CN104639835A - Image tracking system and image tracking method - Google Patents
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- CN104639835A CN104639835A CN201510074480.0A CN201510074480A CN104639835A CN 104639835 A CN104639835 A CN 104639835A CN 201510074480 A CN201510074480 A CN 201510074480A CN 104639835 A CN104639835 A CN 104639835A
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Abstract
The invention discloses an image tracking system and an image tracking method used for tracking a preset object, and acquiring a dynamic image of the preset object. The image tracking system comprises an image acquiring unit, a storage unit, a control unit, and a rotating device. The image acquiring unit is used to acquire the dynamic images continuously, and the storage unit is used to store the dynamic images temporarily. The control unit is used to analyze the dynamic images. The rotating device is communicated with the control unit, and the image acquiring unit, the storage unit, and the control unit are disposed on the rotating device. The rotating device is used to receive the driving signals to change the directions of the dynamic images acquired by the image acquiring unit. When the preset object is disposed in the dynamic images, and is not in the preset area, the control unit can be used to calculate the current directions of the dynamic images acquired by the image acquiring unit, and the angle difference of the preset object in the preset area, and then can be used to output by the driving signals to drive the rotating device to rotate according to the angle difference.
Description
Technical field
The relevant image tracing system of the present invention and image tracing method, particularly preset the image tracing system of object and performed image tracing method about a kind of automatic tracing.
Background technology
Flourish along with electronic technology, electronic installation such as intelligent mobile phone has become a part indispensable in people's daily life, and intelligent mobile phone has camera function and camera function.
But the photograph of the outfit of intelligent mobile phone or camera, user is more inconvenient in auto heterodyne, because the scope of taking pictures needs the pushing degree being limited to people, is limited to the length of the arm of people.Therefore, the person of being photographed sometimes just cannot enter mirror completely.Further, consumer is while auto heterodyne, and while tripping, intelligent mobile phone also easily produces and rocks, and causes out of focus.
Summary of the invention
Because the problems referred to above, main purpose of the present invention is to provide a kind of image tracing system and performed image tracing method, in order to solve time institute's problems faced of autodyning, and does not need user with hand-held camera arrangement.
For achieving the above object, a kind of image tracing system that the present invention proposes, presets object in order to follow the trail of one, and continues to capture the dynamic image comprising this default object, comprise an image acquisition unit, a storage element, a control unit and a tumbler.
Image acquisition unit is in order to capture this dynamic image continuously; Storage element is electrically connected this image acquisition unit, this dynamic image temporary; Control unit is electrically connected this storage element, and this control unit analyzes this dynamic image, to judge whether this default object enters the predeterminable area in the sampling picture of this image acquisition unit; Tumbler and this control unit communicate to connect, and this image acquisition unit, this storage element, this control unit are taken advantage of and be loaded on this tumbler; Wherein this tumbler receives a driving signal to change the direction of image acquisition unit acquisition dynamic image.
When this default object is arranged in this dynamic image, and not in predeterminable area, this control unit calculates the current direction of image acquisition unit acquisition dynamic image, with the angle difference making default object be arranged in predeterminable area, and export this driving signal and rotate according to this angle difference to drive this tumbler.
In a specific embodiment, when this default object enters in this predeterminable area, this this dynamic image of control unit continual analysis, judges whether this default object is within a scheduled time, be still arranged in predeterminable area; If this default object, within the aforesaid scheduled time, is continued in predeterminable area, then this control unit drives this image acquisition unit to perform operation of taking pictures.
In a specific embodiment, this control unit calculates finds out the central point of default object, using as a datum mark, and whether is arranged in this predeterminable area for condition with this datum mark, judges whether this default object enters in this predeterminable area.
In a specific embodiment, when having multiple default object in this dynamic image, this control unit calculates finds out the common center point of multiple default object, using as datum mark.
In a specific embodiment, when having two default objects in this dynamic image, this control unit calculates finds out the common center point of two default objects, using as datum mark, whether this control unit the distance analyzed between two default objects, be less than a door distance; If this control unit judges the distance between two default objects, be not less than this door distance, then this control unit sends information, with the Distance Shortened between pointing out two default objects.
