CN105704381A - Zoom tracking method and zoom tracking device for camera - Google Patents
Zoom tracking method and zoom tracking device for camera Download PDFInfo
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- CN105704381A CN105704381A CN201610149995.7A CN201610149995A CN105704381A CN 105704381 A CN105704381 A CN 105704381A CN 201610149995 A CN201610149995 A CN 201610149995A CN 105704381 A CN105704381 A CN 105704381A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/67—Focus control based on electronic image sensor signals
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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Abstract
The invention is applied to the technical field of security monitoring, and provides a zoom tracking method and a zoom tracking device for a camera. The method comprises steps: after correction operation is started, focusing information of a p0 point is acquired in a preset coordinate system; a first curve and a second curve nearest to Fp0 are acquired on Zp0, and a third curve is estimated and obtained based on the first curve and the second curve; during a process during which a zoom motor moves to the longest focal length end, through estimation, focusing information of an e0 point, an e1 point and an e2 point is obtained; through a bell curve, modeling is carried out on the p0 point, a p1 point, a p2 point, the e0 point, the e1 point and the e2 point, a least square method is adopted to solving the highest value of the FV on Zp1, and a tracking curve after correction is estimated and obtained; and the zoom motor is driven to move according to the tracking curve after correction. The algorithm difficulty and the uncertainty are reduced, and the zoom tracking accuracy in the field security monitoring is ensured.
Description
Technical field
The invention belongs to safety monitoring technical field, particularly relate to zoom tracking and the device of video camera。
Background technology
Popularization and application along with safety defense monitoring system, the requirement that CCTV camera zoom in system is followed the tracks of (Zoom-Tracking) performance is also more and more higher, apply particularly in road monitoring, need fast zoom to realize rapid candid photograph, therefore it is required that zoom tracking performance possesses feature fast and accurately。
In prior art, in protection and monitor field, it is run on the basis of FourierZTransform (FZT) algorithm that the zoom of video camera is followed the tracks of, but, current FZT algorithm is in the process calculating calibration step, use " proportional-integral-differential " (Proportion-Integral-Derivative, PID) model constantly forces real curve, but how to determine that PID model parameter is a difficult problem, actual application is difficult to find optimal solution, cause that existing FZT algorithm still has deficiency in tracking accuracy rate, the zoom tracking performance of safety defense monitoring system can be negatively affected。
Summary of the invention
In view of this, embodiments provide zoom tracking and the device of video camera, the problem low to solve tracking accuracy rate that the employing of FZT algorithm in prior art causes protection and monitor field zoom to be followed the tracks of。
First aspect, it is provided that the zoom tracking of a kind of video camera, including:
After correct operation starts, preset coordinate system obtains the focusing information (Z of p0 pointp0, Fp0, FVp0), p0 point is for representing the initial focusing state of video camera, and the transverse axis of described preset coordinate system represents that the movement position of zoom motor, the longitudinal axis represent the movement position of focusing motor, then the focusing information (Z of any point i in described preset coordinate systemi, Fi, FVi) for representing that the movement position at this some place zoom motor is Zi, the movement position of focusing motor is Fi, focusing statistical value is FVi；
At Zp0Upper acquisition distance Fp0The first nearest curve and the second curve, and obtain the 3rd curve based on described first curve and described second curve estimation；
At zoom motor in the process of longest focal length end motion, by estimate obtain respectively with p0 point, p1 point, e0 point that p2 point is corresponding, e1 point, e2 point focusing information, wherein, p1 point and p2 point are followed successively by the zoom motor two focusing state to video camera described in longest focal length end motion process；
It is that p0 point, p1 point, p2 point, e0 point, e1 point, e2 point are modeled by bell shaped curve, adopts method of least square to try to achieve at Zp1The peak of upper FV, estimates the aircraft pursuit course after being corrected；
Focusing motor is driven to move according to the aircraft pursuit course after described correction。
Second aspect, it is provided that the zoom of a kind of video camera follows the tracks of device, including:
