CN102568000A - Method for tracking movement of object in multiple pictures - Google Patents
Method for tracking movement of object in multiple pictures Download PDFInfo
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- CN102568000A CN102568000A CN2011100954340A CN201110095434A CN102568000A CN 102568000 A CN102568000 A CN 102568000A CN 2011100954340 A CN2011100954340 A CN 2011100954340A CN 201110095434 A CN201110095434 A CN 201110095434A CN 102568000 A CN102568000 A CN 102568000A
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000004458 analytical method Methods 0.000 claims description 5
- 238000013213 extrapolation Methods 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 4
- 230000000295 complement effect Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
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- 238000005516 engineering process Methods 0.000 description 2
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Abstract
The invention provides a method for tracking the movement of an object in multiple pictures, which comprises the following steps. First, a first position of an object in a first frame and a second position of the object in a second frame are obtained, and a motion vector is calculated according to the first position and the second position. Then, whether the motion vector is larger than a threshold parameter is judged. When the motion vector is larger than the threshold parameter, a main direction is selected from a plurality of preset directions according to the motion vector. Then, the area near the main direction is searched from the second position of a third picture to find out a third position of the object in the third picture. When the motion vector is smaller than the threshold parameter, the vicinity of the second position of the third frame is searched along the predetermined directions to find out the third position of the object on the third frame. The method can firstly perform coarse scanning on a plurality of preset directions to shorten the time of the movement decision and the data calculation amount, thereby meeting the requirement of high image update rate.
Description
Technical field
The present invention relates to a kind of disposal route of many picture images, and be particularly related to the method for tracing of movement of objects in a kind of many pictures.
Background technology
Along with science and technology is constantly progressive, digital product is also more and more general in people's life.The dribs and drabs of record life for ease, mobile phone, digital camera and digital code camera or the like often all have takes the still photo or the function of dynamic film.For instance, these electronic product inside can dispose charge coupled cell (Charge-coupled Device, CCD) or complementary metal-oxide layer-semiconductor (Complementary Metal-Oxide-Semiconductor CMOS) waits photo-sensitive cell.
In the digital camera or digital code camera that are the basis with the CMOS photo-sensitive cell, the download time of image (downloa dtime) can be shorter, makes picture update rate (frame rate) also than higher.
In tradition; The mobile computing method that be the basis with block coupling (block matching) or do not consider that calculation resources that last picture moves the algorithm needs of testing result compares hugely and consuming time, use will not be applied in the application under high-res and high picture demand.
To search the mobile comparison of (fullsearch) formula fully, in order to calculate the mobile relation of object between two pictures, must all look for all positions of two pictures one time, obtain the mobile relation of object again according to the result of mating the most.When needs are known mobile concern of object at next picture, just need according to this logic to look for once more again.Though fully the search algorithm method need not done extra judgement, under and the situation that the processing time is limited big when image, the mobile Analysis of Relationship that accomplish many pictures under will also inefficiency too consuming time, and then lowers the possibility of real work.
Summary of the invention
The present invention provides the method for tracing of movement of objects in a kind of many pictures, can shorten the time of moving decision-making (motion decision).
The present invention proposes the method for tracing of movement of objects in a kind of many pictures, comprises the following steps.At first, obtain a second place of object in a primary importance and one second picture of an object in one first picture, to calculate a motion-vector according to the primary importance and the second place.Then, judge that whether motion-vector is greater than a threshold parameter.When motion-vector during,, from a plurality of predetermined directions, select a principal direction according to motion-vector greater than the threshold parameter.Then, on the second place of a three-picture, search the principal direction near zone, to find out one the 3rd position of object in three-picture.When motion-vector during, along these predetermined directions, search the near zone of the second place of three-picture, to find out the 3rd position of object in three-picture less than the threshold parameter.
In one embodiment of this invention, the quantity of these predetermined directions is 8, and five equilibrium 360 degree.