The present invention also proposes a kind of image tracing method, be applicable to a photographic means and a tumbler, this photographic means has an image acquisition unit, a storage element and a control unit, and this image acquisition unit, this storage element, this control unit are taken advantage of and be loaded on this tumbler, this tumbler receives one and drives signal to change the direction that image acquisition unit captures dynamic image; The method comprises the following step:
With this image acquisition unit, in order to capture dynamic image continuously, and keep in this dynamic image with this storage element;
This dynamic image is analyzed, to judge whether this default object enters the predeterminable area in the sampling picture of this image acquisition unit with this control unit; And
When this default object is arranged in this dynamic image, and not in predeterminable area, this control unit calculates the current direction of image acquisition unit acquisition dynamic image, with the angle difference making default object be arranged in predeterminable area, and export this driving signal and rotate according to this angle difference to drive this tumbler.
In a specific embodiment, when this default object enters in this predeterminable area, judge whether this default object is within a scheduled time, be still arranged in predeterminable area; If this default object, within the aforesaid scheduled time, is continued in predeterminable area, this image acquisition unit is driven to perform operation of taking pictures.
In a specific embodiment, image tracing method more comprises, and calculates and finds out the central point of default object, using as a datum mark, and whether is arranged in this predeterminable area for condition with this datum mark, judges whether this default object enters in this predeterminable area.
In a specific embodiment, image tracing method more comprises, and when having multiple default object in this dynamic image, calculating and finding out the common center point of multiple default object, using as datum mark.
In a specific embodiment, image tracing method more comprises, when having two default objects in this dynamic image, calculate the common center point finding out two default objects, using as datum mark, and analyze the distance between two default objects, whether be less than a door distance; If the distance between two default objects, be not less than this door distance, send information, with the Distance Shortened between pointing out two default objects.
By the pick-up image system of automatic tracing object provided by the invention, when user will autodyne, by the effect length of arm, and scope of taking pictures can not be affected.And mobile applications program follows the trail of face or other any objects voluntarily, the action of focusing is carried out in computational analysis simultaneously, effectively can reach the effect of auto heterodyne.
Accompanying drawing explanation
Fig. 1 is the system block diagrams of the image tracing system of the embodiment of the present invention.
Fig. 2 is in first embodiment of the invention, the method flow diagram of image tracing method.
Fig. 3 is in first embodiment of the invention, the method flow diagram of a specific embodiment.
Fig. 4 is in second embodiment of the invention, the method flow diagram of image tracing method.
Fig. 5 is in third embodiment of the invention, the method flow diagram of image tracing method.
Fig. 6 is in fourth embodiment of the invention, the method flow diagram of image tracing method.
Fig. 7 is in the present invention, and automatic searching presets the flow chart of object.
Description of reference numerals
100 image tracing systems
100a photographic means
110 image acquisition units
120 storage elements
130 control units
140 tumblers.
Embodiment
The specific embodiment of the present invention is described in detail below in conjunction with accompanying drawing.Identical symbology has component or the device of identical or similar functions.
Shown in Fig. 1, the image tracing system 100 disclosed by first embodiment of the invention, comprises image acquisition unit 110, storage element 120, control unit 130 and a tumbler 140.Image acquisition unit 110, storage element 120, control unit 130 are integrated into a photographic means, such as, have intelligent mobile phone or the flat computer of camera function.Image acquisition unit 110, storage element 120, control unit 130 are taken advantage of in company with intelligent mobile phone 100a and are loaded on tumbler 140.Tumbler 140 has a motor, and motor can be stepper motor or other motor kinds, is used for driving the axial rotation taking advantage of the platform foundation one or many of carrying intelligent mobile phone 100a, and changes image acquisition unit 110 pick-up image direction.Mobile applications program (mobile application) is stored at storage element 120, with for control unit 130 load and execution, and carry out following the trail of default object, analyze picture and calculate picture datum mark, and make image tracing system 100 perform an image tracing method.
Refer to shown in Fig. 1 and Fig. 2, image tracing system 100 is in order to perform image tracing method, in order to follow the trail of default object, make default object can continue to appear among the crossfire of the dynamic image that image tracing system 100 captures, so as to lasting execution to the video recording operation of default object or take pictures operation.
Described default object can be face, but does not get rid of other objects, such as human body, automobile or other objects that can take.
Face or special object is analyzed in image, and be regarded as default object of the present invention, for this area has the general knowledge usually knowing the knowledgeable, and be found in (such as TaiWan, China patent of invention I469063) in existing known technological document, repeat no more the ins and outs analyzing face or special object in image therefore.
