CN106101534A - Curricula based on color characteristic records the control method from motion tracking photographic head and photographic head - Google Patents
Curricula based on color characteristic records the control method from motion tracking photographic head and photographic head Download PDFInfo
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- CN106101534A CN106101534A CN201610430730.4A CN201610430730A CN106101534A CN 106101534 A CN106101534 A CN 106101534A CN 201610430730 A CN201610430730 A CN 201610430730A CN 106101534 A CN106101534 A CN 106101534A
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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
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
- G06V40/161—Detection; Localisation; Normalisation
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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
- H04N23/10—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from different wavelengths
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- Oral & Maxillofacial Surgery (AREA)
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Abstract
Provide a kind of curricula based on color characteristic and record the control method from motion tracking photographic head and photographic head, the method comprising the steps of one to step 6, use this control method can reduce data processing amount, reduce cost, thus solve the shooting problem in recording the education activities such as Classic Course, while improving shooting quality, reduce person works's amount.The method combining with teaching necessarily has the feature of blackboard, by follow the tracks of camera collection to RGB image be transformed into hsv color territory, again figure being carried out binary conversion treatment and finally obtain black white image, then Filtering Processing orients the position of lecturer, facilitates follow-up tracking to image.Concurrently set the geometric areas A movable determinating area as speaker, carry out computing when exceeding this region and export the error amount of correspondence, the computing of error amount is not the most carried out when being in this region, such judgement calculating process, i.e. meet the needs of track up, decrease operand, accelerate computing response speed.
Description
Technical field
The invention belongs to digital figure process and automation field, particularly relate in a kind of curricula recording process
From motion tracking photographic head and corresponding control method.
Background technology
At present, the educational institution such as university all can record a lot of Video tutorials because teaching needs, share for study and
Exchange is used.In reality recording process, typically use below scheme: scheme one, lecture content PPT and the lecture to lecturer
People separately records；Scheme two, uses photographic head to carry out Artificial Control shooting.The first scheme major defect is to meet lecture
The requirement of person's writing on the blackboard, and first scheme is time mainly lecturer moves, shooting personnel react the most in time and cause clapping
Take the photograph effect bad.
Digital image processing techniques be as the computer technology sixties in 20th century and super large-scale integration (VLSI,
Very Large Scale Integration) development and Emergence and Development and emerging technology neck of constantly growing up
Territory.In order to solve above-mentioned two shortcoming, in conjunction with computer technology and integrated circuit, it is achieved photographic head is automatically controlled and realizes
It is a feasible solution that lecturer follows the tracks of shooting.
Patent " video conference the automatic tracking camera device " (publication number of Shenzhen's Information Technology Co., Ltd's application in nine days
CN203014978U, publication date 2013.06.19) improve in the overall structure of photographic head, but do not provide image and know
The concrete scheme do not followed the tracks of.
The EVI-D31 produced by Sony Corporation is to utilize image matching technology to find and target object from motion tracking photographic head
Place that color is similar with brightness thus be tracked, but image matching technology is computationally intensive, for the requirement of hardware
The high raising that can cause use cost.
Summary of the invention
The present invention solves the problems referred to above, combining with teaching necessarily has the feature of blackboard, it is provided that be a kind of based on color
The curricula of feature records the control method from motion tracking photographic head and photographic head, it is possible to reduces data processing amount, reduce into
This, thus solve the shooting problem in recording the education activities such as Classic Course, while improving shooting quality, reduce personnel
Workload.
Curricula based on color characteristic records the control method from motion tracking photographic head, to the classroom religion collected
After video processes, obtain for controlling the error amount of lecturer position before motion tracking photographic head tracking blackboard, its
It is characterised by, comprises the following steps:
Step one, from from motion tracking camera collection to instructional video extract real-time RGB image and process obtain right
The n-th frame black white image answered, now n=1；
Step 2, is filtered processing the corresponding region identifying the head of lecturer in the picture to black white image；
Step 3, with the central point O in corresponding regionnCentered by, black white image is made geometric areas A, simultaneously
Record OnPoint coordinates is (xn, yn)；
Step 4, makes n=n+1, runs above-mentioned steps one and obtains the central point O of the (n+1)th frame black white image to step 3n+1,
Record On+1Coordinate is (xn+1, yn+1)；
Step 5, it is judged that the central point O of the (n+1)th real-time black white image of framen+1Whether in geometric areas A, when being judged as YES
Time, make n=n+2, operating procedure one；
Step 6, when being judged as NO, the central point O corresponding to n-th framenThe central point O corresponding with the (n+1)th framen+1Seat
Mark does difference and obtains error amount e (Δx, Δy) and be sent to this error amount after motion tracking photographic head carries out position adjustment make n=n
+ 2, operating procedure one, wherein Δx=xn+1-xn, Δy=yn+1-yn。
The curricula based on color characteristic that the present invention provides records the control method from motion tracking photographic head, it is also possible to
Having a feature in that wherein, step one includes following little step:
S1, by extracting the RGB image that obtains according to the threshold transition set as HSV image, for by image in step one
In lecturer and blackboard make a distinction；
S2, HSV image step S1 obtained carries out gray processing, obtains gray level image；
S3, gray level image step S2 obtained carries out binary conversion treatment, obtains black white image.
