CN103607540A - Method for improving presetting bit accuracy of pan-tilt camera - Google Patents
Method for improving presetting bit accuracy of pan-tilt camera Download PDFInfo
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- CN103607540A CN103607540A CN201310630017.0A CN201310630017A CN103607540A CN 103607540 A CN103607540 A CN 103607540A CN 201310630017 A CN201310630017 A CN 201310630017A CN 103607540 A CN103607540 A CN 103607540A
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- presetting bit
- cloud terrace
- pan
- tilt
- error
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Abstract
The invention provides a method for improving the presetting bit accuracy of a pan-tilt camera. The method comprises the following steps that (1) compensation is conducted on a mechanical error when a pan-tilt is operated; (2) when a presetting bit is set, a current image needs to be obtained and stored as a template image; (3) a coarse positioning step and a fine positioning step are conducted, wherein (1) the presetting bit is called and the pan-tilt is moved to the position near a presetting bit point; (2) the current image is obtained, deviation of the current image and the template image is converted into pain-tilt displacement, error compensation is reckoned, the current position is corrected. The method for improving the presetting bit accuracy of the pan-tilt camera has the advantages that compensation is conducted on the pan-tilt mechanical error and the presetting bit accuracy is improved; through the match of the current image and the template image, the pan-tilt displacement compensation amount is calculated and the presetting bit accuracy is further improved; the method is also suitable under the condition that pan-tilt control lacks displacement feedback of a sensor, the pan-tilt structure scheme is simplified, and cost is reduced.
Description
Technical field
What the present invention relates to is a kind of monopod video camera presetting bit method for improving accuracy, belongs to technical field of video monitoring.
Background technology
Along with the enhancing of social security protection consciousness and the development of Video Supervision Technique, monopod video camera (being called for short video camera herein, lower same) is widely used in fields such as electric power system, track traffic, safe city and financial sectors.Presetting bit function refers to that video camera can record the relevant parameters such as the level angle of The Cloud Terrace under current state, vertical angle and camera lens focal length, can call rapidly these parameters and The Cloud Terrace and camera are adjusted to this position while needing.In video monitoring system, video camera need to carry out regular patrolling and examining and automatic analysis to the target of setting, and the raising of presetting bit precision is most important to the effect of camera surveillance.
The presetting bit precision of main flow video camera product can meet some primary demands of client in the market, but along with the continuous progress with Video Supervision Technique that improves constantly of customer demand, particularly under high definition resolution, large optical zoom monitoring condition, existing presetting bit precision level can not meet its requirement.Therefore, study the method for new control monopod video camera presetting bit precision imperative.
Summary of the invention
What the present invention proposed is a kind of monopod video camera presetting bit method for improving accuracy, and its object is intended to solve the problem of presetting bit of can not accurately reducing at present.
Technical solution of the present invention: a kind of monopod video camera presetting bit method for improving accuracy, comprises the steps:
1) when The Cloud Terrace turns round, need to compensate machine error;
2) while presetting bit being set, need to obtain present image, save as template picture;
3) presetting bit method for improving accuracy comprises the step of coarse positioning and fine positioning: comprise
(1) transfer presetting bit, The Cloud Terrace turns round near this preset site;
(2) obtain present image, the deviation of itself and template image is converted into The Cloud Terrace displacement and counts error compensation, current location is revised.
Beneficial effect of the present invention is: 1, The Cloud Terrace machine error is compensated, improved presetting bit precision.2, by the mating of photo current and template picture, calculate The Cloud Terrace bit shift compensation amount, further improved presetting bit precision.3, applicable equally in the situation that cradle head control does not have sensor displacement feedback, simplified cradle head structure scheme, reduced cost.
Accompanying drawing explanation
Fig. 1 is the flow chart of preset positions of camera method for improving accuracy.
Fig. 2 (a) is that images match deviation is calculated photo current in schematic diagram.
Fig. 2 (b) is that images match deviation is calculated template picture in schematic diagram.
Fig. 3 is image deviations-displacement conversion schematic diagram.
Embodiment
A monopod video camera presetting bit method for improving accuracy, comprises the steps:
1) when The Cloud Terrace turns round, need to compensate machine error;
2) while presetting bit being set, need to obtain present image, save as template picture;
3) presetting bit method for improving accuracy comprises the step of coarse positioning and fine positioning: comprise
(1) transfer presetting bit, The Cloud Terrace turns round near this preset site;
(2) obtain present image, the deviation of itself and template image is converted into The Cloud Terrace displacement and counts error compensation, current location is revised.
When described The Cloud Terrace turns round, comprise
1), when The Cloud Terrace forward turns round, machine error is the caused driving errors of factor such as parts design, manufacture and assembling;
2), during The Cloud Terrace antiport, machine error, except above-mentioned driving error, also comprises turn error.
The described present image that obtains, comprises
1), during the deviation ﹤ of present image and template image sets threshold epsilon, can current location not revised;
2) when threshold epsilon that above-mentioned deviation ﹥ sets, need The Cloud Terrace position to revise;
3) adopt the present image of two width or the above diverse location of two width to contrast with template image respectively, calculate the displacement of The Cloud Terrace.
When presetting bit is set, need to capture the picture of this position as template, to contrast while calling presetting bit.