In one embodiment of this invention, search the principal direction near zone,, comprise the following steps to find out the step of object in the 3rd position of three-picture.At first, in these predetermined directions, find out in addition two principal directions adjacent with principal direction.Then, on three principal directions, search the object in the three-picture.
In one embodiment of this invention, search the principal direction near zone,, also comprise the following steps to find out the step of object in the 3rd position of three-picture.At first, according to the search result on three principal directions, in three principal directions, select the one scan direction.Then, search the near zone of direction of scanning, to find out three position of object in three-picture.
In one embodiment of this invention, the method for tracing of movement of objects in many pictures also comprises when searching less than object in the three-picture, abandons three-picture.
In one embodiment of this invention, the method for tracing of movement of objects also comprises the following steps in many pictures.At first, according to the position of object in first picture to the N-1 picture, a mobile trend of object analysis.Then, according to mobile trend, the N position of judgment object in a N picture.
In one embodiment of this invention, analyze the step of mobile trend, comprise and utilize a curve to join legitimacy (curve fitting) or linear extrapolation method analysis mobile trend.
Based on above-mentioned, the method for tracing of movement of objects can be done coarse scan to a plurality of predetermined directions earlier in many pictures of the present invention, shortens the time and the data computation amount that move decision-making, and can meet the demand of high picture update rate.In addition, relatively wait mechanism, can make search result still have certain accuracy by threshold value.
For letting the above-mentioned feature and advantage of the present invention can be more obviously understandable, hereinafter is special lifts embodiment, and the conjunction with figs. formula specifies as follows.
Description of drawings
Fig. 1 is the schematic flow sheet of the method for tracing of movement of objects in many pictures of one embodiment of the invention.
Fig. 2 is the synoptic diagram that is applied to many continuous pictures of Fig. 1.
Fig. 3 A is shown in the synoptic diagram in the picture for predetermined direction, the principal direction of Fig. 1.
Fig. 3 B-Fig. 3 D is the synoptic diagram of adjacent three principal directions.
Fig. 4 is a synoptic diagram of setting the search area of square type among Fig. 3 A.
Fig. 5 is the schematic flow sheet of the method for tracing of movement of objects in many pictures of another embodiment of the present invention.
The main element symbol description
F1: first picture
F2: second picture
F3: three-picture
F4: the 4th picture
M1-M3, M1 '-M3 ', M1 "-M3 ": principal direction
O: object
S1-S4: near zone
S110-S150, S210-S280: step
P: predetermined direction
T: track
(x, y): primary importance
(x+U1, y+V1): the second place
(x+U2, y+V2): the 3rd position
Embodiment
Fig. 1 is the schematic flow sheet of the method for tracing of movement of objects in many pictures of one embodiment of the invention, and Fig. 2 is the synoptic diagram that is applied to many continuous pictures of Fig. 1.In Fig. 2, one first continuous picture F1, one second picture F2, a three-picture F 3 and one the 4th picture F4 for example are shown, and an object O can move along track T.
Please refer to Fig. 1 and Fig. 2, at first carry out step S110, obtain the primary importance (x of object O among the first picture F1; Y) with the second picture F2 in object O a second place (x+U1, y+V1), with according to primary importance (x; Y) with the second place (x+U1, y+V1) calculate a motion-vector (U1, V1).Then carry out step S 120, judge that (U1 V1) whether greater than a threshold parameter, distinguishes big situation of object O amount of movement and little situation to motion-vector.In the present embodiment, the threshold parameter can be single numerical value TH (not shown), but not as limit.That is the size that, compares U1 and TH and V1 and TH respectively.
Fig. 3 A please cooperate with reference to figure 2 and Fig. 3 A for predetermined direction, the principal direction of Fig. 1 are shown in the synoptic diagram in the picture, and (U1 during V1) greater than the threshold parameter, represents the amount of movement of object O bigger, is difficult for the direction counter-rotating at short notice when motion-vector.At this moment, carry out step S 130, (U1 V1), selects a principal direction M1 from a plurality of predetermined direction P according to motion-vector.Carry out step S140 then, from the second place of three-picture F 3 (x+U1, y+V1) on, search principal direction M1 near zone, with find out object O in one the 3rd position of three-picture F3 (x+U2, y+V2).In the present embodiment, the quantity of these predetermined directions can be 8, and five equilibrium 360 degree.