Acquiring unit, for, after correct operation starts, obtaining the focusing information (Z of p0 point in preset coordinate systemp0, Fp0, FVp0), p0 point is for representing the initial focusing state of video camera, and the transverse axis of described preset coordinate system represents that the movement position of zoom motor, the longitudinal axis represent the movement position of focusing motor, then the focusing information (Z of any point i in described preset coordinate systemi, Fi, FVi) for representing that the movement position at this some place zoom motor is Zi, the movement position of focusing motor is Fi, focusing statistical value is FVi；
First evaluation unit, at Zp0Upper acquisition distance Fp0The first nearest curve and the second curve, and obtain the 3rd curve based on described first curve and described second curve estimation；
Second evaluation unit, for at zoom motor in the process of longest focal length end motion, by estimate obtain respectively with p0 point, p1 point, e0 point that p2 point is corresponding, e1 point, e2 point focusing information, wherein, p1 point and p2 point are followed successively by the zoom motor two focusing state to video camera described in longest focal length end motion process；
3rd evaluation unit, for being that p0 point, p1 point, p2 point, e0 point, e1 point, e2 point are modeled by bell shaped curve, employing method of least square is tried to achieve at Zp1The peak of upper FV, estimates the aircraft pursuit course after being corrected；
Driver element, for driving focusing motor to move according to the aircraft pursuit course after described correction。
In embodiments of the present invention, when carrying out the algorithm process of zoom tracking, introduce the multiple spot curve fitting algorithm aircraft pursuit course to focusing motor to be corrected, compared to PID model, the scheme of the embodiment of the present invention reduces algorithm difficulty and uncertainty, and ensure that the tracking accuracy rate that protection and monitor field zoom is followed the tracks of。
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme in the embodiment of the present invention, the accompanying drawing used required in embodiment or description of the prior art will be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings。
Fig. 1 is the schematic diagram of the preset coordinate system that the embodiment of the present invention provides；
Fig. 2 is the flowchart of the zoom tracking of the video camera that the embodiment of the present invention provides；
Fig. 3 be the embodiment of the present invention provide video camera zoom tracking S203 implement flow chart；
Fig. 4 is the flowchart of the zoom tracking of the video camera that another embodiment of the present invention provides；
Fig. 5 is the structured flowchart of the zoom tracking device of the video camera that the embodiment of the present invention provides。
Detailed description of the invention
In being described below, in order to illustrate rather than in order to limit, it is proposed that the such as detail of particular system structure, technology etc, in order to thoroughly cut and understand the embodiment of the present invention。But, it will be clear to one skilled in the art that and can also realize the present invention in the other embodiments do not have these details。In other situation, omit the detailed description to well-known system, device, circuit and method, in order to avoid unnecessary details hinders description of the invention。
In embodiments of the present invention, after correct operation starts, preset coordinate system obtains the focusing information (Z of p0 pointp0, Fp0, FVp0), p0 point is for representing the initial focusing state of video camera, and the transverse axis of described preset coordinate system represents that the movement position of zoom motor, the longitudinal axis represent the movement position of focusing motor, then the focusing information (Z of any point i in described preset coordinate systemi, Fi, FVi) for representing that the movement position at this some place zoom motor is Zi, the movement position of focusing motor is Fi, focusing statistical value is FVi；At Zp0Upper acquisition distance Fp0The first nearest curve and the second curve, and obtain the 3rd curve based on described first curve and described second curve estimation；At zoom motor in the process of longest focal length end motion, based on described 3rd curve, by estimate obtain respectively with p0 point, p1 point, e0 point that p2 point is corresponding, e1 point, e2 point focusing information, wherein, p1 point and p2 point are followed successively by the zoom motor two focusing state to video camera described in longest focal length end motion process；It is that p0 point, p1 point, p2 point, e0 point, e1 point, e2 point are modeled by bell shaped curve, adopts method of least square to try to achieve at Zp1The peak of upper FV, estimates the aircraft pursuit course after being corrected；Focusing motor is driven to move according to the aircraft pursuit course after described correction。