The curricula based on color characteristic that the present invention provides records the control method from motion tracking photographic head, it is also possible to
Having a feature in that wherein, the threshold value set in step S1 is in the range of 1-255.
The curricula based on color characteristic that the present invention provides records the control method from motion tracking photographic head, it is also possible to
Have a feature in that wherein, any one in generally circular in shape, the square and rectangle of geometric areas A in step 3.
The curricula based on color characteristic that the present invention provides records the control method from motion tracking photographic head, it is also possible to
Having a feature in that wherein, in step 3, the size of geometric areas A is the 1%-5% of black white image size.
The present invention also provides for a kind of curricula based on color characteristic and records from motion tracking photographic head, it is characterised in that
Including:
Photographic head, has picture output interface；
Rotating control station, top connects with photographic head, and bottom has first that control photographic head horizontal direction respectively rotates
Motor and the second motor that control photographic head vertical direction rotates respectively；And
Controller, connects with the first motor and the second motor and picture output interface,
Wherein, controller receives after the next real-time RGB image of picture output interface transmission processes and obtains error amount, and
Obtain control signal after being converted by this error amount to be used for being sent to the first motor and the second motor to drive control photographic head
Position.
The curricula based on color characteristic that the present invention provides is recorded from motion tracking photographic head, it is also possible to have such
Feature: wherein, controller includes graphics processing unit and PID controller, and graphics processing unit connects with picture output interface, uses
After real-time RGB image is processed, obtain error amount, PID controller and graphics processing unit connect, for by error amount
Obtain control signal after converting and be sent to the first motor and the second motor.
Invention effect and effect
The control method from motion tracking photographic head is recorded according to curricula based on color characteristic provided by the present invention,
It is filtered black white image processing and identifies the head of lecturer corresponding region in the picture, i.e. achieve lecturer
The quick identification of head；Concurrently set the geometric areas A movable determinating area as speaker, enter when exceeding this region
Row operation exports the error amount of correspondence, does not the most carry out the computing of error amount, such judgement computing when being in this region
Process, i.e. meets the needs of track up, decreases operand, accelerates computing response speed.
Accompanying drawing explanation
Fig. 1 is that the curricula based on color characteristic of the embodiment of the present invention records the structural representation from motion tracking photographic head
Figure；
Fig. 2 is that the curricula based on color characteristic of the embodiment of the present invention records the control method from motion tracking photographic head
Step schematic diagram；And
Fig. 3 is RGB image lecturer's location recognition process schematic to black white image, and a is the figure of RGB color pattern
Picture, b is the image of hsv color pattern, and c is the image of BW black-white colors pattern.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, real below
Execute example to combine accompanying drawing and the curricula based on color characteristic of the present invention is recorded the control method from motion tracking photographic head and takes the photograph
As the principle steps of head and structure, using effect are specifically addressed.
Embodiment
Fig. 1 is that the curricula based on color characteristic of the present embodiment records the structural representation from motion tracking photographic head.
Have as it is shown in figure 1, curricula based on color characteristic is recorded from motion tracking photographic head 100:
Rotate control station 10 have under up include mounting seat 11, rotating base 12, be arranged on rotating base 12
Frame 13.
Mounting seat 11 is in disk form, for being fixedly connected on the ceiling in classroom.
Rotating base 12, is internally provided with the first motor that horizontal direction rotates.This first motor housing and mounting seat
Fixing connection, output shaft connects with the lower surface of rotating base 12, is used for driving rotating base 12 to rotate at horizontal plane.
Support 13 cross section is " U "-shaped.The bottom of this " u "-shaped and the upper surface of rotating base 12 connect, two vertical arm
Inner space be used for installing photographic head 20, and the second motor that vertical direction rotates is installed in two vertical arm.This is years old
The output shaft of two motors drives the change of the angle of pitch of photographic head 20.
Photographic head 20 has picture output interface 21, and the present embodiment uses the digital camera of rgb color output, peace
It is contained in and can rotate upwardly and downwardly between two vertical arm of support 13.
Controller 30 includes graphics processing unit 31 and PID controller 32.
Graphics processing unit 31 connects with picture output interface 21, is missed after processing real-time RGB image
Difference,
The input interface of PID controller 32 and image procossing list 31 yuan connection, output interface is with the first motor and the second electricity
Machine connects, and PID controller 32 obtains control signal, and is sent to the first motor and the second motor after converting error amount,
And then drive the first motor and the second motor to carry out rotating at horizontal plane and vertical plane and control the position of photographic head, to lecturer
It is tracked shooting.
