CN105242689A - Holder tracking visual system based on optical reflection - Google Patents
Holder tracking visual system based on optical reflection Download PDFInfo
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- CN105242689A CN105242689A CN201510613850.3A CN201510613850A CN105242689A CN 105242689 A CN105242689 A CN 105242689A CN 201510613850 A CN201510613850 A CN 201510613850A CN 105242689 A CN105242689 A CN 105242689A
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Abstract
The invention discloses a holder tracking visual system based on optical reflection. The system comprises a holder based on optical refection, a controller, a computer and a power supply unit. The holder based on the optical reflection comprises a fixed camera, at least two optical reflection devices and rotation driving units in the same quantity as the optical reflection devices. The optical reflection devices are fixed on the rotating shafts of the rotation driving units, the rotation driving units control reflection planes of the optical reflection devices to move to any angles, the rotating shafts of the at least two optical reflection devices cannot be all parallel, and thus two or more than two degrees of freedom is formed; through calibration, the system establishes a relation with a world coordinate system, tracking can be carried out according to world coordinate information of an object to be observed, and even if the current position of the object is not within a visual field, the object can also be tracked quickly; and an image feedback method is employed for maintaining that the image of the object to be observed is at the center of the view field so that the observation precision is improved.
Description
Technical field
The invention belongs to field of machine vision, specifically, is that a kind of The Cloud Terrace based on reflection type mirror for accurately locating moving object and follow the trail of follows the tracks of vision system.
Background technology
Existing vision system structure is varied, and identification and the track algorithm of employing are also had nothing in common with each other, comprising the system that a class is observed object based on optical reflection principle.Be different from the direct observed objects of camera in other system, this type systematic adopts the optical deflection device auxiliary cameras such as level crossing, prism, fiber optics to observe.Such as: the periscope used in submarine is exactly a kind of common optical reflection type vision system, the level crossing that it utilizes two sides vertically to place changes field range, so that situation in observer's observation water under water.Again such as: at medical instruments field, the instrument for checking human visual function often adopts completely reflecting mirror to carry out omnibearing observation to the eyeball of those who are investigated.But in these existing vision systems, the pose of minute surface and camera is generally changeless, makes them can only be used for specific occasion, limits to larger.
In fields such as military affairs, industry, physical culture, security monitorings, object to be observed is often kept in motion, and range of movement is wide, and movement velocity is fast.Tracking Recognition to be carried out to such object, follow object one with regard to needing the observation scope of vision system and change.The scientist of Tokyo University has developed the Novel tripod head vision system that one is named as " pan mirror ".In this cover system, camera is fixing, has the level crossing that two sides can rotate around stationary shaft outside camera, and object to be observed enters camera through this two sides specularly reflected.This system Observable swiftly passing object, but because its internal trace algorithm is completely based on image feedback, camera was not demarcated, system does not contact with world's establishment of coordinate system, once object to be observed is not in the initial visual field of camera, or blocked, system cannot continue to follow the tracks of object.
Summary of the invention
The present invention is just for the defect that prior art exists, and propose a kind of The Cloud Terrace Visual Tracking System based on optical reflection, the present invention is achieved through the following technical solutions:
The invention discloses a kind of The Cloud Terrace Visual Tracking System based on optical reflection, system comprises the The Cloud Terrace based on optical reflection, controller, computer and power supply unit, The Cloud Terrace based on optical reflection comprises a fixing camera, optical deflection device at least more than two sides, the rotary drive unit consistent with optical deflection device quantity, optical deflection device is fixed in the rotating shaft of rotary drive unit, controlling its plane of reflection by rotary drive unit moves to arbitrarily angled, the rotating shaft of the optical deflection device at least more than two sides can not be all parallel, thus form two or more degree of freedom, rotary drive unit is connected with controller, receive controller instruction, and feed back the state of rotary drive unit, controller is connected with computer, same reception instruction and feedback states, The Cloud Terrace based on optical reflection is also connected with computer, send collected by camera image to computer, the described The Cloud Terrace based on optical reflection is connected with power supply unit.
The invention also discloses a kind of as the method based on the The Cloud Terrace Visual Tracking System of optical reflection, concrete steps are as follows:
1), according to embody rule demand, design rotary shaft position and the direction of each optical deflection device, the support that intensity is suitable is built the equipment needed for camera, optical deflection device, rotary drive unit and all the other system cloud gray model, as external power supply unit, controller etc.;
2), to camera carry out off-line calibration, set up the form mapping relations of each unique point in the corner of each optical deflection device and world coordinates according to calibration result;
3), when working online, when providing the world coordinates positional information of object to be observed, according to mapping relations, obtain the corner of each optical deflection device, control rotary drive unit works, and drives optical deflection device to turn to required angle, thus observe this point by rotating shaft;
4), work online while, the image treating observed objects identifies, adopts image feedback algorithm, drives optical deflection device fine setting, keeps the image of object to be observed at central region.
