CN105635657B - The comprehensive exchange method of camera pan-tilt and device based on Face datection - Google Patents
The comprehensive exchange method of camera pan-tilt and device based on Face datection Download PDFInfo
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- CN105635657B CN105635657B CN201410608706.6A CN201410608706A CN105635657B CN 105635657 B CN105635657 B CN 105635657B CN 201410608706 A CN201410608706 A CN 201410608706A CN 105635657 B CN105635657 B CN 105635657B
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Abstract
The embodiment of the invention provides a kind of video camera PTZ exchange method and device based on Face datection.This method is specifically included that through the human face region in the collected present image of persona face detection algorithm positioning shooting head；According to the image coordinate of the central point of the human face region, current correcting plane coordinate is calculated by interpolation mapping algorithm based on preset coordinate model；Go out current correction distance coordinate according to the areal calculation of the human face region；Current horizontal, the vertical target rotational angle that the holder of video camera is calculated according to the current correcting plane coordinate, correction distance coordinate, calculates the current zoom multiple of the camera lens of video camera.In embodiments of the present invention, video monitoring staff can pass through the head of up, down, left, right, before and after movement oneself, the target direction angle of cloud platform rotation and the zoom of camera lens are controlled, to change the field of view for working as preceding camera, realizes the effect that the first visual angle of simulation monitors on the spot.
Description
Technical field
The present invention relates to technical field of video monitoring more particularly to a kind of video camera PTZ (Pan/ based on Face datection
Tilt/Zoom, holder are comprehensive) exchange method.
Background technique
In traditional video monitoring system, the automatic cradle head of video camera is usually that the installation of two alternating current generators composition is flat
Platform can be rotated horizontally and vertically, and the direction and angle of rotation can remotely be controlled by human-computer interaction interface.?
The contracting clicked in camera control menu in human-computer interaction interface in hard disk video recorder or other terminals, put, above and below, it is left,
Right option, or directly click the target direction to be gone to, angle, region etc., it is video camera PTZ interactive mode common at present.
The shortcomings that above-mentioned common video camera PTZ interactive mode are as follows: which uses mouse, operating stick etc. as interaction matchmaker
It is situated between, inadequate simple, intuitive.
Summary of the invention
The embodiment provides a kind of video camera PTZ exchange method and device based on Face datection, to provide
A kind of simply and intuitively video camera PTZ exchange method.
The present invention provides following schemes:
A kind of comprehensive exchange method of camera pan-tilt based on Face datection, comprising:
Pass through the human face region in the collected present image of persona face detection algorithm positioning shooting head；
According to the image coordinate of the central point of the human face region, mapped based on preset coordinate model by interpolation
Algorithm calculates current correcting plane coordinate；Go out current correction distance coordinate according to the areal calculation of the human face region；
The current water of the holder of video camera is calculated according to the current correcting plane coordinate, correction distance coordinate
Flat, vertical target rotational angle, calculates the current zoom multiple of the camera lens of video camera.
It is described by the human face region in the collected present image of persona face detection algorithm positioning shooting head it
Before, comprising:
After the head of monitoring personnel is moved to the upper leftmost position of screen, in the image of camera shooting, lead to
It crosses Face datection and track algorithm orients the central point of human face region, record the image coordinate of the central point；
After the head of monitoring personnel is moved to the position of most lower left of screen, in the image of camera shooting, lead to
It crosses Face datection and track algorithm orients the central point of human face region, record the image coordinate of the central point；
After the head of monitoring personnel is moved to the position in most upper right side of screen, in the image of camera shooting, lead to
It crosses Face datection and track algorithm orients the central point of human face region, record the image coordinate of the central point；
After the head of monitoring personnel is moved to the position of most lower right of screen, in the image of camera shooting, lead to
It crosses Face datection and track algorithm orients the central point of human face region, record the image coordinate of the central point；
The image coordinate of 4 central points of the record is surrounded into a quadrangle, by homography matrix by four side
Shape is mapped to a square, which is known as coordinate model.
