CN106954041A - A kind of tracking and controlling method and system - Google Patents
A kind of tracking and controlling method and system Download PDFInfo
- Publication number
- CN106954041A CN106954041A CN201710133672.3A CN201710133672A CN106954041A CN 106954041 A CN106954041 A CN 106954041A CN 201710133672 A CN201710133672 A CN 201710133672A CN 106954041 A CN106954041 A CN 106954041A
- Authority
- CN
- China
- Prior art keywords
- unit
- information
- described image
- tracking
- concatenation unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000001514 detection method Methods 0.000 claims description 21
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 6
- 241000406668 Loxodonta cyclotis Species 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 3
- 230000000007 visual effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
Classifications
-
- 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
-
- 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
Abstract
The present invention provides a kind of tracking and controlling method and system, and the above method includes：Multiple images collection concatenation unit collection image information；Pass through one or more first three-dimensional coordinates of described image acquisition of information destination object；The area information according to residing for one or more first three-dimensional coordinates, obtains the target three-dimensional coordinate of destination object；The destination object is tracked according to the target three-dimensional coordinate.Said system includes：Multiple images collection concatenation unit, acquiring unit, analysis controlling unit and tracking cell, multiple described image collection concatenation units are connected by the acquiring unit with the analysis controlling unit respectively, and the analysis controlling unit is connected with the tracking cell.The present invention is effectively accurately positioned by setting multiple IMAQ concatenation units for possessing threedimensional locating ability with reference to the image information that each IMAQ concatenation unit is gathered to destination object, is optimized tracking accuracy rate, can be obtained more preferable feature effect.
Description
Technical field
The invention belongs to computer realm, more particularly to a kind of tracking and controlling method and system.
Background technology
In video monitoring, video interactive field, it is necessary to carry out real-time tracking to destination object, current real-time tracking mainly leads to
Following two modes are crossed to realize：
A kind of mode is to target by one or more image collecting devices installed in edges of regions position to be detected
Object is identified.This method in large space due to by image collecting device resolution ratio, the isoparametric limitation of the angle of visual field, applying
When can because in the image that collects destination object show too small and None- identified, therefore can not be realized in larger region to be detected
Effective real-time tracking of destination object.
Another way is that destination object is carried out using in the equally distributed multiple images harvester in region to be detected
Shoot, by way of artificial or intellectual analysis, be only capable of that destination object is identified based on single picture, not to each figure
As the information of harvester carries out comprehensive, therefore to the positioning precision of destination object is low, accuracy rate is poor, destination object is easily caused
Flase drop or missing inspection.
Accordingly, it would be desirable to which a kind of destination object tracking for larger region to be detected solves above-mentioned technical problem.
The content of the invention
The present invention provides a kind of tracking and controlling method and system, to solve the above problems.
On the one hand, the invention provides a kind of tracking and controlling method, comprise the following steps：Multiple images gather concatenation unit
Gather image information；Pass through one or more first three-dimensional coordinates of described image acquisition of information destination object；According to one or
Area information residing for multiple first three-dimensional coordinates, obtains the target three-dimensional coordinate of destination object；It is three-dimensional according to the target
Destination object is tracked described in coordinate pair.
On the other hand, the invention provides a kind of tracking control system, including：Multiple images collection concatenation unit, acquisition
Unit, analysis controlling unit and tracking cell, multiple described image collection concatenation units pass through the acquiring unit and institute respectively
State analysis controlling unit to be connected, the analysis controlling unit is connected with the tracking cell；Multiple images gather concatenation unit, point
Image information Yong Yu not be gathered, and described image information is sent to the acquiring unit；The acquiring unit, for according to institute
State one or more first three-dimensional coordinates of image information acquisition destination object, and by one or more first three-dimensional coordinates
Send to the analysis controlling unit；The analysis controlling unit, for according to one or more first three-dimensional coordinate institutes
Locate area information, obtain the target three-dimensional coordinate of destination object；The tracking cell, for according to the target three-dimensional coordinate pair
The destination object is tracked.
