CN104469322A - Camera layout optimization method for large-scale scene monitoring - Google Patents
Camera layout optimization method for large-scale scene monitoring Download PDFInfo
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- CN104469322A CN104469322A CN201410815008.3A CN201410815008A CN104469322A CN 104469322 A CN104469322 A CN 104469322A CN 201410815008 A CN201410815008 A CN 201410815008A CN 104469322 A CN104469322 A CN 104469322A
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Abstract
The invention discloses a camera layout optimization method for large-scale scene monitoring, and relates to the technical field of video monitoring. The method includes the following steps of conducting modeling of a monitoring scene, conducting modeling of monitoring requirements, and obtaining the optimal camera layout scheme through the optimization algorithm. According to the scheme, mathematical models can be established for the layout optimization problem of a whole camera, the layout optimization problem of multiple cameras is converted into the linear programming problem, and the optimal camera layout scheme meeting the monitoring requirement can be automatically achieved under the condition that multiple constraint conditions exist. The design steps can be simplified while the design effect is ensured, the design time is saved, and the scientific basis is provided for the camera layout optimization for the large-scale scene monitoring.
Description
Technical field
The invention belongs to technical field of video monitoring, particularly relate to a kind of Camera composition optimization method towards large scene monitoring.
Background technology
Along with the orderly expansion of project in each city such as " safe city ", " 3111 engineering " and " sky net engineering ", safety precaution work receives increasing concern, video monitoring system is as the important component part of security protection work, be widely used in the fields such as finance, traffic, public safety, become and fight crime, the powerful mean of fight against terrorism and violence.The large-scale place that wherein various large-scale stadium, airport, station, exhibition center etc. are crowded is as the key area of security protection; inevitable needs installs a large amount of CCTV camera, as people's property safety of fighting crime, protect, the effective means that maintains public order.And often need the monitoring requirements such as existence is extensive, high coverage rate, various visual angles towards the design of the video monitoring system of this type of large scene.
Current, the further investigation carried out towards the Planning of spatial arrangement problem of the multiple-camera of large scene video monitoring is also fewer, existing allocation plan mode great majority be by project planner by virtue of experience or simple to measure, estimation carries out layout configurations, this design is comparatively coarse, be difficult to consider run in practical application environmental complexity, certainly block and block mutually, the problem such as cost control, therefore be difficult to obtain optimum placement scheme.This brings a lot of difficulties just to the design of the video monitoring system of extensive under large scene, high coverage rate, various visual angles, application and popularization, also can increase the complexity of system and relevant construction and maintenance cost simultaneously.
Summary of the invention
The object of the present invention is to provide a kind of video camera Optimal Deployment Method towards large scene monitoring.The inventive method can overcome in existing layout method and mainly relies on artificial experience, lack the shortcomings such as overall situation consideration, the multiple monitoring requirement of zones of different in large scene monitoring can be tackled, also can take into account simultaneously and consider design cost problem, can be the layout optimization of CCTV camera under large scene and scientific basis is provided.
For achieving the above object, the invention provides a kind of layout optimization method of CCTV camera, specifically comprise the following steps:
A. the modeling of monitoring scene;
B. the modeling of monitoring requirement;
C. optimum Camera composition scheme is drawn by optimized algorithm.
Described steps A also comprises further:
A1. the modeling of environment;
A2. the modeling of monitored object;
A3. the modeling of CCTV camera;
A4. the modeling of circumstance of occlusion and visible condition.
Described environmental modeling, refers to and carries out modeling to monitored space, comprising: to the setting of guarded region in monitoring space, and video camera can the setting of resettlement area, the modeling of the barrier in space.Wherein, guarded region can set different weights according to demand, carries out the division of significance level; Video camera can resettlement area, can be arranged on fixing some position or some region according to designing requirement; In space, barrier is defined as the object that can hinder video camera sight line.
The modeling of described monitored object, refers to the position to monitored object, carries out modeling towards, visible surface.
The modeling of described CCTV camera, refers to the position to video camera, attitude carries out modeling; According to the difference of design object and the difference of video camera model parameter, determine the viewing area FOV of video camera; Determine the cost of video camera.
Described circumstance of occlusion comprises from blocking and blocking mutually, wherein from blocking blocking of referring to that monitored object self causes, namely needs the direction monitored not meet visual condition.