The image coordinate of the central point according to the human face region, based on preset coordinate model by inserting
Value mapping algorithm calculates current correcting plane coordinate, comprising:
A correcting plane coordinate system newly is set, is to sit with the center of the square in the correcting plane coordinate system
Mark origin, the upper left of the square, lower-left, upper right, bottom right angular coordinate respectively (- 1,1), (- 1, -1), (1,1), (1, -
1)；
If image coordinate of the central point of the human face region in the present image in the quadrangle is (xa,ya), institute
Stating respective coordinates of the central point of the human face region in present image in correcting plane coordinate system is (xb,yb), (xb,yb)
Calculation formula is as follows:
Wherein H is the homography matrix of setting, and w is the proportionality coefficient of the setting, (x by described inb,yb) flat as current correction
Areal coordinate.
The areal calculation according to the human face region goes out current correction distance coordinate, comprising:
After the head of monitoring personnel moves to an off screen farthest position, in the image of camera shooting, pass through people
Face detection orients human face region with track algorithm, records the area a of the human face region；When the head of monitoring personnel moves to an off
Behind the nearest position of screen, in the image of camera shooting, human face region is oriented by persona face detection algorithm, is remembered
Record the area b of the human face region；
The area x of the human face region in the collected present image of the camera is recorded, then current correction distance is sat
It is designated as:
The described holder that video camera is calculated according to the current correcting plane coordinate, correction distance coordinate it is current
Horizontal, vertical target rotational angle, comprising:
If the correcting plane coordinate is (u, v), the holder of the video camera be it is comprehensive rotatable, if u is positive, institute
The current horizontal target rotational angle of holder is stated as a left sideDegree, if u is negative, the current horizontal target rotation of the holder
Angle is the right sideDegree；If v is positive, under the current vertical target rotational angle of the holder isDegree, if v is negative,
Then the current vertical target rotational angle of the holder is upperDegree.
The current zoom multiple of the camera lens for calculating video camera, comprising:
If correction distance coordinate is x, and the maximum zoom multiple of the camera lens of video camera is N, then the mirror of the video camera
Head current zoom multiple be
A kind of comprehensive interactive device of camera pan-tilt based on Face datection, comprising:
Human face region locating module, for passing through the collected present image of persona face detection algorithm positioning shooting head
In human face region；
Correcting plane coordinate calculation module, for the image coordinate according to the central point of the human face region, based on preparatory
The coordinate model of setting calculates current correcting plane coordinate by interpolation mapping algorithm；
Correction distance coordinate calculation module is sat for going out current correction distance according to the areal calculation of the human face region
Mark；
Cloud platform rotation angle calculation module, for according to the current correcting plane coordinate, the calculating of correction distance coordinate
Current horizontal, the vertical target rotational angle of the holder of video camera out；
Camera lens zoom multiple computing module, the current zoom multiple of the camera lens for calculating video camera.
The device further include:
Coordinate model establishes module, after being moved to the upper leftmost position of screen for the head when monitoring personnel,
In the image of camera shooting, the central point of human face region is oriented by persona face detection algorithm, records the central point
Image coordinate；
After the head of monitoring personnel is moved to the position of most lower left of screen, in the image of camera shooting, lead to
It crosses Face datection and track algorithm orients the central point of human face region, record the image coordinate of the central point；
After the head of monitoring personnel is moved to the position in most upper right side of screen, in the image of camera shooting, lead to
It crosses Face datection and track algorithm orients the central point of human face region, record the image coordinate of the central point；
After the head of monitoring personnel is moved to the position of most lower right of screen, in the image of camera shooting, lead to
It crosses Face datection and track algorithm orients the central point of human face region, record the image coordinate of the central point；
The image coordinate of 4 central points of the record is surrounded into a quadrangle, by homography matrix by four side
Shape is mapped to a square, which is known as coordinate model.
