CN103607540B - 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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- CN103607540B CN103607540B CN201310630017.0A CN201310630017A CN103607540B CN 103607540 B CN103607540 B CN 103607540B CN 201310630017 A CN201310630017 A CN 201310630017A CN 103607540 B CN103607540 B CN 103607540B
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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
The present invention relates to a kind of monopod video camera presetting bit method for improving accuracy, belongs to technical field of video monitoring.
Background technology
The enhancing realized with social security protection and the development of Video Supervision Technique, monopod video camera (this paper abbreviation video cameras,
Similarly hereinafter) it is widely used in fields such as power system, track traffic, safe city and financial sectors.Preset bit function
Refer to that video camera can record the ginseng related to camera lens focal length etc. of the level angle of head, vertical angle under current state
Number, can rapidly call these parameters and head and camera be adjusted to the position when needing.In video monitoring system, take the photograph
Camera needs the target to setting regularly to be patrolled and examined and automatically analyze, the effect of the raising of presetting bit precision to camera surveillance
It is really most important.
In the market the presetting bit precision of main flow video camera products can meet some primary demands of client, but with visitor
The continuous improvement of family demand and the continuous progress of Video Supervision Technique, particularly in high definition resolution ratio, big optical zoom monitoring bar
Existing presetting bit precision level can not meet its requirement under part.Therefore, new control monopod video camera presetting bit essence is studied
The method of degree is imperative.
The content of the invention
Proposed by the present invention is a kind of monopod video camera presetting bit method for improving accuracy, and its purpose is aimed to solve the problem that at present can not
The problem of accurate reproduction presetting bit.
The technical solution of the present invention：A kind of monopod video camera presetting bit method for improving accuracy, comprises the steps：
1) need to compensate machine error when head operates；
2) need to obtain present image when arranging presetting bit, save as template picture；
3) the step of presetting bit method for improving accuracy includes coarse positioning and fine positioning：Including
(1) presetting bit is transferred, head operates to the preset location proximate；
(2) present image is obtained, it with the deviation of template image is converted into into head displacement and error compensation is counted, it is right
Current location is modified.
The beneficial effects of the present invention is：1st, head machine error is compensated, improves presetting bit precision.2nd, pass through
Photo current is matched with template picture, calculates head displacement compensation amount, further increases presetting bit precision.3rd, in head
Control is equally applicable in the case of feeding back without sensor displacement, simplifies cradle head structure scheme, reduces cost.
Description of the drawings
Fig. 1 is the flow chart of preset positions of camera method for improving accuracy.
Fig. 2 (a) is that images match deviation calculates photo current in schematic diagram.
Fig. 2 (b) is that images match deviation calculates template picture in schematic diagram.
Fig. 3 is image deviations-displacement conversion schematic diagram.
Specific embodiment
A kind of monopod video camera presetting bit method for improving accuracy, comprises the steps：
1）Head needs to compensate machine error when operating；
2）Need to obtain present image when arranging presetting bit, save as template picture；
3）The step of presetting bit method for improving accuracy includes coarse positioning and fine positioning：Including
(1) presetting bit is transferred, head operates to the preset location proximate；
(2) present image is obtained, it with the deviation of template image is converted into into head displacement and error compensation is counted, it is right
Current location is modified.
When described head operates, including
1) during head Positive work, machine error is that the transmission caused by the factors such as parts design, manufacture and assembling is missed
Difference；
2) during head antiport, machine error except above-mentioned driving error, also including turn error.
Described acquisition present image, including
1) during the threshold epsilon that present image sets with deviation ﹤ of template image, current location can not be modified；
2) when the threshold epsilon of above-mentioned deviation ﹥ setting, then need to be modified head position；
3）Contrasted to calculate cloud with template image respectively using the present image of two width or two width above diverse locations
The displacement of platform.
When presetting bit is arranged, need the picture for capturing the position as template, contrasted during presetting bit to call.
The technical solution of the present invention is further described below in conjunction with the accompanying drawings：
As shown in figure 1, this method is divided into two steps：
(1) calculate displacement of the head from current location to target location and send corresponding umber of pulse, when head need with
When current kinetic direction is moved in the same direction, the value of head correction program is ΔΨ, when head needs reversely to be transported with current kinetic direction
When dynamic, the value of head correction program is (ΔΨ+Δθ)；
(2) precise control is carried out to presetting bit using image matching method, the displacement compensation amount of head is picture deviation institute
It is determined that offset and step (1) in " correction value " sum.
Wherein, ΔΨ h/ΔΨ vDriving error respectively in head horizontal, Δθ h/Δθ vRespectively cloud
Turn error in platform horizontal,ξ h/ξ vThe image deviations threshold value set respectively in head horizontal.