Fig. 2 is that the curricula based on color characteristic of the embodiment of the present invention records the control method from motion tracking photographic head
Step schematic diagram.
2 control methods to running in above-mentioned controller 30 are described in detail below in conjunction with the accompanying drawings.
As in figure 2 it is shown, in detail below curricula based on color characteristic is recorded the control from motion tracking photographic head
Method is specifically described.
Before operation method, by from the position adjustment of motion tracking photographic head to suitable position so that image suitable
There is teacher lecturer and blackboard in position.
This concrete for S-1 process operates as follows:
S-1-1, from from motion tracking camera collection to instructional video extract real-time n-th frame RGB image, now n=
1, and according to the threshold transition set as HSV image, for the lecturer in image and blackboard are made a distinction；
S-1-2, HSV image step S1-1 obtained carries out gray processing, obtains gray level image；
S-1-3, gray level image step S1-2 obtained carries out binary conversion treatment, obtains n frame black white image.
S-2, is filtered processing the corresponding region identifying the head of lecturer in the picture to black white image；
Fig. 3 is RGB image lecturer's location recognition process schematic to black white image, and a is the figure of RGB color pattern
Picture, b is the image of hsv color pattern, and c is the image of BW black-white colors pattern.
As it is shown on figure 3, above-mentioned S1-S3 and step 2 utilize processing scheme based on color characteristic to carry out lecturer determining
Position.Combining with teaching necessarily has the feature of blackboard, and the color of general blackboard is black or bottle green, the two color and
With teacher lecturer, the color of clothes has bigger contrast.For this by HSV territory color gamut, choose suitable threshold value
Teacher and blackboard can be made a distinction the location realizing teacher's head.
S-3, with the central point O in corresponding regionnCentered by, black white image is made geometric areas A, simultaneously a record
OnPoint coordinates is (xn, yn).The most substantially with the head or facial similar of people while of the image regulation to be tried one's best that geometric areas A selects,
Can select rectangle, square or circular, oval, i.e. convenient judge whether in this geometric areas with analytical geometry,
The most substantially head or face with people is similar, and corresponding amount of calculation is the least.
In order to reduce amount of calculation further, obtaining suitable shooting effect, the size of geometric areas A is black and white simultaneously
The 1%-5% of image area size.
S-4, makes n=n+1, runs above-mentioned steps S-1 and obtains the central point O of the (n+1)th frame black white image to step S-3n+1,
Record On+1Coordinate is (xn+1, yn+1)。
S-5, it is judged that the central point O of the (n+1)th real-time black white image of framen+1Whether in geometric areas A, when being judged as YES,
Make n=n+2, operating procedure S-1.
S-6,
S-6-1, when being judged as NO, the central point O corresponding to n-th framenThe central point O corresponding with the (n+1)th framen+1Seat
Mark does difference and obtains error amount e (Δx, Δy), wherein Δx=xn+1-xn, Δy=yn+1-yn。
S-6-2, and this error amount is sent to after motion tracking photographic head carries out position adjustment make n=n+2, operating procedure
S-1。
When graphics processing unit 31 obtains above-mentioned error amount e (Δx, ΔyAfter), it is transmitted to PID controller 32 and carries out
Obtaining control signal after processing below, this control signal directly acts on the first motor and the second motor is controlled.
Next incremental timestamp equation is utilized to utilize error that motor is controlled.
Note error amount u at current error amount is respectively
Incremental timestamp equation:
Abbreviation can obtain:
Δuk=(Kp+Ki+Kd)ek-(Kp+2Kd)ek-1+Kdek-2
Δuk: controlled quentity controlled variable, it is used as the control signal of actuator
Kp: rate mu-factor
Ki: integration amplification coefficient
Kd: differential amplification coefficient
Ti: the time of integration
Td: derivative time
T: the sampling period
ek,ek-1,ek-2: it is respectively the error amount of current time, previous moment and the error amount in front second moment above-mentioned
Scaling, the integration of PID controller amplifies, differential amplification coefficient and integration, derivative time and sampling period can roots
It is adjusted according to needs.
So above-mentioned photographic head and control method are combined and just can achieve at a closed loop based on color vision
Reason system, thus realize the location to target and tracking.
The effect of embodiment and beneficial effect
The controlling party from motion tracking photographic head is recorded according to the curricula based on color characteristic that the present embodiment is provided
Method, is filtered black white image processing and identifies the head of lecturer corresponding region in the picture, i.e. achieve intercommunication
The quick identification of the person's of drilling head；Concurrently set the geometric areas A movable determinating area as speaker, when exceeding this region
I.e. carry out computing and export the error amount of correspondence, when being in this region, the most do not carry out the computing of error amount, such judgement
Calculating process, i.e. meets the needs of track up, decreases operand, accelerates computing response speed.