The correcting plane coordinate calculation module is sat for newly setting a correcting plane coordinate system in the correcting plane
In mark system, using the center of the square as coordinate origin, the upper left of the square, lower-left, upper right, bottom right angular coordinate point
Not Wei (- 1,1), (- 1, -1), (1,1), (1, -1)；
If image coordinate of the central point of the human face region in the present image in the quadrangle is (xa,ya), institute
Stating respective coordinates of the central point of the human face region in present image in correcting plane coordinate system is (xb,yb), (xb,yb)
Calculation formula is as follows:
Wherein H is the homography matrix of setting, and w is the proportionality coefficient of the setting, (x by described inb,yb) flat as current correction
Areal coordinate.
The correction distance coordinate calculation module moves to an off the farthest position of screen for the head when monitoring personnel
Afterwards, in the image of camera shooting, human face region is oriented by persona face detection algorithm, records the human face region
Area a；After the head of monitoring personnel moves to an off screen nearest position, in the image of camera shooting, pass through face
Detection orients human face region with track algorithm, records the area b of the human face region；
The area x of the human face region in the collected present image of the camera is recorded, then current correction distance is sat
It is designated as:
The cloud platform rotation angle calculation module, for setting the correcting plane coordinate as (u, v), the video camera
Holder be it is comprehensive rotatable, if u is positive, the current horizontal target rotational angle of the holder is a left sideDegree, if u is
Negative, the current horizontal target rotational angle of the holder is the right sideDegree；If v is positive, the holder it is current vertical
Under target rotational angle isDegree, if v is negative, the current vertical target rotational angle of the holder is upperDegree.
The camera lens zoom multiple computing module, for setting correction distance coordinate as x, and the camera lens of video camera is most
Big zoom multiple is N, then the current zoom multiple of the camera lens of the video camera is
As can be seen from the technical scheme provided by the above-mentioned embodiment of the present invention, provided in an embodiment of the present invention to be based on face
The video camera PTZ exchange method of detection and tracking, video monitoring staff can be mobile certainly by up, down, left, right, before and after
Oneself head controls the target direction angle of cloud platform rotation and the zoom of camera lens, thus change the field of view for working as preceding camera,
Realize the effect that the first visual angle of simulation monitors on the spot.Which implements letter independent of the interaction medium such as mouse, operating stick
It is single intuitive.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill of field, without any creative labor, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is a kind of processing stream for video camera PTZ exchange method based on Face datection that the embodiment of the present invention one provides
Cheng Tu；
Fig. 2 is a kind of comprehensive interactive device of camera pan-tilt based on Face datection provided by Embodiment 2 of the present invention
Structure chart is implemented, in figure, human face region locating module 21, correcting plane coordinate calculation module 22, correction distance coordinate meter
Module 23 is calculated, cloud platform rotation angle calculation module 24, camera lens zoom multiple computing module 25, coordinate model establishes module 26.
Specific embodiment
In order to facilitate understanding of embodiments of the present invention, it is done by taking several specific embodiments as an example below in conjunction with attached drawing further
Explanation, and each embodiment does not constitute the restriction to the embodiment of the present invention.
Embodiment one
The process flow of this embodiment offers a kind of video camera PTZ exchange method based on Face datection as shown in Figure 1,
Including following processing step:
Step S110, video monitoring system includes the equipment such as video camera, server, screen, and the embodiment of the present invention needs
Nearby a camera is installed in any position to screen, which is preferably mounted at the surface or underface of screen, horizontal
The horizontal direction parallel in direction and screen, shooting direction is parallel with the normal direction of screen plane, for the people to monitoring personnel
Face is positioned.
Step S120, three modules: correction module, persona face detection mould are arranged in the embodiment of the present invention in the server
Block and video camera PTZ interactive module.
Above-mentioned correction module determines the head moving range of monitoring personnel, obtains face location and cloud platform rotation, camera lens become
Transformational relation again.Monitoring personnel faces screen, and head is mobile to the upper left side of screen, determines a upper leftmost position
It sets, detection or manual point select the central point of human face region automatically in the image of camera shooting, record the figure of the central point
As coordinate.Likewise,
After the head of monitoring personnel is moved to the position of most lower left of screen, in the image of camera shooting, lead to
It crosses Face datection and track algorithm orients the central point of human face region, record the image coordinate of the central point；
After the head of monitoring personnel is moved to the position in most upper right side of screen, in the image of camera shooting, lead to
It crosses Face datection and track algorithm orients the central point of human face region, record the image coordinate of the central point；
After the head of monitoring personnel is moved to the position of most lower right of screen, in the image of camera shooting, lead to
It crosses Face datection and track algorithm orients the central point of human face region, record the image coordinate of the central point；
The image coordinate of 4 central points of the record is surrounded into a quadrangle, which illustrates that face is being schemed
Moving range as in.The coordinate of a point in quadrangle is known as 4 vertex image coordinates of quadrangle.