That is to say that when inquiring for relatively moving of the three-picture F 3 and the first picture F1 and concern, directly (x+U1 y+V1) begins to look for, rather than (x y) has looked for from primary importance from the second place.In like manner; Note the three-picture F3 and the first picture F1 motion-vector (U2, V2), in will finding out the 4th picture F4 among the object O and the first picture F1 during kinematic relation of object O; Also be the 3rd position (x+U2 that directly notes according to three-picture F3; Y+V 2) begin to search as starting point, and can according to most probable principal direction M1 coarse scan, then just carefully sweep.
Fig. 4 is a synoptic diagram of setting the search area of square type among Fig. 3 A.Please cooperate with reference to figure 2 and Fig. 4, relative, (U1 during V1) less than the threshold parameter, represents object O amount of movement near initial point, and ensuing motion might make direction reverse when motion-vector.At this moment, carry out step S150, along these predetermined directions P, search three-picture F 3 the second place (x+U1, near zone S4 y+V1), with find out object in the 3rd position of three-picture F 3 (x+U2, y+V2).For instance, near zone S4 can be defined out by a rectangular area, but not as limit.That is to say that (x+U1 y+V1) sets the search area of a square type for the center, and to analyze to save time and complexity to going with the present second place from all directions.
Fig. 5 is the schematic flow sheet of the method for tracing of movement of objects in many pictures of another embodiment of the present invention, and Fig. 3 B-Fig. 3 D is the synoptic diagram of adjacent three principal directions.The flow process that below will cooperate Fig. 2, Fig. 3 B-3D and Fig. 4 key diagram 5, but not as limit.Please, at first carry out step S210, obtain the primary importance (x of object O among the first picture F1 earlier with reference to figure 2; Y) with the second picture F2 in object O a second place (x+U1, y+V1), with according to primary importance (x; Y) with the second place (x+U1, y+V1) calculate a motion-vector (U1, V1).Then carry out step S220, (whether U1 is V1) greater than a threshold parameter to judge motion-vector.
(U1 during V1) greater than the threshold parameter, carries out step S230, and (U1 V1), selects a principal direction M1 from a plurality of predetermined direction P according to motion-vector when motion-vector.Carry out step S240 then, from the second place of three-picture F 3 (x+U1, y+V1) on, search principal direction M1 near zone S1, with find out object O in one the 3rd position of three-picture F 3 (x+U2, y+V2).Step S240 can comprise a plurality of substeps such as step S242-248.Please refer to Fig. 3 B, at first carry out step S242, in these predetermined directions P, find out adjacent with principal direction M1 two principal direction M2 in addition, M3.Then carry out step S244, last at three principal direction M1, M2, M3, search the object O among the three-picture F3.That is to say, in order further to save calculation resources, only take out immediate principal direction and search at this.Under the situation that supposing the system efficient needs are very high and calculation resources is very low, the principal direction of then only doing in immediate 90 degree is searched.In the present embodiment, promptly be that three adjacent principal direction M1, M2, M3 are searched.
Carry out step S246 then,, in three principal direction M1, M2, M3, select one scan direction M1 according to three principal direction M1, M2, the last search result of M3.Then carry out step S248, search the near zone S1 of direction of scanning M1, with find out object O in the 3rd position of three-picture F3 (x+U2, y+V2) (as shown in Figure 2).That is, comparing search result and the error of these three principal direction M1, M2, M3, the action of just carefully sweeping near work it after the most accurately and the principal direction M1 of coupling takes out is used and is reduced the data computation amount.Though; Present embodiment is to be that example is explained with Fig. 3 B; But difference along with motion-vector; Can also be to three principal direction M1 among the corresponding near zone S2 of three principal direction M1 ' among Fig. 3 C, M2 ', M3 ' or Fig. 3 D ", M2 ", M3 " corresponding near zone S3 searches, by that analogy.