Below in conjunction with accompanying drawing, further describe technical solution of the present invention:
As shown in Figure 1, this method is divided into two steps:
(1) calculate the displacement of The Cloud Terrace from current location to target location and send corresponding umber of pulse, when The Cloud Terrace need to move in the same way with the current direction of motion, the value of The Cloud Terrace correction program is Δ
Ψ, when The Cloud Terrace need to be with current direction of motion counter motion, the value of The Cloud Terrace correction program is (Δ
Ψ+ Δ
θ);
(2) adopt image matching method accurately to control presetting bit, the bit shift compensation amount of The Cloud Terrace is " correction value " sum in the determined offset of picture deviation and step (1).
Wherein, Δ
Ψ h/ Δ
Ψ vbe respectively the driving error in The Cloud Terrace horizontal, Δ
θ h/ Δ
θ vbe respectively the turn error in The Cloud Terrace horizontal,
ξ h/
ξ vbe respectively the image deviations threshold value of setting in The Cloud Terrace horizontal.
If Fig. 2 (a), Fig. 2 (b) are that images match deviation is calculated schematic diagram template picture.Certain pocket of getting in template picture contrasts as feature unit.The feature unit of note photo current and template picture is respectively
cwith
t, also represent the matrix that this feature unit is corresponding simultaneously.Take the upper left corner of picture is the origin of coordinates, sets up the coordinate system as shown in Fig. 2 (a), Fig. 2 (b).If presetting bit picture (comprising photo current and the template picture) pixel size capturing is
m*
n, the pixel size of this feature unit is
m*
n.In photo current, the coordinate of feature unit top left corner pixel be (
x,
y), wherein
x∈ [0,
m-
m],
y∈ [0,
n-
n].In feature unit
i+1 row, the
j+the coordinate with respect to feature unit top left corner pixel of 1 row pixel be (
i,
j).
Feature unit
caverage gray
for:
Feature unit
taverage gray
for:
Order
and
, feature unit
cand feature unit
tnormalized crosscorrelation value
r(
x,
y) be:
At normalized crosscorrelation matrix
r(
x,
y) in, if point (
x,
y) locate
r(
x,
y)=Max{
r(
x,
y), point (
x,
y) be optimal solution, photo current point (
x,
y) mate with template picture.Feature unit
cwith feature unit
tcentre-to-centre spacing be the deviation of photo current and template picture, this deviation is converted into the bit shift compensation in The Cloud Terrace horizontal and vertical direction
η, can accurately control presetting bit precision.
As shown in Figure 3, the The Cloud Terrace bit shift compensation conversing for trying to achieve picture deviation, the present invention proposes the photo current of a kind of employing two width diverse locations and the method that template picture contrasts.Concrete steps are as follows:
(1) if photo current (is designated as
c 1) and template picture
tcoupling deviation >
ξtime, The Cloud Terrace is the speed to set to template center's direction
ωcontinue rotation regular hour Δ
t(this Δ
tvalue is estimated based on experience value), after putting in place, capture picture, be designated as
c 2.
(2) calculate
c 1with
t,
c 2with
timages match deviation delta
s 1and Δ
s 2, bit shift compensation value is:
(5)
In formula (4) and formula (5): subscript h and v represent respectively the parameter in horizontal and vertical direction.
The above, be only preferred embodiment of the present invention, not the present invention done to any pro forma restriction.For any technical staff of the art, under the premise without departing from the principles of the invention, can also make some improvement, these improvement also should be considered as protection scope of the present invention.
Claims (3)
1. a monopod video camera presetting bit method for improving accuracy, is characterized in that: the method comprises the steps:
1) when The Cloud Terrace turns round, need to compensate machine error;
2) while presetting bit being set, need to obtain present image, save as template picture;
3) presetting bit method for improving accuracy comprises the step of coarse positioning and fine positioning: comprise
(1) transfer presetting bit, The Cloud Terrace turns round near this preset site;
(2) obtain present image, the deviation of itself and template image is converted into The Cloud Terrace displacement and counts error compensation, current location is revised.
2. a kind of monopod video camera presetting bit method for improving accuracy according to claim 1, is characterized in that: when described The Cloud Terrace turns round, comprise
1), when The Cloud Terrace forward turns round, machine error is the caused driving errors of factor such as parts design, manufacture and assembling;
2), during The Cloud Terrace antiport, machine error, except above-mentioned driving error, also comprises turn error.
3. a kind of monopod video camera presetting bit method for improving accuracy according to claim 1, is characterized in that: the described present image that obtains, comprises
1) threshold value that the deviation ﹤ of present image and template image sets
εtime, can current location not revised;
2) threshold value of setting as above-mentioned deviation ﹥
εtime, need The Cloud Terrace position to revise;
3) adopt the present image of two width or the above diverse location of two width to contrast with template image respectively, calculate the displacement of The Cloud Terrace.
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|---|---|---|---|
| CN201310630017.0A CN103607540B (en) | 2013-12-02 | 2013-12-02 | Method for improving presetting bit accuracy of pan-tilt camera |
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| Publication Number | Publication Date |
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| CN103607540A true CN103607540A (en) | 2014-02-26 |
| CN103607540B CN103607540B (en) | 2017-04-12 |
Family
ID=50125739
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