The homography matrix H that training is one 3 × 3, is mapped to a square for the quadrangle that this 4 image coordinates surround,
The square is properly termed as a coordinate model.A correcting plane coordinate system newly is set, using the center of square as coordinate original
Point, square upper left, lower-left, upper right, bottom right angular coordinate are respectively (- 1,1), (- 1, -1), (1,1), (1, -1).
Any point in the quadrangle surrounded for above-mentioned 4 image coordinates, might as well set its coordinate in quadrangle as
(xa,ya), respective coordinates of this in correcting plane coordinate system are (xb,yb),
Its corresponding relationship formula are as follows:
Wherein w is proportionality coefficient, and H and w can be solved by known methods such as ransac.
Above-mentioned corresponding relationship formula reflects 4 vertex correcting planes of 4 vertex image coordinates of quadrangle and square and sits
Corresponding relationship between mark can will be any in quadrangle in image by above-mentioned corresponding relationship formula in subsequent module
Point interpolation is mapped in correcting plane coordinate system.
Step S130, monitoring personnel faces screen, and head is mobile to the direction far from screen, determines an off screen curtain most
Remote position, by persona face detection algorithm, detection or manual point select face area automatically in the image that camera is shot
Domain records the area of the human face region, is set as a.Likewise, by head to the direction close to screen, when record off screen curtain is nearest
The area of human face region in image, is set as b, obtains the calculating of correction distance coordinate according to the area a and b of 2 human face regions
Model.
If correction distance coordinate is the one-dimensional coordinate on the normal of screen plane, when if area being a, (off screen curtain is farthest
Position) corresponding correction distance coordinate is 0, (the nearest position of off screen curtain) corresponding correction distance coordinate when area is b
It is set as 1.In subsequent module, the corresponding correction distance coordinate of area x, x of the human face region in any one image is given
Computation model are as follows:
Step S140, before screen, up, down, left, right, before and after as needed moves oneself to video monitoring staff
Head.Persona face detection module in above-mentioned server passes through well known persona face detection algorithm, positioning shooting head
Human face region in collected present image.
Step S150, the video camera PTZ interactive module in above-mentioned server obtains the human face region in above-mentioned present image
Central point image coordinate, the image coordinate interpolation of above-mentioned central point is mapped to by above-mentioned square by interpolation mapping algorithm
In a coordinate, the coordinate be current correcting plane coordinate.
Above-mentioned video camera PTZ interactive module obtains the area x of the human face region in above-mentioned present image, calculates current school
Just apart from coordinate are as follows:
Step S160, the current of the holder of video camera is calculated according to above-mentioned correcting plane coordinate, correction distance coordinate
Horizontal, vertical target rotational angle calculates the current zoom multiple of the camera lens of video camera.
Image coordinate of the central point of human face region in present image in the quadrangle is substituted into above-mentioned (xa,ya)
(xb,yb) between corresponding relationship formula:Obtaining current correcting plane coordinate is (u, v).
The target direction angle of cloud platform rotation is opposite relative to the orientation of coordinate origin with correcting plane coordinate.If current
Correcting plane coordinate be (u, v), holder be it is comprehensive rotatable, i.e., left and right up and down maximum rotation angle be 180 degree.If u is positive,
Then the current horizontal target rotational angle of the holder is a left sideDegree, if u is negative, the current horizontal target of the holder
Rotational angle is the right sideDegree；If v is positive, under the current vertical target rotational angle of the holder isDegree, if v is
Negative, then the current vertical target rotational angle of the holder is upperDegree.