Described blocks mutually, refers to CCTV camera to the direction of visual lines of monitored object to exist blocking of barrier or scene boundary, causes video camera not observe monitored object.
Described visible condition, pass judgment on monitored object for the whether visible standard of video camera, specifically refer to certain image-forming condition that monitored object must meet in CCTV camera, as: the imaging of monitored object in video camera must be over the pixel of some; Monitored object must be arrived by more than some camera supervised.
Described step B also comprises further:
B1. the modeling of design object;
B2. the modeling of constraints.
Described design object, refers to the target function of whole layout designs, Ke Yishi: realize monitoring coverage percentage and maximize, make design cost minimum, or customize according to actual needs.
Described constraints, refers to the restrictive condition that must meet in design, as: must reach a certain coverage rate requirement, cost must not higher than a certain restriction, and coverage condition limits, model, the restricted number of video camera or customize according to actual needs;
Described design object and the difference of constraints are: design object is the standard evaluated the quality of whole design, are the targets finally expecting to reach; Constraints is the restrictive condition that must meet in design process.
Described step C also comprises further:
C1. the model of monitoring scene is read, to taking the photograph region that monitored object may occur and video camera can carry out discretization in resettlement area;
C2. reading the video camera after discretization can installation position collection and monitored object collection;
C3. design object and constraints is read;
C4. drawn by Optimizing Search algorithm and meet constraints and design object solution
Wherein, described carries out discretization to the region that may occur of monitored object, refers to the position that may occur monitored object in guarded region, possible towards carrying out sliding-model control, obtains a set.Described can the discretization of resettlement area to video camera, refer to that sliding-model control is carried out in the region to CCTV camera can be settled, obtain a set.
Beneficial effect of the present invention is:
The present invention intuitively can obtain the layout optimization scheme of the multiple video cameras towards large scene monitoring fast, simplifies design procedure, has saved design time; Can make for the situation that different monitoring area monitoring designing requirement in large scene is different and adjusting flexibly, possess certain versatility.The present invention can consider multiple constraints, draws optimum placement scheme, for providing scientific basis towards the layout optimization of the video camera of large scene monitoring in practical application, is with a wide range of applications.
Accompanying drawing explanation
Fig. 1 monitoring scene schematic diagram;
The method for expressing of Fig. 2 CCTV camera viewing area FOV;
Fig. 3 blocks and visible condition schematic diagram;
The flow chart of the greedy algorithm in Fig. 4 specific embodiment of the invention;
The flow chart of a kind of Camera composition optimization method towards large scene monitoring of Fig. 5 the present invention.
Specific implementation method
In order to better show object of the present invention, technical scheme and advantage, below in conjunction with accompanying drawing and specific embodiments, the CCTV camera Optimal Deployment Method under a kind of large scene of the present invention is described in further detail.Should be appreciated that specific embodiments described herein only for explaining the present invention, being not intended to limit the present invention.
Design object in the present invention, be used to evaluate the quality of target layout, it is the target function of layout optimization problem, and to the modeling of constraints comprise to final layout must reach as descriptions that quantizes such as coverage rate level, cost restriction, number of cameras, parameter restrictions so that draw optimum layout in a computer by algorithm.The invention provides the describing method of some concrete constraintss, can carry out selecting or changing parameter according to design requirement in practical application.Such as, if want the target area at large stadium, rational deployment is carried out with the video camera of specified quantity and model, make guarded region can reach the demand of a certain coverage rate with minimum cost, the method that application the present invention proposes can according to this description, set up corresponding model, obtain required optimal location by optimized algorithm.
CCTV camera layout optimization method of the present invention is described below in detail:
The present invention adopts based on the method that geometry calculates and linear programming combines as the multiple-camera layout optimization problem monitored towards large scene sets up linear programming model.First be the modeling to whole monitoring scene, then respectively modeling carried out to the design object of reality and constraints, draw optimal solution finally by optimized algorithm.
CCTV camera optimal location problem of the present invention is the objective optimisation problems under multiple constraints, i.e. the optimization allocation of the quantity of video camera, model, position, attitude.
The first step, the modeling of monitoring scene.
As Suo Shi Fig. 1 (a), monitoring scene can be divided into environment, monitored object, video camera.