In order to technical solutions according to the invention are described, illustrate below by specific embodiment。
Preset coordinate system is as shown in Figure 1, abscissa line in figure represents the movement position of zoom motor, the coordinate longitudinal axis represents the movement position of focusing motor, abscissa 1 represents shortest focal length (WIDE) end that zoom motor moves, abscissa 1249 represents longest focal length (TELE) end that zoom motor moves, and supposes that zoom motor is towards TELE end motion。In preset coordinate system shown in Fig. 1, identify tetra-points of p0, p1, p2, p3 from left to right, the focusing information (Z of any point i in this preset coordinate systemi, Fi, FVi) for representing that the movement position at the zoom motor at this some place is Zi, the movement position of focusing motor is Fi, focusing statistical value is FVi。For p0 point, p0 point is for representing the initial focusing state of video camera in safety defense monitoring system, and the focusing information table of this point is shown as (Zp0, Fp0, FVp0), the physical significance that this information represents describes as follows: on curve, the movement position of p0 point place zoom motor is Zp0, the movement position of focusing motor is Fp0, the focusing statistical value at p0 point place is FVp0, then being readily apparent that, describe based on identical physical significance, the focusing information table of p1 point is shown as (Zp1, Fp1, FVp1), the focusing information table of p2 point is shown as (Zp2, Fp2, FVp2), the focusing information table of p3 point is shown as (Zp3, Fp3, FVp3)。Based on the preset coordinate system shown in Fig. 1, what Fig. 2 illustrated the zoom tracking of the video camera that the embodiment of the present invention provides realizes flow process, and details are as follows:
In S201, after correct operation starts, preset coordinate system obtains the focusing information (Z of p0 pointp0, Fp0, FVp0), p0 point is for representing the initial focusing state of video camera。
In embodiments of the present invention, setting under initial focusing state, the scene captured by monitoring camera is to focus clearly。
In S202, at Zp0Upper acquisition distance Fp0(offer of camera lens manufacturer can provide N suite line, and present example is according to Z for nearest the first curve (LowerCurve) and the second curve (UpperCurve)p0Immediate two suite lines in N suite line are found in the position of place's focus motor, little object distance be designated as UpperCurve, big object distance be designated as LowerCurve), and obtain the 3rd curve (EstimatedCurve) based on described first curve and described second curve estimation。
Owing to camera lens manufacturer can provide N suite line, therefore, in embodiments of the present invention, in the N suite line that camera lens manufacturer provides, according to Zp0The position of place's focusing motor is found closest to Fp0Two suite lines。And the 3rd curve can use tracking (GeometricZoomTracking, GZT) method estimation of geometry zoom to obtain。
In order to be better described, fastening in preset coordinate shown in Fig. 1, four articles of curves from top to bottom are the aircraft pursuit course after the second curve, the 3rd curve, correction and the first curve respectively。
In S203, at zoom motor in the process of TELE end motion, by estimate obtain respectively with p0 point, p1 point, e0 point that p2 point is corresponding, e1 point, e2 point focusing information, wherein, p1 point and p2 point are followed successively by the zoom motor two focusing state to video camera described in longest focal length end motion process。
Along with zoom motor is to TELE end motion, the estimation difference of the 3rd curve can be gradually increased, without corresponding correction mechanism, image can be gradually deviated from focus, therefore, in order to reduce estimation difference, it is necessary to the direction of motion and estimated track to focusing motor are modified。At this, if from initial focusing state p0 point, follow-up along with motor movement, focusing state is represented by p1 point and p2 point successively。
In embodiments of the present invention, the estimation process of S203 is concrete as shown in Figure 3:
In S301, obtain the focusing statistical value FV of p0 point, p1 point, p2 point respectivelyp0、FVp1、FVp2。
Wherein, FV is the value of focus degree under current scene, it is common that being processed (ImageSignalProcessing, ISP) chip by picture signal provides。
Amount of image information based on adjacent two frames has 80% similar theory, when zoom rate is less than certain limit, think that the photographed scene of the corresponding monitoring camera of p0 point, p1 point, p2 point is similar, therefore, the focusing information (Z of e0, e1, e2 these three point is obtained followed by estimation operator estimationp1, Fe0, FVe0)、(Zp1, Fe1, FVe1)、(Zp1, Fe2, FVe2)。Specifically:
In S302, the focusing information of estimation e1 point, including: the focusing information making e1 point is identical with the focusing information of p1 point。