If correction distance coordinate is x, and the maximum zoom multiple of the camera lens of video camera is N, the then current change of camera lens
Times multiple is
PTZ instruction is issued to camera pan-tilt by modes such as RS-485 or Ethernets, carries above-mentioned take the photograph in PTZ instruction
Current horizontal, the vertical target rotational angle of the holder of camera, the current zoom multiple of the camera lens of video camera, in video camera
Holder is adjusted to above-mentioned current horizontal, vertical target rotational angle, and the camera lens of video camera is adjusted to above-mentioned current zoom
After multiple, then complete to control the PTZ of current face position.It in practical applications, can be according to the rotatable range and reality of holder
Border visual field such as needs at factors adjustment rotational angle and the zoom multiple.
Embodiment two
This embodiment offers a kind of comprehensive interactive device of the camera pan-tilt based on Face datection, specific implementation knots
Structure is as shown in Fig. 2, can specifically include following module:
Human face region locating module 21, for passing through the collected current figure of persona face detection algorithm positioning shooting head
Human face region as in；
Correcting plane coordinate calculation module 22, for the image coordinate according to the central point of the human face region, based on pre-
The coordinate model first set calculates current correcting plane coordinate by interpolation mapping algorithm；
Correction distance coordinate calculation module 23, for going out current correction distance according to the areal calculation of the human face region
Coordinate；
Cloud platform rotation angle calculation module 24, based on according to the current correcting plane coordinate, correction distance coordinate
Calculate current horizontal, the vertical target rotational angle of the holder of video camera；
Camera lens zoom multiple computing module 25, the current zoom multiple of the camera lens for calculating video camera.
Further, the device further include:
Coordinate model establishes module 26, after being moved to the upper leftmost position of screen for the head when monitoring personnel,
In the image of camera shooting, the central point of human face region is oriented by persona face detection algorithm, records the center
The image coordinate of point；
After the head of monitoring personnel is moved to the position of most lower left of screen, in the image of camera shooting, lead to
It crosses Face datection and track algorithm orients the central point of human face region, record the image coordinate of the central point；
After the head of monitoring personnel is moved to the position in most upper right side of screen, in the image of camera shooting, lead to
It crosses Face datection and track algorithm orients the central point of human face region, record the image coordinate of the central point；
After the head of monitoring personnel is moved to the position of most lower right of screen, in the image of camera shooting, lead to
It crosses Face datection and track algorithm orients the central point of human face region, record the image coordinate of the central point；
The image coordinate of 4 central points of the record is surrounded into a quadrangle, by homography matrix by four side
Shape is mapped to a square, which is known as coordinate model.
Further, the correcting plane coordinate calculation module 22, for newly setting a correcting plane coordinate system, at this
In correcting plane coordinate system, using the center of the square as coordinate origin, upper left, lower-left, upper right, the right side of the square
Lower angular coordinate is respectively (- 1,1), (- 1, -1), (1,1), (1, -1)；
If image coordinate of the central point of the human face region in the present image in the quadrangle is (xa,ya), institute
Stating respective coordinates of the central point of the human face region in present image in correcting plane coordinate system is (xb,yb), (xb,yb)
Calculation formula is as follows:
Wherein H is the homography matrix of setting, and w is the proportionality coefficient of the setting, (x by described inb,yb) flat as current correction
Areal coordinate.
Further, the correction distance coordinate calculation module 23 is moved to off screen for the head when monitoring personnel
Behind the farthest position of curtain, in the image of camera shooting, human face region is oriented by persona face detection algorithm, is recorded
The area a of the human face region；After the head of monitoring personnel moves to an off screen nearest position, in the image of camera shooting
In, human face region is oriented by persona face detection algorithm, records the area b of the human face region；
The area x of the human face region in the collected present image of the camera is recorded, then current correction distance is sat
It is designated as:
Further, the cloud platform rotation angle calculation module 24, for setting the correcting plane coordinate as (u, v),
The holder of the video camera be it is comprehensive rotatable, if u is positive, the current horizontal target rotational angle of the holder is a left sideDegree, if u is negative, the current horizontal target rotational angle of the holder is the right sideDegree；If v is positive, the holder
Under current vertical target rotational angle isDegree, if v is negative, the current vertical target rotational angle of the holder is
OnDegree.