Compared to the prior art, beneficial effect of the present invention is as follows in the present invention:
(1) adopt camera motionless, the mode that optical deflection device rotates follows the trail of object to be observed, and motor load is light, and response speed is faster;
(2) when adopting two sides reflecting device construction system, the positional information of traceable object to be observed, and when employing three and above reflecting device construction system, the also attitude information of traceable object to be observed;
(3) through demarcating, system and world coordinate system opening relationships, can follow the tracks of according to the world coordinates information of object to be observed, even if object current location is not in the visual field, also can catch up with rapidly;
(4) adopt the method for image feedback to keep the image of object to be observed at central region, improve the precision of observation.
Accompanying drawing explanation
Fig. 1 is the structural representation of present system;
Fig. 2 adopts n face based on the structural representation of the The Cloud Terrace of optical deflection device;
Fig. 3 is the example schematic of the The Cloud Terrace tracking vision system based on optical reflection;
Fig. 4 is that present system entirety controls schematic block diagram;
Fig. 5 is that image feedback of the present invention controls schematic block diagram.
Embodiment
Below with reference to the accompanying drawings, by specific embodiment, technical scheme of the present invention is further described:
Fig. 1 is the structural representation of present system, rotary drive unit based on the The Cloud Terrace of optical reflection is connected with controller, receive controller instruction, and feed back the state of rotary drive unit, controller is connected with computer, same reception instruction and feedback states, and the The Cloud Terrace based on optical reflection is also connected with computer, send collected by camera image to computer, the The Cloud Terrace based on optical reflection is connected with power supply unit.
Fig. 2 is the structural representation of the The Cloud Terrace adopting n face optical deflection device; System comprises a fixing camera, optical deflection device at least more than two sides, the rotary drive unit consistent with optical deflection device quantity, optical deflection device is fixed in the rotating shaft of rotary drive unit, move to arbitrarily angled by rotary drive unit by the plane of reflection of rotating shaft control both optical reflecting device, the rotating shaft of the optical deflection device at least more than two sides can not be all parallel, thus form two or more degree of freedom.
Fig. 3 is a kind of application example figure of the The Cloud Terrace based on optical reflection; In this example, optical deflection device is level crossing, and two sides level crossing has the degree of freedom of pitching and yawing moment respectively, and the level crossing to first surface with pitch orientation degree of freedom seen by camera, and rotary drive unit is DC-disc type motor.
Fig. 4 is that present system entirety controls schematic block diagram; It is the prerequisite of carrying out working online that off-line calibration sets up that corner and spatial point map.In off-line calibration, adopt traditional scaling method, as the internal reference of Zhang Zhengyou standardization calibration for cameras.Because the internal reference of camera is only by inner structure and the decision of selected focal length of camera, therefore no matter carry out the imaging of how many times optical reflection, the internal reference of camera is constant, demarcates the internal reference obtained and is actual internal reference.Then in the space that object to be observed is possible in units of 1cm yardstick, choose space characteristics point, each optical deflection device of manual control rotates, and travels through all unique points, thus sets up the form mapping relations between corner and unique point.As carried out off-line calibration to the application example shown in Fig. 2, the part mapping relation obtained between corner and unique point is as shown in the table:
| Spatial point coordinate (x, y, z) (mm) | First surface level crossing corner (rad) | Second facial plane mirror corner (rad) |
| (-500,-500,0) | 0.7320 | 0.9379 |
| (-500,0,0) | 0.7356 | 0.8316 |
| (-500,500,0) | 0.7404 | 0.7491 |
| (0,-500,0) | 0.7867 | 0.9235 |
| (0,0,0) | 0.7905 | 0.8236 |
| (0,500,0) | 0.7940 | 0.7295 |
| (500,-500,0) | 0.8624 | 0.9310 |
| (500,0,0) | 0.8665 | 0.8127 |
| (500,500,0) | 0.8660 | 0.7034 |
| (-500,-500,100) | 0.7170 | 0.9178 |
| (-500,0,100) | 0.7207 | 0.8296 |
| (-500,500,100) | 0.7262 | 0.7455 |
| (0,-500,100) | 0.7703 | 0.9235 |
| (0,0,100) | 0.7743 | 0.8211 |
| (0,500,100) | 0.7786 | 0.7249 |
| (500,-500,100) | 0.8453 | 0.9313 |
| (500,0,100) | 0.8496 | 0.8095 |
| (500,500,100) | 0.8500 | 0.6974 |
When working online, when providing the spatial positional information of object to be observed, control module obtains the corner of each optical deflection device according to above-mentioned mapping relations and drives the execution of rotary drive unit; Identify the image of object to be observed while working online, and adopt image feedback algorithm, PID controls vernier device corner, thus follows the tracks of the center of object to be observed.