As shown in Figure 2, to perform the step of image tracing method as follows for the image tracing system 100 of the first embodiment:
First, image tracing system 100 first sets up the communication linkage between control unit 130 and tumbler 140, as shown in step S110.Communication linkage can be reached by wire communication means or wireless communication means.Such as, for intelligent mobile phone 100a, among intelligent mobile phone 100a and tumbler 140, bluetooth module is set respectively, and through matcher, and set up the communication linkage between control unit 130 and tumbler 140 with bluetooth communication agreement; Aforementioned link is not got rid of with the foundation of other wireless communication protocols, USB wired links, IEEE 1394 wired links executive communication link.
Then, control unit 130 is opened and is preset object tracking pattern, such as face tracking mode, as shown in step S110a, to start with image acquisition unit 110, makes image acquisition unit 110 acquisition one dynamic image continuously, but does not temporarily perform operation of taking pictures.
Acquisition dynamic image and operation Main Differences of taking pictures are the difference of sampling resolution; Acquisition dynamic image is the multiple static image acquisition of execution per second and sorts and formative dynamics image according to time sequence, operation of taking pictures only captures single static image, therefore, operation of taking pictures performs with high-resolution usually, capture dynamic image then to perform with relatively low resolution, and operation of recording a video, be then that the crossfire of dynamic image is continued to be recorded in archives.In addition, because image acquisition unit 110 may not yet be focused, wouldn't carry out taking pictures operation, also can avoid shooting photo out of focus.
Storage element 120 is electrically connected image acquisition unit 110.Aforesaid dynamic image is sent to storage element 120, and this dynamic image temporary, but does not get rid of the crossfire of this dynamic image is continued to be recorded in archives, and becomes video recording operation.
Control unit 130 is electrically connected storage element 120, and can receive dynamic image, to analyze, as shown in step S120.
As shown in step S130, control unit 130 is first analyzed and is preset object whether in dynamic image.
As shown in step s 140, then, if preset object to be arranged in this dynamic image, then control unit 130 calculates further the central point finding out default object, using as datum mark.
As shown in step S150, whether the default object of control unit 130 analysis enters the predeterminable area in the sampling picture of image acquisition unit 110.Predeterminable area is a self defined area that can change arbitrarily position or shape.In a specific embodiment, judge whether default object enters the predeterminable area in the sampling picture of image acquisition unit 110, is judge whether aforesaid datum mark is arranged in predeterminable area.
As shown in step S160, if default object enters the predeterminable area in the sampling picture of image acquisition unit 110, then control unit 130 completes tracking task, to wait for next triggering command.
As shown in step S170, if preset object to be arranged in dynamic image, but in the predeterminable area not in the sampling picture of image acquisition unit 110, control unit 130 calculates the current direction that image acquisition unit 110 captures dynamic image, with the angle difference making default object be arranged in predeterminable area, and export a driving signal.Now, tumbler 140 receives and drives signal and rotating according to this angle difference, to change the direction that image acquisition unit 110 captures dynamic image, makes default object enter predeterminable area in the sampling picture of image acquisition unit 110.
In step S130, if after control unit 130 analyzes dynamic image, judge to preset object not in dynamic image, then control unit 130 judges whether tumbler 140 rotates, as step S180.
In step S180, if tumbler 140 stops operating, be then returned to step S120.If tumbler 140 rotates, then control unit 130 continues to export driving signal, control tumbler 140 to proceed forward to rotate along former rotation direction, to change the direction that image acquisition unit 110 captures dynamic image constantly, as shown in step S190.
Consulting shown in Fig. 3, an embody rule mode of the first embodiment, is automatic tracing video recording, it is mainly the unlatching of step S110a is preset object to follow the trail of mode step, and the step of such as face tracking mode, changes to face tracking mode, and start recording function step, as step S110c.Described default object follows the trail of pattern, and can be the tracking of special object, also can be the tracking of face.
As shown in Figure 4, be the image tracing method of the second embodiment, it is identical that the second embodiment leading portion step roughly gives the first embodiment, after difference is step S150.
In step S150, if default object enters the predeterminable area in the sampling picture of image acquisition unit 110, then control unit 130 completes tracking task, and triggers mechanism of countdowning, and waits for a scheduled time, as shown in step S200.When mechanism is countdowned in triggering, control unit 130 can export a display signal simultaneously, with the time driving a display unit display reciprocal, understand for user and avoid continuing mobile default object (such as face) in this zero count, complete to guarantee to follow the trail of result operation of taking pictures.