Additionally, it is provided that the RGB that has be converted into the process of black-white colors pattern, use existing mature technology, particularly tie
Close the feature necessarily having blackboard in teaching, and the color of general blackboard is black or bottle green, the two color and lecture
With teacher person, the color of clothes has bigger contrast.For this by HSV territory color gamut, choosing suitable threshold value can
Teacher and blackboard make a distinction the location realizing teacher's head, and amount of calculation is little, and process is simple, the most quickly processes.
Further, the image regulation to be tried one's best that geometric areas A selects is the most substantially with head or the face phase of people
Imitative, can select rectangle, square or circular, oval, i.e. convenient judge whether in this geometric areas with analytical geometry
In, the most substantially head or face with people is similar, and corresponding amount of calculation is the least.And in order to reduce amount of calculation further,
Obtaining suitable shooting effect, the size of geometric areas A is the 1%-5% of black white image size, suitable face simultaneously
Long-pending geometric areas can reduce amount of calculation in the case of meeting tracking effect, such that it is able to use the cheapest hardware,
Cost-effective, it is easier to promote.
Claims (7)
1. curricula based on color characteristic records the control method from motion tracking photographic head, to the teaching in classroom collected
After video processes, obtain for controlling the described error amount of lecturer position before motion tracking photographic head tracking blackboard,
It is characterized in that, comprise the following steps:
Step one, from described from motion tracking camera collection to described instructional video extract real-time RGB image processing
To corresponding n-th frame black white image, now n=1；
Step 2, is filtered processing the corresponding district identifying the head of described lecturer in the picture to described black white image
Territory；
Step 3, with the central point O in described corresponding regionnCentered by, described black white image is made geometric areas A, with
Shi Jilu OnPoint coordinates is (xn, yn)；
Step 4, makes n=n+1, runs above-mentioned steps one and obtains the central point O of the (n+1)th frame black white image to step 3n+1, record
On+1Coordinate is (xn+1, yn+1)；
Step 5, it is judged that the central point O of the (n+1)th real-time black white image of framen+1Whether in described geometric areas A, when being judged as YES
Time, make n=n+2, operating procedure one；
Step 6, when being judged as NO, the central point O corresponding to n-th framenThe central point O corresponding with the (n+1)th framen+1Coordinate do
Difference obtains error amount e (Δx, Δy) and be sent to this error amount described after motion tracking photographic head carries out position adjustment, make n=n
+ 2, operating procedure one, wherein Δx=xn+1-xn, Δy=yn+1-yn。
Curricula based on color characteristic the most according to claim 1 records the control method from motion tracking photographic head,
It is characterized in that:
Wherein, step one includes following little step:
S1, by extracting the described RGB image that obtains according to the threshold transition set as HSV image, for by image in step one
In described lecturer and described blackboard make a distinction；
S2, described HSV image step S1 obtained carries out gray processing, obtains gray level image；
S3, described gray level image step S2 obtained carries out binary conversion treatment, obtains black white image.
Curricula based on color characteristic the most according to claim 2 records the control method from motion tracking photographic head,
It is characterized in that:
Wherein, the threshold value set described in step S1 is in the range of 1-255.
Curricula based on color characteristic the most according to claim 1 records the control method from motion tracking photographic head,
It is characterized in that:
Wherein, any one in generally circular in shape, the square and rectangle of geometric areas A described in step 3.
Curricula based on color characteristic the most according to claim 1 records the control method from motion tracking photographic head,
It is characterized in that:
Wherein, the size of geometric areas A described in step 3 is the 1%-5% of described black white image size.
6. a curricula based on color characteristic is recorded from motion tracking photographic head, it is characterised in that including:
Photographic head, has picture output interface；
Rotate control station, top connects with described photographic head, bottom have control respectively described photographic head horizontal direction rotate
First motor and control respectively described photographic head vertical direction rotate the second motor；And
Controller, connects with described first motor and the second motor and described picture output interface,
Wherein, described controller receives after the next real-time RGB image of described picture output interface transmission processes and obtains error
Value, and obtain control signal after being converted by this error amount, this control signal is used for being sent to described first motor and second
Motor drives the position controlling described photographic head.
Curricula based on color characteristic the most according to claim 5 is recorded from motion tracking photographic head, it is characterised in that:
Wherein, described controller includes graphics processing unit and PID controller,
Graphics processing unit connects with described picture output interface, obtains institute after processing described real-time RGB image
State error amount,
Described PID controller and described graphics processing unit connect, and obtain controlling letter after being converted by described error amount
Number and be sent to described first motor and the second motor.
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