Compared to prior art, the invention provides a kind of tracking and controlling method and system, multiple possess three by setting
The IMAQ concatenation unit of stationkeeping ability is tieed up, and effectively combines the information of each IMAQ concatenation unit collection to destination object
It is accurately positioned, optimizes tracking accuracy rate.In addition, the present invention can also be directed to larger region to be detected of different shapes, lead to
Cross IMAQ concatenation unit being uniformly arranged in region to be detected, realize the reliable area of each IMAQ concatenation unit to compared with
Being completely covered for big region to be detected, so as to more accurately carry out real-time tracking to destination object, reaches more preferable feature
Effect.
Brief description of the drawings
Accompanying drawing described herein is used for providing a further understanding of the present invention, constitutes the part of the application, this hair
Bright schematic description and description is used to explain the present invention, does not constitute inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 show the flow chart of the tracking and controlling method provided according to a preferred embodiment of the present invention；
Fig. 2 show the internal structure signal of the IMAQ concatenation unit provided according to a preferred embodiment of the present invention
Figure；
Fig. 3 show the IMAQ concatenation unit set-up mode structure provided according to a preferred embodiment of the present invention and shown
It is intended to；
Fig. 4 show the structural representation of the tracking control system provided according to a preferred embodiment of the present invention；
The internal structure that Fig. 5 show the IMAQ concatenation unit provided according to another preferred embodiment of the present invention is shown
It is intended to；
Fig. 6 show the reliable area provided according to another preferred embodiment of the present invention in region set-up mode to be detected
Schematic diagram.
Embodiment
Describe the present invention in detail below with reference to accompanying drawing and in conjunction with the embodiments.It should be noted that not conflicting
In the case of, the feature in embodiment and embodiment in the application can be mutually combined.
Fig. 1 show the flow chart of the tracking and controlling method provided according to a preferred embodiment of the present invention.
As shown in figure 1, the tracking and controlling method that presently preferred embodiments of the present invention is provided, including：
Step 101, multiple images collection concatenation unit collection image information；
Step 102, one or more first three-dimensional coordinates of described image acquisition of information destination object are passed through；
Described image collection concatenation unit includes at least two image collecting devices.
Multiple described image collection concatenation units are disposed adjacent.
Multiple described image collection concatenation units, which are disposed adjacent, covers the reliable area of each described image collection concatenation unit
Lid is whole non-overlapping between default region to be detected and each reliable area.
Wherein, reliable area is polygonal region, polygonal region include but is not limited to triangle, square, rectangle,
Rhombus.
Specifically, in a step 101, it is assumed that region to be detected is classroom, can be according to the shapes and sizes in classroom, each
The reliable area form and dimension of IMAQ concatenation unit, is disposed adjacent multiple images collection concatenation unit in classroom, with
The reliable area for making multiple images gather concatenation unit can cover whole classroom, and each IMAQ simultaneously after combining
It is not overlapping between the reliable area of concatenation unit.
In the present embodiment, the mount message of each image collecting device and detection in concatenation unit are gathered according to described image
Area information determines reliable area and detection region in the corresponding detectable region of described image collection concatenation unit.
The mount message includes but is not limited to the installation site of image collecting device in described image collection concatenation unit
Information, the setting angle information of image collecting device.
Wherein, by one or more first three-dimensional coordinates of described image acquisition of information destination object, including：
Obtain the second three-dimensional seat of the destination object respectively in the described image information for identify same destination object
Mark；Concatenation unit is gathered according to second three-dimensional coordinate, the mount message of described image collection concatenation unit, described image
Zone position information determines the first three-dimensional coordinate of the destination object.
Specifically, according to the shapes and sizes situation in classroom, in classroom there is provided IMAQ concatenation unit A, image
Concatenation unit B and IMAQ concatenation unit C is gathered, IMAQ concatenation unit A, IMAQ concatenation unit B and image are adopted
Collection concatenation unit C carries out IMAQ respectively, image information A, image information B and image information C is obtained, respectively to image information
A, image information B and image information C carry out recongnition of objects, installation site, established angle due to IMAQ concatenation unit
Target is not included in the reason for degree and destination object present position, the image information that some IMAQ concatenation units are collected
Object.Assuming that in the present embodiment only have image information A, image information B in there is same destination object, according to image information A,
Image information B obtains the second three-dimensional coordinate a and the second three-dimensional coordinate b of destination object, and according to the second three-dimensional coordinate a, image
Collection concatenation unit A mount message, IMAQ concatenation unit A zone position information carry out space coordinate conversion and obtain mesh
Mark the first three-dimensional coordinate X of object；Equally, according to the second three-dimensional coordinate b, IMAQ concatenation unit B mount message, image
Collection concatenation unit B zone position information carries out the first three-dimensional coordinate Y that space coordinate conversion obtains destination object.