Fig. 5 is that image feedback controls schematic block diagram, in the present invention, identifies main adopt background difference algorithm and based on hsv color feature to the image of collected by camera
[16]target Segmentation algorithm.Background difference algorithm is shown below:
Wherein P
x, yrepresent the planimetric coordinates of pixel, R
x, yrepresent the R passage value of pixel, R0
x, yrepresent the R passage value of background image, T is the tolerance between background and non-background.Here get R channel value, be only and illustrate and use, in actual applications, the target signature channel value of image to be observed should be got.After carrying out the thick extraction of target, establishing target and the feature histogram of background in hsv color space respectively, again by after background characteristics histogram and the normalization of target signature histogram, can background noise in Filtration Goal feature histogram, target image can be partitioned into from background accordingly.
After obtaining target image central point pixel coordinate, construct such closed-loop control system to control it: setting value is optical axis pixel coordinate, output valve is the central point pixel coordinate of target, output valve is obtained by image recognition measurement, topworks is the rotating level crossing motor in two sides, controlled device is the The Cloud Terrace proposed in the present invention, in controller part write-in program.Controller portion is wherein divided and is selected ratio (P) to control, and object improves tracking velocity as far as possible.Wherein the algorithm of PID controller is provided by following formula:
What more than exemplify is only the preferred embodiment of the present invention; the present invention is not limited to above embodiment; the oher improvements and changes that those skilled in the art directly derive without departing from the spirit and concept in the present invention or associate, all should think and be included in protection scope of the present invention.
Claims (2)
1. the The Cloud Terrace Visual Tracking System based on optical reflection, it is characterized in that, described system comprises the The Cloud Terrace based on optical reflection, controller, computer and power supply unit, the described The Cloud Terrace based on optical reflection comprises a fixing camera, optical deflection device at least more than two sides, the rotary drive unit consistent with optical deflection device quantity, described optical deflection device is fixed in the rotating shaft of rotary drive unit, controlling its plane of reflection by rotary drive unit moves to arbitrarily angled, the rotating shaft of optical deflection device more than described at least two sides can not be all parallel, thus form two or more degree of freedom, described rotary drive unit is connected with controller, receive controller instruction, and feed back the state of rotary drive unit, described controller is connected with computer, same reception instruction and feedback states, the described The Cloud Terrace based on optical reflection is also connected with computer, send collected by camera image to computer, the described The Cloud Terrace based on optical reflection is connected with power supply unit.
2., as claimed in claim 1 based on a method for the The Cloud Terrace Visual Tracking System of optical reflection, it is characterized in that, concrete steps are as follows:
1), according to embody rule demand, design rotary shaft position and the direction of each optical deflection device, the support that intensity is suitable is built the equipment needed for camera, optical deflection device, rotary drive unit and all the other system cloud gray model, external power supply unit, controller and computer;
2), to camera carry out off-line calibration, set up the form mapping relations of each unique point in the corner of each optical deflection device and world coordinates according to calibration result;
3), when working online, when providing the world coordinates positional information of object to be observed, according to mapping relations, obtain the corner of each optical deflection device, control rotary drive unit works, and drives optical deflection device to turn to required angle, thus observe this point by rotating shaft;
4), work online while, the image treating observed objects identifies, adopts image feedback algorithm, drives optical deflection device fine setting, keeps the image of object to be observed at central region.
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| CN105872325A (en) * | 2016-03-31 | 2016-08-17 | 北京格灵深瞳信息技术有限公司 | Image obtaining system |
| CN105872475A (en) * | 2016-05-20 | 2016-08-17 | 北京格灵深瞳信息技术有限公司 | Monitoring camera device |
| CN106027887A (en) * | 2016-05-20 | 2016-10-12 | 北京格灵深瞳信息技术有限公司 | Box and ball linkage control method and device aiming at rotating mirror holder, as well as electronic equipment |
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| CN108960082A (en) * | 2018-06-16 | 2018-12-07 | 南京理工大学 | The deicing target identification method of view-based access control model servo |
| CN110324571A (en) * | 2018-03-29 | 2019-10-11 | 株式会社日立制作所 | Moving body photographic device and moving body image capture method |
| CN111798514A (en) * | 2020-06-29 | 2020-10-20 | 山东大学日照智能制造研究院 | Intelligent moving target tracking and monitoring method and system for marine ranching |
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| CN110324571A (en) * | 2018-03-29 | 2019-10-11 | 株式会社日立制作所 | Moving body photographic device and moving body image capture method |
| CN108960082A (en) * | 2018-06-16 | 2018-12-07 | 南京理工大学 | The deicing target identification method of view-based access control model servo |
| CN111798514A (en) * | 2020-06-29 | 2020-10-20 | 山东大学日照智能制造研究院 | Intelligent moving target tracking and monitoring method and system for marine ranching |
| CN114153108A (en) * | 2021-10-22 | 2022-03-08 | 中国科学院自动化研究所 | Omnidirectional monocular vision device, omnidirectional binocular vision device and tracking method |
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