If Fig. 2 (a), Fig. 2 (b) are that images match deviation calculates schematic diagram template picture.Take certain fritter in template picture
Region is contrasted as feature unit.The feature unit of note photo current and template picture is respectivelyCWithT, while also representing
The corresponding matrix of this feature unit.The coordinate as shown in Fig. 2 (a), Fig. 2 (b) is set up in the upper left corner with picture as the origin of coordinates
System.If presetting bit picture (including the photo current and template picture) pixel size of crawl isM×N, the pixel of this feature unit
Size ism×n.In photo current, the coordinate of feature unit top left corner pixel for (x,y), whereinx∈[0,M-m],y∈[0,N-n].In feature uniti+1 row, thej+The coordinate relative to feature unit top left corner pixel of 1 row pixel for (i,j)。
Feature unitCAverage grayFor：
(1)
Feature unitTAverage grayFor：
(2)
OrderAnd, feature unitCAnd feature unitT
Normalized crosscorrelation valueR(x,y) be：
(3)
In normalized crosscorrelation matrixR(x,y) in, if point (x,y) placeR(x,y)=Max{R(x,y), then point (x,y)
For optimal solution, i.e. photo current point (x,y) match with template picture.Feature unitCWith feature unitTCentre-to-centre spacing as work as
The deviation of front picture and template picture, by the deviation bit shift compensation that head is both horizontally and vertically gone up is converted intoη, you can it is accurate
Control presetting bit precision.
As shown in figure 3, to try to achieve the head bit shift compensation that picture deviation is conversed, the present invention proposes one kind using two width not
With the method that the present image of position is contrasted with template image.Comprise the following steps that：
(1) if present image (is designated asC 1) and template imageTMatching deviation ＞ξWhen, head to template center direction with
The speed of settingωPersistently rotate regular hour Δt(the ΔtValue is estimated based on experience value), capture picture afterwards in place, it is designated asC 2。
(2) calculateC 1WithT、C 2WithTImages match deviation deltaS 1And ΔS 2, bit shift compensation value is：
(4)
(5)
Formula（4）And formula（5）In：Subscript h and v represent respectively the parameter for both horizontally and vertically going up.
The above, is only presently preferred embodiments of the present invention, and any pro forma restriction is not made to the present invention.It is right
For any technical staff of the art, under the premise without departing from the principles of the invention, some improvement can also be made,
These improvement also should be regarded as protection scope of the present invention.
Claims (1)
1. a kind of monopod video camera presetting bit method for improving accuracy, it is characterised in that：The method comprises the steps：
1）Head needs to compensate machine error when operating；
2）Need to obtain present image when arranging presetting bit, save as template picture；
3）The step of presetting bit method for improving accuracy includes coarse positioning and fine positioning：Including
(1) presetting bit is transferred, head operates to the preset location proximate；
(2) present image is obtained, it with the deviation of template image is converted into into head displacement and error compensation is counted, to current
Position is modified；
When described head operates, including
1）During head Positive work, machine error is the driving error caused by parts design, manufacture and assembling factor；
2）During head antiport, machine error except above-mentioned driving error, also including turn error；
Described acquisition present image, including
1）The threshold value that present image sets with deviation ﹤ of template imageεWhen, current location is not modified；
2）When the threshold value of above-mentioned deviation ﹥ settingεWhen, then need to be modified head position；
3）Contrasted to calculate head with template image respectively using the present image of two width or two width above diverse locations
Displacement；
The method for adopting the present image of two width diverse locations to be contrasted with template image, concrete steps include：
(1) if present image and template image match deviation ＞ξWhen, speed of the head to template center direction to setωHold
Continuous rotation regular hour Δt, capture picture afterwards in place, it is designated asC 2；
(2) calculate present image and template image,C 2With the images match deviation delta of template imageS 1And ΔS 2, head displacement benefit
Repaying value is：
In formula：Subscript h and v represent respectively the parameter for both horizontally and vertically going up.
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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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| CN201310630017.0A CN103607540B (en) | 2013-12-02 | 2013-12-02 | Method for improving presetting bit accuracy of pan-tilt camera |
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| CN103607540A CN103607540A (en) | 2014-02-26 |
| CN103607540B true CN103607540B (en) | 2017-04-12 |
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| CN107333061A (en) * | 2017-06-30 | 2017-11-07 | 天津市亚安科技有限公司 | A kind of method that cradle head preset positions precision is improved with compensation |
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| CN105100714A (en) * | 2015-07-10 | 2015-11-25 | 东方网力科技股份有限公司 | Method and device for controlling cradle head based on monitoring equipment |
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| CN105700562A (en) * | 2016-01-29 | 2016-06-22 | 成都华迈通信技术有限公司 | Device and method for correcting camera tripod head |
| CN106289182A (en) * | 2016-07-14 | 2017-01-04 | 济南中维世纪科技有限公司 | A kind of by The Cloud Terrace camera from the method for dynamic(al) correction presetting bit |
| CN107018380B (en) * | 2017-04-25 | 2019-10-18 | 成都信息工程大学 | A kind of method and device for the presetting bit validity detecting video camera |
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| CN110337625B (en) * | 2018-03-29 | 2022-06-03 | 深圳市大疆创新科技有限公司 | Pan-tilt track planning method and device |
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| CN112067253A (en) * | 2020-06-03 | 2020-12-11 | 翔升（上海）电子技术有限公司 | Camera calibration method based on machine vision |
| CN114359374A (en) * | 2021-11-22 | 2022-04-15 | 深圳供电局有限公司 | Method and device for automatically matching camera position, computer equipment and storage medium |
| CN113989124B (en) * | 2021-12-27 | 2022-04-19 | 浙大城市学院 | System for improving positioning accuracy of pan-tilt-zoom camera and control method thereof |
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