Wherein, zone position information includes the positional information of reliable area and the positional information in detection region.
Step 103, the area information according to residing for one or more first three-dimensional coordinates, obtains the target of destination object
Three-dimensional coordinate；
One IMAQ concatenation unit one detectable region of correspondence；
The detectable region includes reliable area, detection region；
Selection is used as target three-dimensional coordinate positioned at the first three-dimensional coordinate of reliable area；
Wherein, the area information includes reliable area information, detection area information.In the present embodiment, to the one or three
Can be that the first three-dimensional coordinate for obtaining each IMAQ concatenation unit is collected when region is judged residing for dimension coordinate
Afterwards, it is unified to judge region residing for each first three-dimensional coordinate, wherein, the residing region of the first three-dimensional coordinate is probably detectable region
In reliable area, it is also possible to the detection region in detectable region, if the first three-dimensional region is reliable area, it is assumed that
The corresponding IMAQ concatenation unit of the reliable area is A, then the first three-dimensional coordinate obtained using IMAQ concatenation unit A
It is used as target three-dimensional coordinate.
Step 104, the destination object is tracked according to the target three-dimensional coordinate.
In the present embodiment, determine that tracking parameter is believed according to the mount message of the target three-dimensional coordinate and tracks of device
Breath；The destination object is tracked according to the tracking parameter information.
Fig. 2 show the internal structure signal of the IMAQ concatenation unit provided according to a preferred embodiment of the present invention
Figure.
IMAQ concatenation unit includes at least two image collecting devices, except including at least two image collecting devices
Outside, IMAQ concatenation unit may also include Target Identification Unit, for example：Face identification device.In the present embodiment, image is adopted
Collecting concatenation unit includes two image collecting device C, and image collecting device can be positioning shooting machine, fixed for three-dimensional coordinate
Position.When setting inside IMAQ concatenation unit, the visual angle of positioning shooting machine is more than or equal to 90 °, is taken the photograph based on positioning
The detection zone information (including detectability) of camera, when two positioning shooting machines are carried out with pre-determined distance and default setting angle
Set, obtain corresponding region, by carrying out the region to divide the reliable area X for obtaining corresponding detection region Y and rectangle.
Reliable area X shape includes but is not limited to triangle, square, rectangle, rhombus.
Fig. 3 show the IMAQ concatenation unit set-up mode structure provided according to a preferred embodiment of the present invention and shown
It is intended to；
Shooting is tracked to destination object in region to be detected, will be multiple described according to the shape in region to be detected
IMAQ concatenation unit, which is disposed adjacent, makes the reliable area of each IMAQ concatenation unit cover whole default area to be detected
It is non-overlapping between domain and each reliable area.Assuming that region to be detected is rectangle, the corresponding reliable area of IMAQ concatenation unit
Domain is square, square reliable area is covered whole default rectangle by being disposed adjacent for IMAQ concatenation unit
Region to be detected, the set-up mode of corresponding IMAQ concatenation unit includes but is not limited to Fig. 3 a, Fig. 3 b, Fig. 3 c, Fig. 3 d institutes
That shows is disposed adjacent.