In S303, if the maximum zoom step-length of zoom motor is Zmax, Zp0To Zp1Between step-length be designated as Z01, Zp1To Zp2Between step-length be designated as Z12, then FV is calculatede0=FVp1*(1-0.2*Z01/Zmax), FVe2=FVp2*(1+0.2*Z12/Zmax)。
In S304, by Fe0It is estimated as described 3rd curve at Zp1On focusing motor movement position, Fe2 is estimated as described first curve at Zp1On focusing motor movement position, thus get the focusing information (Z of e0, e1, e2 these three pointp1, Fe0, FVe0)、(Zp1, Fe1, FVe1)、(Zp1, Fe2, FVe2)。
In S204, it is that p0 point, p1 point, p2 point, e0 point, e1 point, e2 point are modeled by bell shaped curve, adopts method of least square to try to achieve at Zp1The peak of upper FV, estimates the aircraft pursuit course after being corrected。
Wherein, the formula of bell shaped curve isWherein c1, k be constant, x0For the focusing motor position of articulation point of focusing, FV is the focus motor focusing statistical value at x place) pass through S204, it is possible to walk around PID model and successfully estimate the calibration step of focusing motor。
In S205, focusing motor is driven to move according to the aircraft pursuit course after described correction。
In embodiments of the present invention, when carrying out the algorithm process of zoom tracking, introduce the multiple spot curve fitting algorithm aircraft pursuit course to focusing motor to be corrected, compared to PID model, the scheme of the embodiment of the present invention reduces algorithm difficulty and uncertainty, and ensure that the tracking accuracy rate that protection and monitor field zoom is followed the tracks of。
Due in traditional FZT algorithm, it is fix correction mechanism of triggering according to isometric concept, namely a correction mechanism is triggered when zoom motor move distance reaches the condition set, obviously, this mechanism can cause correction not in time or correction problem excessively frequently, causes that correction failure or video are not smooth。Therefore, further, in embodiments of the present invention, when image starts to occur slight obscuring time, just trigger a curvature correction, abandoned the correction mechanism of fixed step size in prior art, decreased error in time。Specifically, as shown in Figure 4, before S201, described method also includes:
S206, detects the fuzziness of the image that described video camera current shooting arrives by fuzziness Statistical Operator。
S207, when described fuzziness is more than predetermined threshold value, starts described correct operation。
Detect whether current image occurs obscuring by fuzziness Statistical Operator, wherein, predetermined threshold value can determine according to the characteristic of different product, and further, the foundation being used for ambiguity evaluation of the low-and high-frequency value of focusing evaluation function can be used, can know that the high fdrequency component contained by present image is how many intuitively by this ratio, such that it is able to judge the fog-level of image。
Should be understood that in above-described embodiment, the size of the sequence number of each step is not meant to the priority of execution sequence, the execution sequence of each process should be determined with its function and internal logic, and the implementation process of the embodiment of the present invention should not constituted any restriction。
Zoom tracking corresponding to the video camera described in foregoing embodiments, Fig. 5 illustrates that the zoom of the video camera that the embodiment of the present invention provides follows the tracks of the structured flowchart of device, and it can be built in the unit that software unit in CCTV camera or safety defense monitoring system, hardware cell or soft or hard combine that the zoom of described video camera follows the tracks of device。For the ease of illustrating, illustrate only part related to the present embodiment。
With reference to Fig. 5, this device includes:
Acquiring unit 51, after correct operation starts, obtains the focusing information (Z of p0 point in preset coordinate systemp0, Fp0, FVp0), p0 point is for representing the initial focusing state of video camera, and the transverse axis of described preset coordinate system represents that the movement position of zoom motor, the longitudinal axis represent the movement position of focusing motor, then the focusing information (Z of any point i in described preset coordinate systemi, Fi, FVi) for representing that the movement position at this some place zoom motor is Zi, the movement position of focusing motor is Fi, focusing statistical value is FVi；
First evaluation unit 52, at Zp0Upper acquisition distance Fp0The first nearest curve and the second curve, and obtain the 3rd curve based on described first curve and described second curve estimation；