Further, the camera lens zoom multiple computing module 25, for setting correction distance coordinate as x, and images
The maximum zoom multiple of the camera lens of machine is N, then the current zoom multiple of the camera lens of the video camera is
The detailed process of the comprehensive interaction of camera pan-tilt based on Face datection is carried out with the device of the embodiment of the present invention
Similar to the previous method embodiment, details are not described herein again.
In conclusion the video camera PTZ exchange method provided in an embodiment of the present invention based on persona face detection, video
Monitoring work personnel can control the target direction angle of cloud platform rotation by the head of up, down, left, right, before and after movement oneself
The zoom of degree and camera lens realizes the effect that the first visual angle of simulation monitors on the spot to change the field of view for working as preceding camera.It should
Mode implements simple, intuitive independent of the interaction medium such as mouse, operating stick.
The embodiment of the invention provides a kind of PTZ interactive mode of simple, intuitive, monitoring work personnel do not need any training
Relevant operation can be completed in instruction and technological know-how.It fixes in background, the persona face detection algorithm under the scene of uniform illumination
A possibility that comparative maturity, mistake, is very low, and this guarantees interactive correctness.
Those of ordinary skill in the art will appreciate that: attached drawing is the schematic diagram of one embodiment, module in attached drawing or
Process is not necessarily implemented necessary to the present invention.
As seen through the above description of the embodiments, those skilled in the art can be understood that the present invention can
It realizes by means of software and necessary general hardware platform.Based on this understanding, technical solution of the present invention essence
On in other words the part that contributes to existing technology can be embodied in the form of software products, the computer software product
It can store in storage medium, such as ROM/RAM, magnetic disk, CD, including some instructions are used so that a computer equipment
(can be personal computer, server or the network equipment etc.) executes the certain of each embodiment or embodiment of the invention
Method described in part.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for device or
For system embodiment, since it is substantially similar to the method embodiment, so describing fairly simple, related place is referring to method
The part of embodiment illustrates.Apparatus and system embodiment described above is only schematical, wherein the conduct
The unit of separate part description may or may not be physically separated, component shown as a unit can be or
Person may not be physical unit, it can and it is in one place, or may be distributed over multiple network units.It can root
According to actual need that some or all of the modules therein is selected to achieve the purpose of the solution of this embodiment.Ordinary skill
Personnel can understand and implement without creative efforts.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with scope of protection of the claims
Subject to.
Claims (10)
1. a kind of comprehensive exchange method of camera pan-tilt based on Face datection characterized by comprising
When the head of monitoring personnel is moved respectively to the position in the most upper left side of screen, most lower left, most upper right side and most lower right
It postpones, in the image of camera shooting, the central point and record of human face region is oriented by persona face detection algorithm
The image coordinate of 4 central points of the record is surrounded a quadrangle, by singly answering square by the image coordinate of the central point
The quadrangle is mapped to a square by battle array, using the square as coordinate model；
Pass through the human face region in the collected present image of persona face detection algorithm positioning shooting head；
A new correcting plane coordinate system is set up, in the correcting plane coordinate system, the center with the coordinate model is
Coordinate origin, and the upper left of the coordinate model is set, lower-left, upper right, bottom right angular coordinate are respectively (- 1,1), (- 1, -1),
(1,1), (1, -1), according to image coordinate (x of the central point of the human face region in the present image in the quadranglea,
ya), the central point of the human face region in the present image is calculated in correcting plane coordinate system by interpolation mapping algorithm
Respective coordinates (xb,yb), wherein the coordinate (xb,yb) it is current correcting plane coordinate；
Go out current correction distance coordinate according to the areal calculation of the human face region；
The current horizontal target rotational angle of the holder of video camera is calculated according to the current correcting plane coordinate and is erected
Straight target rotational angle；
The current zoom multiple of the camera lens of video camera is calculated according to the current correction distance coordinate.
