CN103916632B - Real-time panorama video remote monitoring system for runway - Google Patents
Real-time panorama video remote monitoring system for runway Download PDFInfo
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- CN103916632B CN103916632B CN201410133855.1A CN201410133855A CN103916632B CN 103916632 B CN103916632 B CN 103916632B CN 201410133855 A CN201410133855 A CN 201410133855A CN 103916632 B CN103916632 B CN 103916632B
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Abstract
The invention provides a real-time panorama video remote monitoring system for a runway and belongs to the technical field of real-time panorama video remote monitoring for the runway. The real-time panorama video remote monitoring system is characterized by comprising a network camera set arranged on an airport tower, a wireless router, a pattern operation station, an Ethernet and a remote monitoring center arranged at a client side, wherein the wireless router and the pattern operation station are arranged in a machine room and connected in series, the wireless router inputs a plurality of real-time video images from the network camera set in a wired mode, a program in the pattern operation station inputs a set of real-time video streams from the wireless router in a wireless mode, the input real-time video images are stitched through existing real-time image stitching software or improved real-time video stream stitching software, rectified images with the stitching portions smooth in transition are obtained and sent to the remote monitoring center through the Ethernet, and compared with a traditional analog-digital monitoring system DVR, the real-time panorama video remote monitoring system has the advantages of being simple in remote transmission and wiring, good in instantaneity, capable of conducting panorama monitoring on the runway and high in image processing speed.
Description
Technical field
The present invention relates to panoramic video long distance control system is and in particular to a kind of runway real-time panoramic video is remotely supervised
Control system
Background technology
Runway is safely a very big aviation safety problem, and the video monitoring of runway is extremely important, with
The development of science and technology, the video monitoring system that current runway is used is mainly " analog to digital " monitoring system (dvr)
Demand in monitoring management for the people can not have been met." analog to digital " monitoring system is to be with digital hard disc video recorder dvr
Core, half simulation -- Semi-digital scheme, use coaxial cable output video signal, by dvr simultaneously from video camera to dvr
Support video recording and play back, and support network access, because dvr product is multifarious, there is no standard, so this generation system is
Non-standard closed system, dvr system still suffers from limiting in a large number.There are some obvious shortcomings in this product: (1) transmission range has
Limit, this limited transmission distance mainly due to coaxial cable and have influence on the transmission range of video signal.(2) connect up complexity,
Each video camera will install single coaxial cable, leads to wiring complicated.(3) be not suitable for remote monitoring, and remote monitoring
When real-time poor, have the delay of higher network.(4) because each road camera head monitor is limited in scope, monitoring entirely flies
Machine runway needs to watch multi-channel video simultaneously, and monitoring is got up cumbersome.(5) multi-channel video stores respectively, be unfavorable for playback and
Search problem.(6) system deployment is difficult, and needs to install video frequency collection card on monitoring machine.
Content of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the invention provides a kind of runway real-time panoramic video
Long distance control system, realizes to runway remote centralized control and control.
The present invention includes: least one set web camera, least one set wireless router, least one set graphics workstation,
Ethernet and at least one remote monitoring center；Wherein:
Network shooting unit, is placed on the high building of airport, and every group of web camera is provided with least one web camera, right
Diverse location on quasi- runway；
Wireless router and graphics workstation, are located in machine room, and each wireless router corresponds to one group of web camera,
One described wireless router pass through lan mouth in a wired fashion with one group in each web camera real time video image output
End is connected, and each graphics workstation wirelessly connects a wireless router, and input is corresponding to an airfield runway
The real time video image of diverse location；
Described graphics workstation, connects Ethernet in a wired fashion；
Remote monitoring center, is each client pc machine, is connected Ethernet in the way of wired；
Described graphics workstation, is a computer being simultaneously provided with wireless network card and wired network adapter, is inside provided with based on simultaneously
The nvidia video card of row programming model instruction set architecture cuda, successively according to the following steps to defeated from described web camera accordingly
The multichannel real time video image entering is spliced:
Step (1), collection has the batch of video image in three tunnels partially overlapping in the horizontal direction；
Described three road video images are synchronized mutual exclusion control, to guarantee the correct of video flowing panoramic picture by step (2)
Splicing；
Step (3), judges the real-time of described three road video images:
If being currently off-line phase, go to step (4),
If being currently real time phase, go to step (6)；
Step (4), the described three road video images inputting from off-line phase are carried out successively feature point extraction, description,