As shown in step S210, control unit 130 continual analysis dynamic image, judges to preset object within the aforesaid scheduled time, whether is still arranged in predeterminable area.
As shown in step S220, if preset object within the aforesaid scheduled time, be continued in predeterminable area, then control unit 130 drives image acquisition unit 110 to perform operation of taking pictures, the static image that resolutions is relatively high.
Shown in step S230, after operation of taking pictures completes, control unit 130 output control signal, after control tumbler 140 rotates a predetermined angle towards a rotation direction, is returned to step S130.
In step S210, if preset object within the aforesaid scheduled time, leave in predeterminable area, then interrupt and reset the mechanism of countdowning, as step S240, and revert to step S170, to change the direction that image acquisition unit 110 captures dynamic image once again, in the predeterminable area that default object is entered in the sampling picture of image acquisition unit 110.
The image tracing method of aforementioned first embodiment and the second embodiment is for following the trail of single default object, but image tracing method of the present invention, after carrying out adjustment by a small margin, i.e. traceable multiple default object.
As shown in Figure 5, be the image tracing method of third embodiment of the invention, for following the trail of multiple default object, its step is as follows.
First, image tracing system 100 first sets up the communication linkage between control unit 130 and tumbler 140, as shown in step S110.
Then, control unit 130 is opened multiple preset object and is followed the trail of pattern, and such as many people follow the trail of pattern, as shown in step S110b, to start with image acquisition unit 110, makes image acquisition unit 110 acquisition one dynamic image continuously.
Control unit 130 receives dynamic image, to analyze, as shown in step S120.
As shown in step S130, control unit 130 is first analyzed and is preset object whether in dynamic image.
As shown in step S140a, then, if there is multiple default object to be arranged in this dynamic image, then control unit 130 calculates further the common center point finding out multiple default object, using as datum mark.
As shown in step S150, control unit 130 judges whether aforesaid datum mark is arranged in predeterminable area.
In step S150, if whether datum mark is positioned at predeterminable area, then control unit 130 completes tracking task, and triggers mechanism of countdowning, and waits for a scheduled time, as shown in step S200.
As shown in step S210, control unit 130 continual analysis dynamic image, whether judgment standard point, within the aforesaid scheduled time, is still arranged in predeterminable area.
As shown in step S220, if datum mark is within the aforesaid scheduled time, be continued in predeterminable area, then control unit 130 drives image acquisition unit 110 to perform operation of taking pictures, the static image that resolutions is relatively high.
As shown in step S230, after operation of taking pictures completes, control unit 130 output control signal, after control tumbler 140 rotates a predetermined angle towards a rotation direction, is returned to step S130.
In step S210, if datum mark is within the aforesaid scheduled time, leave in predeterminable area, then interrupt and reset the mechanism of countdowning, as step S240, and revert to step S170, to change the direction that image acquisition unit 110 captures dynamic image once again, in the predeterminable area that datum mark is entered in the sampling picture of image acquisition unit 110.
As shown in Figure 6, be the image tracing method of fourth embodiment of the invention, for following the trail of two default objects, such as two faces, and perform the tracking of two default objects, and the pattern of operation of carrying out taking pictures, as shown in step S110d.The Main Differences step of the 4th embodiment and the 3rd embodiment is as follows.
In step S130, if detect default object (face), then whether the further analysis of control unit 130 has two default objects (face), as shown in step S132.If do not have two faces, then the rotation of the device 140 that stops operating, as shown in step S134, and is returned to step S120.
If track two default objects in step S132, then perform step S140b further, find out the central point of two default objects, using as datum mark.
Then, whether the same as analysed basis of same control unit 130 enters predeterminable area, as shown in step S150 on schedule.
As shown in step S152, if datum mark is arranged in predeterminable area, then control unit 130 analyzes the distance between two default objects further, whether is less than a door distance.
If control unit 130 judges the distance between two default objects, be not less than this door distance, then control unit 130 sends information, as shown in step S224, with the Distance Shortened between pointing out two default objects, is then returned to step S140b.