2. the comprehensive exchange method of the camera pan-tilt according to claim 1 based on Face datection, which is characterized in that root
It is (x according to image coordinate of the central point of the human face region in the present image in the quadranglea,ya), it is reflected by interpolation
It penetrates algorithm and calculates respective coordinates (x of the central point of human face region in the present image in correcting plane coordinate systemb,yb)
Calculation formula it is as follows:
Wherein H is the homography matrix of setting, and w is the proportionality coefficient of the setting, (x by described inb,yb) sat as current correcting plane
Mark.
3. the comprehensive exchange method of the camera pan-tilt according to claim 1 based on Face datection, which is characterized in that institute
The areal calculation according to the human face region stated goes out current correction distance coordinate, comprising:
After the head of monitoring personnel moves to an off screen farthest position, in the image of camera shooting, examined by face
It surveys and orients human face region with track algorithm, record the area a of the human face region；When the head of monitoring personnel moves to an off screen
Behind nearest position, in the image of camera shooting, human face region is oriented by persona face detection algorithm, record should
The area b of human face region；
The area x of the human face region in the collected present image of the camera is recorded, then current correction distance coordinate are as follows:
4. the comprehensive exchange method of the camera pan-tilt according to claim 1 or 2 or 3 based on Face datection, feature
It is, the current horizontal target angle of rotation of the holder that video camera is calculated according to the current correcting plane coordinate
Degree and vertical target rotational angle, comprising:
If the correcting plane coordinate is (u, v), the holder of the video camera be it is comprehensive rotatable, if u is positive, the cloud
The current horizontal target rotational angle of platform is a left sideDegree, if u is negative, the current horizontal target rotational angle of the holder
For the right sideDegree；If v is positive, under the current vertical target rotational angle of the holder isDegree, it is described if v is negative
The current vertical target rotational angle of holder is upperDegree.
5. the comprehensive exchange method of the camera pan-tilt according to claim 1 or 2 or 3 based on Face datection, feature
It is, the current zoom multiple of the camera lens that video camera is calculated according to the current correction distance coordinate, comprising:
If correction distance coordinate is x, and the maximum zoom multiple of the camera lens of video camera is N, then the camera lens of the video camera
Current zoom multiple is
6. a kind of comprehensive interactive device of camera pan-tilt based on Face datection characterized by comprising
Coordinate model establishes module, is moved respectively to the most upper left side of screen, most lower left, most for the head when monitoring personnel
Behind the position of upper right side and most lower right, in the image of camera shooting, people is oriented by persona face detection algorithm
The central point in face region and the image coordinate for recording the central point surround the image coordinate of 4 central points of the record
The quadrangle is mapped to a square by homography matrix, using the square as coordinate model by one quadrangle；
Human face region locating module, for by the collected present image of persona face detection algorithm positioning shooting head
Human face region；
Correcting plane coordinate calculation module, for setting up a new correcting plane coordinate system, in the correcting plane coordinate system,
Using the center of the coordinate model as coordinate origin, and upper left, lower-left, upper right, the lower right corner that the coordinate model is arranged are sat
Mark is respectively (- 1,1), (- 1, -1), (1,1), (1, -1), according to the central point of the human face region in the present image in institute
State the image coordinate (x in quadranglea,ya), the center of the human face region in the present image is calculated by interpolation mapping algorithm
Respective coordinates (x of the point in correcting plane coordinate systemb,yb), wherein the coordinate (xb,yb) it is that current correcting plane is sat
Mark；Correction distance coordinate calculation module, for going out current correction distance coordinate according to the areal calculation of the human face region；
Cloud platform rotation angle calculation module, the holder for calculating according to the current correcting plane coordinate video camera are worked as
Preceding horizontal target rotational angle and vertical target rotational angle；
Camera lens zoom multiple computing module, the current zoom multiple of the camera lens for calculating video camera.