Please refer to Fig. 4, relative, (U1 is during V1) less than the threshold parameter when motion-vector; Carry out step S250,, search the second place (x+U1 of three-picture F3 along these predetermined directions P; Y+V1) near zone S4, with find out object in the 3rd position of three-picture F3 (x+U2, y+V2).
In the present embodiment, finish after step S240 or the step S250, also can carry out step S260.In step S260, when searching among the three-picture F3, then can abandon three-picture F3 less than object O.That is to say,, then abandon this image information if there between continuous pictures, have some pictures to can not find with aforesaid search method to be qualified as a result the time.
What deserves to be mentioned is, present embodiment many pictures in the method for tracing of movement of objects can be applicable to above the image processing of other many pictures.With the example that is applied as of three-dimensional noise inhibition (3D noise reduction), the picture that step S260 abandoned does not just carry out the process of time average filtering (temporal filter).In addition, because under the high picture update rate, the mistiming of each picture is lower.Therefore, if having object at short notice the outer situation of fast moving to principal direction search area take place, then possibly be because of object very fast moving produce.Under this type of situation, object has the situation of dynamic fuzzy (motion blur) easily, also abandons this picture that dynamic fuzzy has taken place by step S 260 in colour mixture (blending) process.
Further, then also can carry out step S270, according to the position of object O in first picture F1 to the N-1 picture (not shown), the mobile trend of object analysis O.Carry out step S280 then, according to mobile trend, the N position of judgment object in a N picture.In the present embodiment, a curve capable of using joins legitimacy or a linear extrapolation method is analyzed mobile trend, but not as limit.That is to say that the result that present embodiment does not only limit to previous stage searches, also available before the result of N-1 level push away the object space of N picture.
In sum, the method for tracing of movement of objects can be done coarse scan to a plurality of predetermined directions earlier in many pictures of the present invention, shortens the time of moving decision-making, and can meet the demand of the high picture update rate of CMOS photo-sensitive cell.In addition, moving in the analytic process fast, the trend that also can add by different mechanism is judged, makes the result still have certain accuracy.
Though the present invention discloses as above with embodiment, so it is not in order to limiting the present invention, any under those of ordinary skill in the technical field, when can doing a little change and retouching, and do not break away from the spirit and scope of the present invention.
Claims (7)
1. the method for tracing of movement of objects in the picture more than a kind comprises:
Obtain a second place of this object in a primary importance and one second picture of an object in one first picture, to calculate a motion-vector according to this primary importance and this second place;
Judge that whether this motion-vector is greater than a threshold parameter;
When this motion-vector during,, from a plurality of predetermined directions, select a principal direction according to this motion-vector greater than this threshold parameter;
On this second place of a three-picture, search this principal direction near zone, to find out one the 3rd position of this object in this three-picture; And
When this motion-vector during, along those predetermined directions, search the near zone of this second place of this three-picture, to find out the 3rd position of this object in this three-picture less than this threshold parameter.
2. the method for tracing of movement of objects in many pictures according to claim 1, wherein the quantity of those predetermined directions is 8, and five equilibrium 360 degree.
3. the method for tracing of movement of objects in many pictures according to claim 1 is wherein searched this principal direction near zone, to find out the step of this object in the 3rd position of this three-picture, comprising:
In those predetermined directions, find out in addition two principal directions adjacent with this principal direction; And
On these three principal directions, search this object in this three-picture.
4. the method for tracing of movement of objects in many pictures according to claim 3 is wherein searched this principal direction near zone, to find out the step of this object in the 3rd position of this three-picture, also comprises:
According to the search result on these three principal directions, select the one scan direction in these three principal directions certainly; And
Search the near zone of this direction of scanning, to find out three position of this object in this three-picture.