Second evaluation unit 53, at zoom motor in the process of longest focal length end motion, by estimate obtain respectively with p0 point, p1 point, e0 point that p2 point is corresponding, e1 point, e2 point focusing information, wherein, p1 point and p2 point are followed successively by the zoom motor two focusing state to video camera described in longest focal length end motion process；
3rd evaluation unit 54, is that p0 point, p1 point, p2 point, e0 point, e1 point, e2 point are modeled by bell shaped curve, adopts method of least square to try to achieve at Zp1The peak of upper FV, estimates the aircraft pursuit course after being corrected；
Driver element 55, drives focusing motor to move according to the aircraft pursuit course after described correction。
Alternatively, described second evaluation unit 53 includes:
First subelement, obtains the focusing statistical value FV of p0 point, p1 point, p2 point respectivelyp0、FVp1、FVp2；
Second subelement, the focusing information of estimation e1 point, including: the focusing information making e1 point is identical with the focusing information of p1 point；
3rd subelement, if maximum zoom step-length is Zmax, Zp0To Zp1Between step-length be designated as Z01, Zp1To Zp2Between step-length be designated as Z12, then FV is calculatede0=FVp1*(1-0.2*Z01/Zmax), FVe2=FVp2*(1+0.2*Z12/Zmax)；
4th subelement, by Fe0It is estimated as described 3rd curve at Zp1On focusing motor movement position, Fe2 is estimated as described first curve at Zp1On focusing motor movement position, thus get the focusing information (Z of e0, e1, e2 these three pointp1, Fe0, FVe0)、(Zp1, Fe1, FVe1)、(Zp1, Fe2, FVe2)。
Alternatively, described first estimation subelement 52 specifically for:
According to geometric interpolation, obtain described 3rd curve based on described first curve and described second curve estimation。
Alternatively, described device also includes:
Detection unit, detects the fuzziness of the image that described video camera current shooting arrives by fuzziness Statistical Operator；
Start unit, when described fuzziness is more than predetermined threshold value, starts described correct operation。
Alternatively, the foundation being used for ambiguity evaluation of the low-and high-frequency value of focusing evaluation function is used。
Those skilled in the art is it can be understood that arrive, for convenience of description and succinctly, only it is illustrated with the division of above-mentioned each functional unit, module, in practical application, as desired above-mentioned functions distribution can be completed by different functional units, module, it is divided into different functional units or module, to complete all or part of function described above by the internal structure of described device。Each functional unit in embodiment, module can be integrated in a processing unit, can also be that unit is individually physically present, can also two or more unit integrated in a unit, above-mentioned integrated unit both can adopt the form of hardware to realize, it would however also be possible to employ the form of SFU software functional unit realizes。It addition, the concrete title of each functional unit, module is also only to facilitate mutually distinguish, it is not limited to the protection domain of the application。The specific works process of unit, module in said system, it is possible to reference to the corresponding process in preceding method embodiment, do not repeat them here。
Those of ordinary skill in the art are it is to be appreciated that the unit of each example that describes in conjunction with the embodiments described herein and algorithm steps, it is possible to being implemented in combination in of electronic hardware or computer software and electronic hardware。These functions perform with hardware or software mode actually, depend on application-specific and the design constraint of technical scheme。Professional and technical personnel specifically can should be used for using different methods to realize described function to each, but this realization is it is not considered that beyond the scope of this invention。
In embodiment provided by the present invention, it should be understood that disclosed apparatus and method, it is possible to realize by another way。Such as, system embodiment described above is merely schematic, such as, the division of described module or unit, being only a kind of logic function to divide, actual can have other dividing mode when realizing, for instance multiple unit or assembly can in conjunction with or be desirably integrated into another system, or some features can ignore, or do not perform。Another point, shown or discussed coupling each other or direct-coupling or communication connect the INDIRECT COUPLING that can be through some interfaces, device or unit or communication connects, it is possible to be electrical, machinery or other form。
The described unit illustrated as separating component can be or may not be physically separate, and the parts shown as unit can be or may not be physical location, namely may be located at a place, or can also be distributed on multiple NE。Some or all of unit therein can be selected according to the actual needs to realize the purpose of the present embodiment scheme。
It addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it is also possible to be that unit is individually physically present, it is also possible to two or more unit are integrated in a unit。Above-mentioned integrated unit both can adopt the form of hardware to realize, it would however also be possible to employ the form of SFU software functional unit realizes。
If described integrated unit is using the form realization of SFU software functional unit and as independent production marketing or use, it is possible to be stored in a computer read/write memory medium。Based on such understanding, part or all or part of of this technical scheme that prior art is contributed by the technical scheme of the embodiment of the present invention substantially in other words can embody with the form of software product, this computer software product is stored in a storage medium, including some instructions with so that a computer equipment (can be personal computer, server, or the network equipment etc.) or processor (processor) perform all or part of step of method described in each embodiment of the embodiment of the present invention。And aforesaid storage medium includes: USB flash disk, portable hard drive, read only memory (ROM, Read-OnlyMemory), the various media that can store program code such as random access memory (RAM, RandomAccessMemory), magnetic disc or CD。
Embodiment described above only in order to technical scheme to be described, is not intended to limit；Although the present invention being described in detail with reference to previous embodiment, it will be understood by those within the art that: the technical scheme described in foregoing embodiments still can be modified by it, or wherein portion of techniques feature is carried out equivalent replacement；And these amendments or replacement, do not make the essence of appropriate technical solution depart from the spirit and scope of each embodiment technical scheme of the embodiment of the present invention。
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all any amendment, equivalent replacement and improvement etc. made within the spirit and principles in the present invention, should be included within protection scope of the present invention。
Claims (10)
1. the zoom tracking of a video camera, it is characterised in that including:
After correct operation starts, preset coordinate system obtains the focusing information (Z of p0 pointp0, Fp0, FVp0), p0 point is for representing the initial focusing state of video camera, and the transverse axis of described preset coordinate system represents that the movement position of zoom motor, the longitudinal axis represent the movement position of focusing motor, then the focusing information (Z of any point i in described preset coordinate systemi, Fi, FVi) for representing that the movement position at this some place zoom motor is Zi, the movement position of focusing motor is Fi, focusing statistical value is FVi；
At Zp0Upper acquisition distance Fp0The first nearest curve and the second curve, and obtain the 3rd curve based on described first curve and described second curve estimation；
At zoom motor in the process of longest focal length end motion, by estimate obtain respectively with p0 point, p1 point, e0 point that p2 point is corresponding, e1 point, e2 point focusing information, wherein, p1 point and p2 point are followed successively by the zoom motor two focusing state to video camera described in longest focal length end motion process；
It is that p0 point, p1 point, p2 point, e0 point, e1 point, e2 point are modeled by bell shaped curve, adopts method of least square to try to achieve at Zp1The peak of upper FV, estimates the aircraft pursuit course after being corrected；
Focusing motor is driven to move according to the aircraft pursuit course after described correction。
2. the method for claim 1, it is characterised in that described by estimate obtain respectively with p0 point, p1 point, e0 point that p2 point is corresponding, e1 point, e2 point focusing information include:
Obtain the focusing statistical value FV of p0 point, p1 point, p2 point respectivelyp0、FVp1、FVp2；
The focusing information of estimation e1 point, including: the focusing information making e1 point is identical with the focusing information of p1 point；
If maximum zoom step-length is Zmax, Zp0To Zp1Between step-length be designated as Z01, Zp1To Zp2Between step-length be designated as Z12, then FV is calculatede0=FVp1*(1-0.2*Z01/Zmax), FVe2=FVp2*(1+0.2*Z12/Zmax)；
By Fe0It is estimated as described 3rd curve at Zp1On focusing motor movement position, Fe2 is estimated as described first curve at Zp1On focusing motor movement position, thus get the focusing information (Z of e0, e1, e2 these three pointp1, Fe0, FVe0)、(Zp1, Fe1, FVe1)、(Zp1, Fe2, FVe2)。
3. the method for claim 1, it is characterised in that described obtain the 3rd curve based on described first curve and described second curve estimation and include:
According to geometric interpolation, obtain described 3rd curve based on described first curve and described second curve estimation。