7. the comprehensive interactive device of the camera pan-tilt according to claim 6 based on Face datection, which is characterized in that institute
The correcting plane coordinate calculation module stated is according to the central point of the human face region in the present image in the quadrangle
Image coordinate xa,ya), the central point of the human face region in the present image is calculated in correcting plane by interpolation mapping algorithm
Respective coordinates (x in coordinate systemb,yb) calculation formula it is as follows:
Wherein H is the homography matrix of setting, and w is the proportionality coefficient of the setting, (x by described inb,yb) sat as current correcting plane
Mark.
8. the comprehensive interactive device of the camera pan-tilt according to claim 6 based on Face datection, it is characterised in that:
The correction distance coordinate calculation module, after moving to an off screen farthest position for the head when monitoring personnel,
In the image of camera shooting, human face region is oriented by persona face detection algorithm, records the face of the human face region
Product a；After the head of monitoring personnel moves to an off screen nearest position, in the image of camera shooting, examined by face
It surveys and orients human face region with track algorithm, record the area b of the human face region；
The area x of the human face region in the collected present image of the camera is recorded, then current correction distance coordinate are as follows:
9. the comprehensive interactive device of camera pan-tilt described according to claim 6 or 7 or 8 based on Face datection, feature
It is:
The cloud platform rotation angle calculation module, for setting the correcting plane coordinate as (u, v), the holder of the video camera
To be comprehensive rotatable, if u is positive, the current horizontal target rotational angle of the holder is a left sideDegree, if u is negative, institute
The current horizontal target rotational angle of holder is stated as the right sideDegree；If v is positive, the current vertical target of the holder turns
Under dynamic angle isDegree, if v is negative, the current vertical target rotational angle of the holder is upperDegree.
10. the comprehensive interactive device of camera pan-tilt described according to claim 6 or 7 or 8 based on Face datection, feature
It is:
The camera lens zoom multiple computing module, for setting correction distance coordinate as x, and the maximum of the camera lens of video camera becomes
Times multiple is N, then the current zoom multiple of the camera lens of the video camera is
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| CN106598078B (en) * | 2016-11-04 | 2020-09-01 | 浙江宇视科技有限公司 | Image processing method and device for pan-tilt camera |
| CN108073873A (en) * | 2016-11-15 | 2018-05-25 | 上海宝信软件股份有限公司 | Human face detection and tracing system based on high-definition intelligent video camera |
| CN108632569B (en) * | 2017-03-20 | 2020-09-29 | 华为技术有限公司 | Video monitoring method and device based on gun and ball linkage |
| CN108965694B (en) * | 2018-06-26 | 2020-11-03 | 影石创新科技股份有限公司 | Method for acquiring gyroscope information for camera level correction and portable terminal |
| WO2020087317A1 (en) * | 2018-10-31 | 2020-05-07 | 深圳市大疆创新科技有限公司 | Monitoring device adjustment method, monitoring device, and gimbal device |
| CN110099254B (en) * | 2019-05-21 | 2023-08-25 | 浙江师范大学 | Driver face tracking device and method |
| CN112153270B (en) * | 2019-06-27 | 2022-02-18 | 浙江宇视科技有限公司 | Cloud deck zero point detection method and device, camera and storage medium |
| CN112995566B (en) * | 2019-12-17 | 2024-04-05 | 佛山市云米电器科技有限公司 | Sound source positioning method based on display device, display device and storage medium |
| CN111526335B (en) * | 2020-05-03 | 2021-08-27 | 金华精研机电股份有限公司 | Target tracking method for suspended track type omnidirectional pan-tilt camera |
| CN111526334B (en) * | 2020-05-03 | 2021-08-20 | 上海弈山实业有限公司 | Imaging target position servo control method based on PID algorithm |
| CN111650968B (en) * | 2020-07-28 | 2022-07-05 | 南京天创电子技术有限公司 | Method for measuring positioning error of holder |
| CN111914739A (en) * | 2020-07-30 | 2020-11-10 | 深圳创维－Rgb电子有限公司 | Intelligent following method and device, terminal equipment and readable storage medium |
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| CN113112668A (en) * | 2021-04-15 | 2021-07-13 | 新疆爱华盈通信息技术有限公司 | Face recognition-based holder tracking method, holder and entrance guard recognition machine |
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