It is equipped with and eigentransformation, wherein: using surf operator extraction characteristic point, then become with the space of ransac Algorithm for Solving image space
Die change type, obtains 8 parameters of homography matrix, so that it is determined that going out the throwing in different two dimensional images of point on a three-dimensional planar
Shadow position is so that respectively obtain registration with two adjacent width video images of group；
Two adjacent video images after registration are carried out color using final gamma correction parameter by step (5) successively
Gamma correction, and find out optimal stitching line, there is the video image after the described registration of overlap to two width using optimal stitching line
Carry out panorama mosaic, on this basis, recycling range conversion function pair is located at two of described optimal stitching line both sides initially
Change weight matrix, calculate corresponding to all non-zero pixels points in each initialization weight matrix to the zero nearest picture being adjacent
The city block distance of vegetarian refreshments, after seamlessly transitting, obtain described two of corresponding described panoramic picture adjacent and overlap
Video image Weighted Fusion matrix；
The three road real time video images incoming in real time phase are spliced by step (6) successively according to the following steps in real time:
Carry out colour brightness correction using the final gamma correction parameter that off-line phase obtains；
It is based on parallel programming model instruction set architecture cuda described in calling, directly singly answer square using what off-line phase calculated
Battle array, realizes the image transformation calculations of multi-thread concurrent on image processor nvidia gpu card, the neighbor map to real-time input
As carrying out registration, determine overlapping region and the optimal stitching line of image, return result to the cpu of described computer；
Described computer obtains Weighted Fusion matrix using off-line phase and is weighted merging, at the optimal stitching line obtaining
The three width real time video images more seamlessly transitting, then utilize ripe h264 compression algorithm to spliced panoramic video figure
As being compressed processing, then the video flowing after compression is exported to remote monitoring center through Ethernet.
Beneficial effect: with existing runway video monitoring system first ratio runway of the present utility model is complete in real time
Scape video remote monitoring system has the advantage that new airport real-time panoramic video long distance control system so that on duty
Personnel and commanding are remotely just can monitoring airfield runway, and panoramic video has more preferable vision effect than multi-channel video
Fruit so that observe airfield runway situation convenient it is easier to discover runway on barrier or abnormal object occur
And make corresponding process, loss can be reduced to minimum.And, the panoramic video having spliced can be stored by the system
To on disk, when needing playback, compare multi-channel video, can more efficiently find out problem.In addition, the system is to panorama
Video is compressed using h264 encoder, can save storage resource and reduce transmission bandwidth requirement.But importantly, can
To monitor multiple runways in a remote monitoring center simultaneously, thus reducing monitoring cost, there is good practicality, energy
Enough produce preferable economic benefit and social benefit.
Brief description
Fig. 1 is runway real-time panoramic video long distance control system structural representation disclosed by the invention；
Fig. 2 is the deployment schematic diagram of runway real-time panoramic video long distance control system disclosed by the invention；
Fig. 3 is traditional video surveillance display mode；
Fig. 4 is that the present invention carries out the schematic diagram of real-time tiled display to monitoring scene；
Fig. 5 is the workflow schematic diagram of panoramic video long distance control system disclosed by the invention.
Specific embodiment
The present invention is described further below in conjunction with the accompanying drawings.
The technical solution used in the present invention is as follows:
A kind of runway real-time panoramic video long distance control system, system equipment by web camera, wireless router,
Graphics workstation forms.On one wireless router, multiple IP Camera, wireless router and figure are connected by wired mode
Shape work station wirelessly connects.Graphics workstation gathers the video data of multiple IP Camera by network mode,
By multichannel angle different directions but the video flowing that overlaps of field range is spliced, and counted parallel using advanced gpu
Calculate video-splicing is processed and accelerated to reach purpose smooth in real time.In graphics workstation, real-time panoramic video is carried out pre-
Look at and store.Remote monitoring center passes through Ethernet and the system is set up and connected.
Need 2～4 tunnels in described IP Camera, wireless router has 2～4 lan mouths for connecting network shooting
Head.
Need using nvidia gpu card in described graphics workstation, wherein gpu computing capability needs more than 2.0,
And need that there is wireless network card and wired network adapter simultaneously.
As shown in figure 1, the system equipment is made up of web camera, wireless router, graphics workstation.In the present embodiment
The network video camera model Haikang prestige using regards ds-2cd883f-e (w), wireless router model tp-link tl-w841n,
Graphics workstation uses association thinkstation s30, and video card is nvidia quadro k600, and processor is intel
(r) xeon (r) e5-1620 3.60ghz, 12gb internal memory, windows7 64 bit manipulation system.The machine that remote control center uses
Device is common pc.
