, the optical transmission control unit is delivered to terminal control system with result data by optical transmission system, whether terminal control system is alarmed according to the rule judgment that configures in advance, and vision signal sends to the local real-time display monitoring video of video-frequency monitor simultaneously.
6. the method for supervising of the complex scene target travel tracking system based on embedded, optical transmission according to claim 5, it is characterized in that, described motion target detection adopts the inter-frame difference algorithm, be gray level image with the video color image transitions earlier, current time frame of video and background image are carried out calculus of differences, extract the position of motion target area.
7. the method for supervising of the complex scene target travel tracking system based on embedded, optical transmission according to claim 5 is characterized in that the tracking of described moving target particle filter algorithm is specially earlier and produces the primary collection by initialization
Obtain the particle assembly of current time again through over-sampling
And calculate the normalized weight of each particle; By resampling current particle collection is upgraded then, as next primary constantly, simultaneously according to the particle collection of current time and the state of weight estimation current time
Be the speed of current time moving target and the estimated value of displacement.
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Application publication date: 20111221 |