4. the method as described in any one of claims 1 to 3, it is characterised in that described method also includes:
The fuzziness of the image that described video camera current shooting arrives is detected by fuzziness Statistical Operator；
When described fuzziness is more than predetermined threshold value, start described correct operation。
5. method as claimed in claim 4, it is characterised in that use the foundation being used for ambiguity evaluation of the low-and high-frequency value of focusing evaluation function。
6. the zoom of a video camera follows the tracks of device, it is characterised in that including:
Acquiring unit, for, after correct operation starts, obtaining the focusing information (Z of p0 point in preset coordinate systemp0, Fp0, FVp0), p0 point is for representing the initial focusing state of video camera, and the transverse axis of described preset coordinate system represents that the movement position of zoom motor, the longitudinal axis represent the movement position of focusing motor, then the focusing information (Z of any point i in described preset coordinate systemi, Fi, FVi) for representing that the movement position at this some place zoom motor is Zi, the movement position of focusing motor is Fi, focusing statistical value is FVi；
First evaluation unit, at Zp0Upper acquisition distance Fp0The first nearest curve and the second curve, and obtain the 3rd curve based on described first curve and described second curve estimation；
Second evaluation unit, for at zoom motor in the process of longest focal length end motion, by estimate obtain respectively with p0 point, p1 point, e0 point that p2 point is corresponding, e1 point, e2 point focusing information, wherein, p1 point and p2 point are followed successively by the zoom motor two focusing state to video camera described in longest focal length end motion process；
3rd evaluation unit, for being that p0 point, p1 point, p2 point, e0 point, e1 point, e2 point are modeled by bell shaped curve, employing method of least square is tried to achieve at Zp1The peak of upper FV, estimates the aircraft pursuit course after being corrected；
Driver element, for driving focusing motor to move according to the aircraft pursuit course after described correction。
7. device as claimed in claim 6, it is characterised in that described second evaluation unit includes:
First subelement, for obtaining the focusing statistical value FV of p0 point, p1 point, p2 point respectivelyp0、FVp1、 FVp2；
Second subelement, for estimating the focusing information of e1 point, including: the focusing information making e1 point is identical with the focusing information of p1 point；
3rd subelement, for setting maximum zoom step-length as Zmax, Zp0To Zp1Between step-length be designated as Z01, Zp1To Zp2Between step-length be designated as Z12, then FV is calculatede0=FVp1*(1-0.2*Z01/Zmax), FVe2=FVp2*(1+0.2*Z12/Zmax)；
4th subelement, for by Fe0It is estimated as described 3rd curve at Zp1On focusing motor movement position, Fe2 is estimated as described first curve at Zp1On focusing motor movement position, thus get the focusing information (Z of e0, e1, e2 these three pointp1, Fe0, FVe0)、(Zp1, Fe1, FVe1)、(Zp1, Fe2, FVe2)。
8. device as claimed in claim 6, it is characterised in that described first estimation subelement specifically for:
According to geometric interpolation, obtain described 3rd curve based on described first curve and described second curve estimation。
9. the device as described in any one of claim 6 to 8, it is characterised in that described device also includes:
Detection unit, for detecting the fuzziness of the image that described video camera current shooting arrives by fuzziness Statistical Operator；
Start unit, for when described fuzziness is more than predetermined threshold value, starting described correct operation。
10. device as claimed in claim 9, it is characterised in that use the foundation being used for ambiguity evaluation of the low-and high-frequency value of focusing evaluation function。
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| CN201610149995.7A CN105704381B (en) | 2016-03-16 | 2016-03-16 | The zoom tracking and device of video camera |
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| CN112135055A (en) * | 2020-09-27 | 2020-12-25 | 苏州科达科技股份有限公司 | Zoom tracking method, device, equipment and storage medium |
| CN114245008A (en) * | 2021-12-07 | 2022-03-25 | 天地伟业技术有限公司 | Focusing method, device, electronic equipment and computer readable storage medium |
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| CN114245008A (en) * | 2021-12-07 | 2022-03-25 | 天地伟业技术有限公司 | Focusing method, device, electronic equipment and computer readable storage medium |
| CN114245008B (en) * | 2021-12-07 | 2024-02-20 | 天地伟业技术有限公司 | Focusing method, focusing device, electronic equipment and computer readable storage medium |
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| CN105704381B (en) | 2019-02-05 |
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