5. the method for tracing of movement of objects in many pictures according to claim 1 also comprises:
When searching in this three-picture, abandon this three-picture less than this object.
6. the method for tracing of movement of objects in many pictures according to claim 1 also comprises:
According to the position of this object in this first picture to N-1 picture, analyze a mobile trend of this object; And
According to this mobile trend, judge the N position of this object in a N picture.
7. the method for tracing of movement of objects in many pictures according to claim 6 is wherein analyzed the step of this mobile trend, comprising:
Utilize a curve to join legitimacy or this mobile trend of linear extrapolation method analysis.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW99147315A TWI423170B (en) | 2010-12-31 | 2010-12-31 | A method for tracing motion of object in multi-frame |
| TW099147315 | 2010-12-31 |
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| Publication Number | Publication Date |
|---|---|
| CN102568000A true CN102568000A (en) | 2012-07-11 |
| CN102568000B CN102568000B (en) | 2014-08-13 |
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| CN201110095434.0A Expired - Fee Related CN102568000B (en) | 2010-12-31 | 2011-04-13 | Method for tracking movement of object in multiple pictures |
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| CN (1) | CN102568000B (en) |
| TW (1) | TWI423170B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107404615A (en) * | 2017-06-29 | 2017-11-28 | 联想(北京)有限公司 | Picture recording method and electronic equipment |
| CN110008795A (en) * | 2018-01-04 | 2019-07-12 | 纬创资通股份有限公司 | Image object method for tracing and its system and computer-readable storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020167537A1 (en) * | 2001-05-11 | 2002-11-14 | Miroslav Trajkovic | Motion-based tracking with pan-tilt-zoom camera |
| CN1875633A (en) * | 2003-10-28 | 2006-12-06 | 皇家飞利浦电子股份有限公司 | Motion vector field refinement to track small fast moving objects |
| CN101422047A (en) * | 2006-04-14 | 2009-04-29 | Nxp股份有限公司 | Motion estimation at image borders |
| WO2010050110A1 (en) * | 2008-10-27 | 2010-05-06 | パナソニック株式会社 | Moving body detection method and moving body detection device |
| US20100124358A1 (en) * | 2008-11-17 | 2010-05-20 | Industrial Technology Research Institute | Method for tracking moving object |
-
2010
- 2010-12-31 TW TW99147315A patent/TWI423170B/en not_active IP Right Cessation
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2011
- 2011-04-13 CN CN201110095434.0A patent/CN102568000B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020167537A1 (en) * | 2001-05-11 | 2002-11-14 | Miroslav Trajkovic | Motion-based tracking with pan-tilt-zoom camera |
| CN1875633A (en) * | 2003-10-28 | 2006-12-06 | 皇家飞利浦电子股份有限公司 | Motion vector field refinement to track small fast moving objects |
| CN101422047A (en) * | 2006-04-14 | 2009-04-29 | Nxp股份有限公司 | Motion estimation at image borders |
| WO2010050110A1 (en) * | 2008-10-27 | 2010-05-06 | パナソニック株式会社 | Moving body detection method and moving body detection device |
| US20100124358A1 (en) * | 2008-11-17 | 2010-05-20 | Industrial Technology Research Institute | Method for tracking moving object |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107404615A (en) * | 2017-06-29 | 2017-11-28 | 联想(北京)有限公司 | Picture recording method and electronic equipment |
| CN107404615B (en) * | 2017-06-29 | 2020-08-25 | 联想(北京)有限公司 | Image recording method and electronic equipment |
| CN110008795A (en) * | 2018-01-04 | 2019-07-12 | 纬创资通股份有限公司 | Image object method for tracing and its system and computer-readable storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| TWI423170B (en) | 2014-01-11 |
| TW201227616A (en) | 2012-07-01 |
| CN102568000B (en) | 2014-08-13 |
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