White space in Fig. 1 (b) and guarded region, wherein the region of black is barrier or body of wall, and barrier is defined as the cylinder of certain altitude.Wherein the position of monitored object P can be expressed as the coordinate (x, y, z) in three dimensions.The position of video camera C can be expressed as (x, y, z), and the attitude of video camera can be expressed as drift angle
or three-dimensional angle (pitch, roll, yaw).
The region that Fig. 1 (c) grey area and monitored object may occur, the gray area that wherein color is darker is the important guarded region of artificial setting, represents by the higher sampling weights of setting.
Close body of wall in Fig. 1 (d) and the gray area of barrier are the regions that video camera can be settled.
As shown in Figure 2, Delta Region represents the viewing area FOV of video camera, and its shape size is primarily of the minimum monitoring resolution constraint conditional decision of the parameter of video camera, attitude and artificial setting.As shown in Fig. 2 (a)-(c), conveniently unified Modeling, needs to carry out rotation translation process to the viewing area FOV of video camera.
Suppose that the plane coordinates of video camera is (c
x, c
y), and the drift angle of video camera
known, then can make
x′＝x-c
x(1)
y′＝y-c
y(2)
Just obtain coordinate system shown in Fig. 2 (b),
Then make optical axis direction parallel with x-axis by rotation transformation:
Obtain coordinate system shown in Fig. 2 (c),
Triangle viewing area FOV can be indicated by three straight lines:
l
1:x″≤d (5)
Bring formula (1-4) into formula (5-7) can obtain:
As shown in Figure 3 be block and visible condition schematic diagram, block and comprise from blocking and blocking mutually.From the occurrence condition blocked be: the line C-P of video camera and monitored object and the object of observation towards vector v
pangle ∝ more than 90 °, a step function can be expressed as further
The occurrence condition blocked mutually is: the line C-P of monitored object and video camera exists barrier, and circumstance of occlusion can with blocking angle β to describe, (β as shown in the figure
s, β
s+ β) be and block angular domain, the C-P line dropping on this angular domain will be blocked.
Monitored object must meet following four conditions as seen:
A. monitored object is not blocked by environment;
B. monitored object is in the FOV of viewing area;
C. monitored object does not exist from blocking and mutual circumstance of occlusion;
D. the imaging area of monitored object in video camera reaches certain pixel level;
Monitored object can be expressed as two-valued function as seen
Wherein c
ivalue and following variable about the position P of monitored object; Monitored object towards v
p; Environmental factor, is expressed as parameter K; The layout parameter T of video camera.
Second step, the modeling of monitoring requirement.
The design object that example of the present invention uses can do following description:
1. level of coverage
Monitored object can be obtained may occur one of position set C={c by carrying out discretization to guarded region
1, c
2..., c
i..., c
n.
Cover some number to be expressed as: numCovered=∑
ic
i(12)
Coverage rate:
So, expect that coverage rate maximizes and can be expressed as function: max ∑
ic
i(13)
2. cost
The video camera price of definition model k is K
k; Be positioned at position j, model is the video camera of k, and attitude parameter is
can be expressed as
Then total cost can be expressed as:
So, expected cost minimizes and can be expressed as:
The constraints that example of the present invention uses comprises:
1. cost restriction, K
krepresenting the cost of the video camera of model k, by calculating sumcost, can obtain the total cost of video camera, the form of expression of cost restriction can be: the highest total cost restriction;
2. coverage rate, by calculating numCovered, then represents divided by all control points number; The form of expression of coverage rate restriction can be: reach a certain minimum coverage rate level;
3. coverage condition, namely realizes the covering of which kind of form: the form of expression can be: target area needs the video camera of at least more than M to cover;
4. available camera quantity, model, position; The form of expression of this constraints can be: limit the video camera using and to specify number, the video camera of fixed number, the video camera of different model given number, the region that video camera can be placed or fixed position, use certain model video camera of minimum number.
3rd step, draws optimum Camera composition scheme by optimized algorithm.
As shown in Figure 5, after completing the modeling of monitoring scene and the modeling of monitoring requirement, just draw optimum Camera composition scheme by concrete optimized algorithm.Introduce a kind of method solving optimum Camera composition based on greedy algorithm below, object when limiting number of cameras, target scene monitoring coverage percentage is maximized.