If control unit 130 judges that the distance between two default objects is less than this door distance, then control unit 130 performs S200 and triggers mechanism of countdowning, and waits for a scheduled time, as shown in step S200.
As shown in step S210, control unit 130 continual analysis dynamic image, whether judgment standard point, within the aforesaid scheduled time, is still arranged in predeterminable area.
As shown in step S212, control unit 130 continual analysis dynamic image, judges within the aforesaid scheduled time, and whether the distance between two default objects is less than a door distance.
As shown in step S220, if the distance between two default objects is within the aforesaid scheduled time, continue to be less than door distance, then control unit 130 drives image acquisition unit 110 to perform operation of taking pictures, the static image that resolutions is relatively high.
If the distance between two default objects, within the aforesaid scheduled time, is not less than the state of door distance, namely apart from too far away, then control unit 130 stops mechanism of countdowning, as shown in step S222; Then control unit 130 sends information, as shown in step S224, to remind two default objects necessary close, thus guarantees that two default objects are all entered in required image by acquisition.Then control unit 130 is returned to step S140b.
Thus, according to the image tracing method of the 4th embodiment, the photo of two default objects can be photographed simultaneously, guarantee that the distance between two default objects is not too large simultaneously.
Consult shown in Fig. 7, for a kind of automatic searching presets the flow process of object, can step S110a be arranged in, after S110b, S110c or S110d, also may be used for displacement step S180 and step S190.Or, add in control unit 130 another independently judge circulation, in dynamic band image more than a scheduled time after (after such as 8 seconds), perform the flow process that this automatic searching presets object.
The trigger condition of this flow process, is mainly in dynamic image and does not detect default object, as shown in step S310.
Next step, control unit 130 drives tumbler 140, turns to a limes superiors, as shown in step S320 in axial in one first towards the first rotation direction.
Then, control unit 130 drives tumbler 140, in second axially clockwise or be rotated counterclockwise 360 degree, as shown in step S330.
Control unit 130 drives tumbler 140, in axial in first, rotates a predetermined angular, as step S340 along the second rotation direction in contrast to the first rotation direction.
Control unit 130 judges whether tumbler 140 turns to the limit inferior of the second rotation direction, as shown in step S350; If not, be returned to step S330, in second axially clockwise or be rotated counterclockwise 360 degree.
If tumbler 140 turns to the limit inferior of the second rotation direction, be then first executed in second axially clockwise or be rotated counterclockwise the program of 360 degree, as shown in step S360; Then in the first axis, this predetermined angular is rotated, as step S370 towards the first rotation direction.
Last control unit 130 judges whether tumbler 140 has arrived the limes superiors of the first rotation direction of the first axis, as shown in step S380.If not yet enter limes superiors, return and perform step S360.If enter limes superiors, return and perform step S330.
Before not detecting at least one default object, move between tumbler 140 rotation road limes superiors repeatedly and limit inferior, namely stop until detecting default object.
The above is only better embodiment of the present invention.Scope of the present invention is not limited with above-mentioned execution mode.Every personage being familiar with this case skill modifies or change according to the equivalence that spirit of the present invention is done, and all should be contained in right.
Claims (10)
1. an image tracing system, preset object in order to follow the trail of one, and continue to capture the dynamic image comprising this default object, it is characterized in that, this image tracing system comprises:
One image acquisition unit, in order to capture this dynamic image continuously;
One storage element, is electrically connected this image acquisition unit, this dynamic image temporary;
One control unit, is electrically connected this storage element, and this control unit analyzes this dynamic image, to judge whether this default object enters the predeterminable area in the sampling picture of this image acquisition unit; And
One tumbler, communicates to connect with this control unit, and this image acquisition unit, this storage element, this control unit are taken advantage of and be loaded on this tumbler; Wherein this tumbler receives a driving signal to change the direction of image acquisition unit acquisition dynamic image;
Wherein, when this default object is arranged in this dynamic image, and not in predeterminable area, this control unit calculates the current direction of image acquisition unit acquisition dynamic image, with the angle difference making default object be arranged in predeterminable area, and export this driving signal and rotate according to this angle difference to drive this tumbler.
2. image tracing system as claimed in claim 1, it is characterized in that, when this default object enters in this predeterminable area, this this dynamic image of control unit continual analysis, judges whether this default object is within a scheduled time, be still arranged in predeterminable area; If this default object, within the aforesaid scheduled time, is continued in predeterminable area, then this control unit drives this image acquisition unit to perform operation of taking pictures.