Have 4 mouth lan mouths on the router, web camera be deployed on high building, by way of wired connection and
Be deployed in machine room wireless router is attached.One piece of wireless network card and one piece of wired network adapter, work are had on graphics workstation
Stand and be wirelessly attached and wireless router between.Graphics workstation connects Ethernet by wired network adapter.
The computer of remote monitoring center connects Ethernet also by wired mode.
After graphics workstation connects upper wireless router, first look for ip and the port of each road network video camera.Really
After determining the number of camera and the ip of each road network video camera and port and sequence of positions, initialize video-splicing, ask
Get Mei road video camera relative position and corresponding transformation parameter.
Start real-time video splicing and port snoop on a workstation.Remote control center is initiated complete to corresponding work station
Scape video request.Whole workflow as shown in figure 4, on work station the panoramic mosaic system of deployment gather multi-channel video first,
Then multi-channel video is spliced in real time, recycle ripe h264 compression standard that panoramic video is compressed, then make
With rtp agreement, the video data after compression is transmitted.The program of remote control center deployment receives server end and sends out
After the rtp packet coming, it is decoded using h264 standard, then more decoded image is shown on screen.
Runway real-time panoramic video long distance control system, have passed through strict system test, has very high stablizing
Property.The system be a kind of make full use of advanced electronic technology and modern communications technology, be that collection real time panoramic preview, picture cut
Figure, video compress, videorama playback, the function such as network real-time Transmission, remote monitoring are in the video monitoring system of one.Permissible
So that monitor in real time is carried out to many places runway in a Surveillance center.The system adopt advanced video-splicing algorithm and
Gpu speed technology, can implement friendly overall view monitoring to monitoring scene.
Runway panoramic video long distance control system, is by collecting to each runway in remote monitoring center
Middle supervision and management, can notify management personnel to make phase when barrier or abnormal personnel in runway immediately
The process answered, prevents trouble before it happens, can the significantly more efficient generation avoiding contingency.The present invention has a following innovative point:
(1) remote centralized management: the system so that monitoring management personnel monitor in a Surveillance center simultaneously multiple
Runway, saves the construction cost of monitoring system system.
(2) deployment is simple and convenient: the work station of the system and web camera wirelessly connect, other
Connected mode this be form by network, capture card etc. need not be installed and used.
(3) panoramic video function: multi-channel video is carried out splicing by the system, compares traditional multichannel screen monitoring,
There is more friendly visual effect, be also more convenient to note abnormalities in monitoring scene.
(4) panorama record playback function: the system will spliced video store on disk unit in real time, when monitoring field
Scape goes wrong, and can more efficiently find out question classification.
Claims (3)
1. a kind of runway real-time panoramic video long distance control system is it is characterised in that include: least one set network shooting
Machine, least one set wireless router, least one set graphics workstation, Ethernet and at least one remote monitoring center；Wherein:
Network shooting unit, is placed on the high building of airport, and every group of web camera is provided with least one web camera, and be aligned flies
Diverse location on machine runway；
Wireless router and graphics workstation, are located in machine room, each wireless router one group of web camera of correspondence, one
Described wireless router pass through lan mouth in a wired fashion with one group in each web camera real time video image outfan phase
Even, each graphics workstation wirelessly connects a wireless router, and input is corresponding to the difference of an airfield runway
The real time video image of position；
Described graphics workstation, connects Ethernet in a wired fashion；
Remote monitoring center, is each client pc machine, is connected Ethernet in the way of wired；
Described graphics workstation, is a computer being simultaneously provided with wireless network card and wired network adapter, is inside provided with and is compiled based on parallel
The nvidia video card of journey model command collection framework cuda, successively according to the following steps to from described web camera input accordingly
Multichannel real time video image is spliced:
Step (1), collection has the batch of video image in three tunnels partially overlapping in the horizontal direction；
Described three road video images are synchronized mutual exclusion control, to guarantee the correct spelling of video flowing panoramic picture by step (2)
Connect；
Step (3), judges the real-time of described three road video images:
If being currently off-line phase, go to step (4),
If being currently real time phase, go to step (6)；