As shown in Figure 4, first set up video camera can installation position collection, monitored object collection, cover object set and Camera composition disaggregation.By maximized for target area monitoring coverage percentage problem, be decomposed into single camera and cover the maximum subproblem of monitored object, in the monitoring scene model set up, under calculating the condition of given monitored object collection, realize the placement scheme of the single camera of maximal cover; Then upgrade monitored object point set, namely delete the point covered; Upgrading video camera can installation position collection, namely deletes with the position of layout video camera; Upgrade and covered object set and Camera composition disaggregation.
Described termination condition comprises: whether the CCTV camera quantity of layout reaches video camera sum, whether cover all monitored object, these two conditions meet one and namely regard as and meet termination condition, and the optimal solution finally by synthon problem obtains the integral layout scheme of video camera.
How the above-described mode that solves only uses method of the present invention to solve a certain particular problem for showing, be not intended to limit the present invention the mode solving optimal location, those skilled in the art can adopt other the instrument that solves to calculate the optimal location scheme of video camera in method frame of the present invention.
Claims (10)
1., towards a Camera composition optimization method for large scene monitoring, it is characterized in that, comprising:
A. the modeling of monitoring scene;
B. the modeling of monitoring requirement;
C. optimum Camera composition scheme is drawn by optimized algorithm.
2. a kind of Camera composition optimization method towards large scene monitoring according to claim 1, it is characterized in that, described steps A also comprises further:
A1. the modeling of environment;
A2. the modeling of monitored object;
A3. the modeling of CCTV camera;
A4. the modeling of circumstance of occlusion and visible condition.
3. a kind of Camera composition optimization method towards large scene monitoring according to claim 2, it is characterized in that, described environmental modeling, refer to and modeling is carried out to monitored space, comprise: to the setting of guarded region in monitoring space, video camera can the setting of resettlement area, the modeling of the barrier in space; Wherein, guarded region can set different weights according to demand, carries out the division of significance level; Video camera can resettlement area, can be arranged on fixing some position or some region according to designing requirement; In space, barrier is defined as the object that can hinder video camera sight line.
4. a kind of Camera composition optimization method towards large scene monitoring according to claim 2, is characterized in that, the modeling of described monitored object, refers to the position to monitored object, carries out modeling towards, visible surface.
5. a kind of Camera composition optimization method towards large scene monitoring according to claim 2, is characterized in that, the modeling of described CCTV camera, refers to the position to video camera, attitude carries out modeling; According to the difference of design object and the difference of video camera model parameter, determine the viewing area FOV of video camera; Determine the cost of video camera.
6. a kind of Camera composition optimization method towards large scene monitoring according to claim 2, it is characterized in that, described circumstance of occlusion comprises from blocking and blocking mutually, wherein from blocking blocking of referring to that monitored object self causes, namely needs the direction monitored not meet visual condition; Block mutually and refer to CCTV camera to the direction of visual lines of monitored object to exist blocking of barrier or scene boundary, cause video camera not observe monitored object.
7. a kind of Camera composition optimization method towards large scene monitoring according to claim 1, it is characterized in that, the modeling of described monitoring requirement also comprises further:
B1. the modeling of design object;
B2. the modeling of constraints.
8. a kind of Camera composition optimization method towards large scene monitoring according to claim 8, it is characterized in that, described design object, refer to the target function of whole layout designs, it is the standard that the quality of whole design is evaluated, comprise: realize monitoring coverage percentage and maximize, make design cost minimum.
9. a kind of Camera composition optimization method towards large scene monitoring according to claim 8, it is characterized in that, described constraints, refer to the restrictive condition that must meet in design, comprise: a certain coverage rate requirement must be reached, cost must not higher than a certain restriction, and coverage condition limits, model, the restricted number of video camera or customize according to actual needs.
10. a kind of Camera composition optimization method towards large scene monitoring according to claim 1, is characterized in that, by optimized algorithm, described show that optimum Camera composition scheme also comprises further:
C1. the model of monitoring scene is read, to taking the photograph region that monitored object may occur and video camera can carry out discretization in resettlement area;
C2. reading the video camera after discretization can installation position collection and monitored object collection;
C3. design object and constraints is read;
C4. drawn by Optimizing Search algorithm and meet constraints and design object solution.
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