Fig. 4 show the structural representation of the tracking control system provided according to presently preferred embodiments of the present invention.According to this
The tracking control system of the embodiment of invention can include：Multiple images collection concatenation unit 401, acquiring unit 402, analysis control
Unit 403 and tracking cell 404 processed；Wherein, multiple described image collection concatenation units 401 pass through the acquiring unit respectively
402 are connected with the analysis controlling unit 403, and the analysis controlling unit 403 is connected with the tracking cell；
Multiple images gather concatenation unit 401, are respectively used to gather image information, and described image information is sent to institute
State acquiring unit 402；
The acquiring unit 402, it is three-dimensional for one or more first according to described image acquisition of information destination object
Coordinate, and one or more first three-dimensional coordinates are sent to the analysis controlling unit 403；
The analysis controlling unit 403, for the area information according to residing for one or more first three-dimensional coordinates, is obtained
Take the target three-dimensional coordinate of destination object；
The tracking cell 404, for being tracked according to the target three-dimensional coordinate to the destination object.
Furthermore, one detectable region of correspondence of IMAQ concatenation unit 401；The detectable region bag
Include reliable area, detection region；
The analysis controlling unit 403, for selecting the first three-dimensional coordinate positioned at reliable area to be sat as target three-dimensional
Mark；
Wherein, the area information includes reliable area information, detection area information.
Furthermore, the acquiring unit 402 includes：Recognize subelement 4021 and Coordinate Conversion subelement 4022；
The identification subelement 4021, for obtaining institute respectively in the described image information for identify same destination object
State the second three-dimensional coordinate of destination object；
The Coordinate Conversion subelement 4022, for according to second three-dimensional coordinate, each IMAQ concatenation unit 401
Mount message, the zone position information of each IMAQ concatenation unit determine the first three-dimensional coordinate of the destination object.
Furthermore, the analysis controlling unit 403, respectively schemes for being gathered according to described image in concatenation unit 401
As the mount message and detection zone information of harvester are in the described image collection corresponding detectable region of concatenation unit 401
Determine reliable area and detection region；
Wherein, the mount message includes the installation site that described image gathers image collecting device in concatenation unit 401
Information, the setting angle information of image collecting device.
Multiple described image collection concatenation units 401 are disposed adjacent.
Multiple described image collection concatenation units 401 are disposed adjacent the reliability for making each described image gather concatenation unit 401
Region overlay is whole non-overlapping between default region to be detected and each reliable area.Described image collection concatenation unit 401 is wrapped
Include at least two image collecting devices.
Acquiring unit can also be integrated in each IMAQ cascade in addition to pointing out to be independently arranged mode with the present embodiment
The first three-dimensional coordinate acquisition is carried out in unit respectively, and the first three-dimensional coordinate of acquisition is sent to analysis controlling unit.
Described image collection concatenation unit includes at least two image collecting devices, mounted described two IMAQs
It is separated by pre-determined distance between device, and the shooting central region line of described two image collecting devices is intersected with default angle, shape
Into the shooting visual field overlapping region of described two image collecting devices, wherein, the reliable area is that the shooting visual field is overlapped
The part in region.
The internal structure that Fig. 5 show the IMAQ concatenation unit provided according to another preferred embodiment of the present invention is shown
It is intended to.IMAQ concatenation unit includes at least two image collecting devices, in addition to comprising at least two image collecting devices,
IMAQ concatenation unit may also include Target Identification Unit, for example：Face identification device.In the present embodiment, IMAQ
Concatenation unit includes two image collecting device C, and image collecting device can be positioning shooting machine, and IMAQ concatenation unit is used
In three-dimensional coordinate positioning.It is separated by pre-determined distance between two image collecting devices to be configured, and two image collecting devices
It is L and N respectively to shoot central region line, and center line L and center line N are intersected with default angle ε, form two image collecting devices
Shooting visual field overlapping region, wherein, reliable area X be shoot visual field overlapping region a part, reliable area X and detection area
Domain Y is two regions in the detectable region of IMAQ concatenation unit respectively.Reliable area can be polygonal region, should
Polygonal region includes but is not limited to rectangle, square, triangle, rhombus.
Fig. 6 show the reliable area provided according to another preferred embodiment of the present invention in region set-up mode to be detected
Schematic diagram；Shooting is tracked to destination object in region to be detected, it is assumed that region to be detected is rhombus, IMAQ cascade
Unit E and the corresponding reliable areas of image concatenation unit F are triangle, are reliable area E and reliable area F respectively, by setting
Putting makes reliable area E and reliable area F cover whole region to be detected.