3. image tracing system as claimed in claim 1, it is characterized in that, this control unit calculates finds out the central point of default object, using as a datum mark, and whether be arranged in this predeterminable area for condition with this datum mark, judge whether this default object enters in this predeterminable area.
4. image tracing system as claimed in claim 3, is characterized in that, when having multiple default object in this dynamic image, this control unit calculates the common center point finding out multiple default object, using as datum mark.
5. image tracing system as claimed in claim 3, it is characterized in that, when having two default objects in this dynamic image, this control unit calculates the common center point finding out two default objects, using as datum mark, whether this control unit the distance analyzed between two default objects, be less than a door distance; If this control unit judges the distance between two default objects, be not less than this door distance, then this control unit sends information, with the Distance Shortened between pointing out two default objects.
6. an image tracing method, be applicable to a photographic means and a tumbler, this photographic means has an image acquisition unit, a storage element and a control unit, and this image acquisition unit, this storage element, this control unit are taken advantage of and be loaded on this tumbler, this tumbler receives one and drives signal to change the direction that image acquisition unit captures dynamic image; It is characterized in that, the method comprises the following step:
With this image acquisition unit, in order to capture dynamic image continuously, and keep in this dynamic image with this storage element;
This dynamic image is analyzed, to judge whether this default object enters the predeterminable area in the sampling picture of this image acquisition unit with this control unit; And
When this default object is arranged in this dynamic image, and not in predeterminable area, this control unit calculates the current direction of image acquisition unit acquisition dynamic image, with the angle difference making default object be arranged in predeterminable area, and export this driving signal and rotate according to this angle difference to drive this tumbler.
7. image tracing method as claimed in claim 6, is characterized in that, when this default object enters in this predeterminable area, judge whether this default object is within a scheduled time, be still arranged in predeterminable area; If this default object, within the aforesaid scheduled time, is continued in predeterminable area, this image acquisition unit is driven to perform operation of taking pictures.
8. image tracing method as claimed in claim 6, is characterized in that, more comprise, calculate the central point finding out default object, using as a datum mark, and whether be arranged in this predeterminable area for condition with this datum mark, judge whether this default object enters in this predeterminable area.
9. image tracing method as claimed in claim 8, is characterized in that, more comprise, and when having multiple default object in this dynamic image, calculates the common center point finding out multiple default object, using as datum mark.
10. image tracing method as claimed in claim 8, is characterized in that, more comprise, when having two default objects in this dynamic image, calculating and finding out the common center point of two default objects, using as datum mark, and the distance analyzed between two default objects, whether be less than a door distance; If the distance between two default objects, be not less than this door distance, send information, with the Distance Shortened between pointing out two default objects.
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| CN201510074480.0A Active CN104639835B (en) | 2014-02-14 | 2015-02-12 | Image tracing system and image tracing method |
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| CN106973220A (en) * | 2017-02-24 | 2017-07-21 | 小绿草股份有限公司 | Object method for tracing |
| CN107018310A (en) * | 2016-10-08 | 2017-08-04 | 罗云富 | Possess the self-timer method and self-timer of face function |
| CN107438172A (en) * | 2016-05-26 | 2017-12-05 | 晶睿通讯股份有限公司 | Image flow analysis method and related photographic device and photographic system thereof |
| CN107680118A (en) * | 2017-08-29 | 2018-02-09 | 苏州佳世达光电有限公司 | A kind of image identification method for tracing |
| CN108600639A (en) * | 2018-06-25 | 2018-09-28 | 努比亚技术有限公司 | A kind of method, terminal and the computer readable storage medium of portrait image shooting |
| CN109788185A (en) * | 2017-11-13 | 2019-05-21 | 郑宇杰 | Image tracing device and its image tracing method |
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| CN111050100A (en) * | 2018-10-12 | 2020-04-21 | 黑快马股份有限公司 | Automatic video recording and follow-up system and automatic video recording and follow-up method |
| CN111050059A (en) * | 2018-10-12 | 2020-04-21 | 黑快马股份有限公司 | Follow shooting system with picture stabilizing function and follow shooting method with picture stabilizing function |
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| CN104639835B (en) | 2018-09-28 |
| TWI653581B (en) | 2019-03-11 |
| TW201531961A (en) | 2015-08-16 |
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