Step (4), the described three road video images inputting from off-line phase are carried out successively feature point extraction, description, coupling with
And eigentransformation, wherein: using surf operator extraction characteristic point, then the spatial alternation mould with ransac Algorithm for Solving image space
Type, obtains 8 parameters of homography matrix, so that it is determined that going out point on the three-dimensional planar projection position in different two dimensional images
Put so that respectively obtaining registration with two adjacent width video images of group；
Two adjacent video images after registration are carried out colour brightness using final gamma correction parameter by step (5) successively
Correction, and find out optimal stitching line, using optimal stitching line, two width there are is the video image after the described registration of overlap to carry out
Panorama mosaic, on this basis, recycles range conversion function pair to be located at two initialization power of described optimal stitching line both sides
Weight matrix, calculates corresponding to all non-zero pixels points in each initialization weight matrix to the zero nearest pixel being adjacent
City block distance, after seamlessly transitting, obtain described two of corresponding described panoramic picture and adjacent and overlapping regard
The Weighted Fusion matrix of frequency image；
The three road real time video images incoming in real time phase are spliced by step (6) successively according to the following steps in real time:
Carry out colour brightness correction using the final gamma correction parameter that off-line phase obtains；
Based on parallel programming model instruction set architecture cuda described in calling, the homography matrix directly being calculated using off-line phase,
The image transformation calculations of multi-thread concurrent are realized on image processor nvidia gpu card, the adjacent image of real-time input is carried out
Registration, determines overlapping region and the optimal stitching line of image, returns result to the cpu of described computer；
Described computer obtains Weighted Fusion matrix using off-line phase and is weighted merging, at the optimal stitching line obtaining more
The three width real time video images seamlessly transitting, are then entered to spliced full-view video image using ripe h264 compression algorithm
Row compression is processed, then the video flowing after compression is exported to remote monitoring center through Ethernet.
2. a kind of runway real-time panoramic video long distance control system according to claim 1 is it is characterised in that figure
The cpu that work station adopts is intel (r) xeon (r) e5-1620, and computer is association thinkstation s30, and video card is
nvidia quadro k600.
3. a kind of runway real-time panoramic video long distance control system according to claim 1 is it is characterised in that described
The splice program of graphics workstation in be simultaneously provided with commercially available multichannel real time video image splicing software Haikang prestige and regard giant-screen
Splicing system selective splicing switching is used.
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| CN201410133855.1A CN103916632B (en) | 2014-04-03 | 2014-04-03 | Real-time panorama video remote monitoring system for runway |
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| CN104717465B (en) * | 2014-12-23 | 2023-10-03 | 北京亿羽舜海科技有限公司 | Wide-angle video monitoring equipment and video monitoring method for multiple IP cameras |
| CN105282526A (en) * | 2015-12-01 | 2016-01-27 | 北京时代拓灵科技有限公司 | Panorama video stitching method and system |
| JP6609833B2 (en) * | 2015-12-09 | 2019-11-27 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッド | Method and system for controlling the flight of an unmanned aerial vehicle |
| CN105810023B (en) * | 2016-05-16 | 2018-08-21 | 福建福光股份有限公司 | Airport undercarriage control automatic monitoring method |
| CN105933707B (en) * | 2016-06-30 | 2019-02-22 | 北京奇艺世纪科技有限公司 | A kind of compression method and device of panoramic video |
| CN106385560B (en) * | 2016-09-23 | 2020-08-28 | 威海元程信息科技有限公司 | Video monitoring system and method |
| CN107197172A (en) * | 2017-06-21 | 2017-09-22 | 北京小米移动软件有限公司 | Net cast methods, devices and systems |
| TWI650018B (en) * | 2017-07-18 | 2019-02-01 | 晶睿通訊股份有限公司 | Method for providing user interface for scene stitching of scene and electronic device thereof |
| CN107580200B (en) * | 2017-09-30 | 2018-10-30 | 刘军 | Cluster synchronization images real-time road outdoor scene animated walk-through navigation monitoring method and system |
| CN108769578B (en) * | 2018-05-17 | 2020-07-31 | 南京理工大学 | Real-time panoramic imaging system and method based on multiple cameras |
| JP6873330B2 (en) * | 2018-07-03 | 2021-05-19 | 富士フイルム株式会社 | Image correction device, image pickup device, image correction method, and image correction program |
| CN111192230B (en) * | 2020-01-02 | 2023-09-19 | 北京百度网讯科技有限公司 | Multi-camera-based image processing method, device, equipment and readable storage medium |
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Effective date of registration: 20190604 Address after: Room 1208, Block C, Xingzhi Science and Technology Park, National Economic and Technological Development Zone, Qixia District, Nanjing City, Jiangsu Province Patentee after: Nanjing Multimodal Intelligent Technology Co., Ltd. Address before: No. 100, Chaoyang District flat Park, Beijing, Beijing Patentee before: Beijing University of Technology |