Compared to prior art, the invention provides a kind of tracking and controlling method and system, multiple possess three by setting
The IMAQ concatenation unit of stationkeeping ability is tieed up, and effectively combines the information of each IMAQ concatenation unit collection to destination object
It is accurately positioned, optimizes tracking accuracy rate.In addition, the present invention can also be directed to larger region to be detected of different shapes, lead to
Cross IMAQ concatenation unit being uniformly arranged in region to be detected, realize the reliable area of each IMAQ concatenation unit to compared with
Being completely covered for big region to be detected, so as to more accurately carry out real-time tracking to destination object, reaches more preferable feature
Effect.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent, improvement etc., should be included within the scope of the present invention.
Claims (15)
1. a kind of tracking and controlling method, it is characterised in that comprise the following steps：
Multiple images collection concatenation unit collection image information；
Pass through one or more first three-dimensional coordinates of described image acquisition of information destination object；
The area information according to residing for one or more first three-dimensional coordinates, obtains the target three-dimensional coordinate of destination object；
The destination object is tracked according to the target three-dimensional coordinate.
2. tracking and controlling method according to claim 1, it is characterised in that
One IMAQ concatenation unit one detectable region of correspondence；
The detectable region includes reliable area, detection region；
Selection is used as target three-dimensional coordinate positioned at the first three-dimensional coordinate of reliable area；
Wherein, the area information includes reliable area information, detection area information.
3. tracking and controlling method according to claim 2, it is characterised in that
The mount message and detection zone information of each image collecting device in concatenation unit are gathered in the figure according to described image
As determining reliable area and detection region in the corresponding detectable region of collection concatenation unit.
4. tracking and controlling method according to claim 3, it is characterised in that the mount message is gathered including described image
The installation site information of image collecting device, the setting angle information of image collecting device in concatenation unit.
5. tracking and controlling method according to claim 2, it is characterised in that multiple described image collection concatenation units are adjacent
Set.
6. tracking and controlling method according to claim 5, it is characterised in that multiple described image collection concatenation units are adjacent
Set the whole default region to be detected of reliable area covering for making each described image collection concatenation unit and each reliable area it
Between it is non-overlapping.
7. tracking and controlling method according to claim 1, it is characterised in that pass through described image acquisition of information destination object
One or more first three-dimensional coordinates, including：
Obtain the second three-dimensional coordinate of the destination object respectively in the described image information for identify same destination object；
According to second three-dimensional coordinate, the mount message of described image collection concatenation unit, described image collection concatenation unit
Zone position information determine the first three-dimensional coordinate of the destination object.
8. tracking and controlling method according to any one of claim 1 to 7, it is characterised in that described image collection cascade
Unit includes at least two image collecting devices.
9. a kind of tracking control system, it is characterised in that including：Multiple images collection concatenation unit, acquiring unit, analysis and Control
Unit and tracking cell；Wherein, multiple described image collection concatenation units are controlled by the acquiring unit with the analysis respectively
Unit processed is connected, and the analysis controlling unit is connected with the tracking cell；
Multiple images gather concatenation unit, are respectively used to gather image information, and described image information is sent to the acquisition
Unit；
The acquiring unit, for one or more first three-dimensional coordinates according to described image acquisition of information destination object, and
One or more first three-dimensional coordinates are sent to the analysis controlling unit；
The analysis controlling unit, for the area information according to residing for one or more first three-dimensional coordinates, obtains target
The target three-dimensional coordinate of object；
The tracking cell, for being tracked according to the target three-dimensional coordinate to the destination object.
10. tracking control system according to claim 9, it is characterised in that
One IMAQ concatenation unit one detectable region of correspondence；
The detectable region includes reliable area, detection region；
The analysis controlling unit, for selecting the first three-dimensional coordinate positioned at reliable area to be used as target three-dimensional coordinate；
Wherein, the area information includes reliable area information, detection area information.
11. tracking control system according to claim 9, it is characterised in that the acquiring unit includes：Recognize subelement
With Coordinate Conversion subelement；
The identification subelement, for obtaining the target pair respectively in the described image information for identify same destination object
The second three-dimensional coordinate of elephant；
The Coordinate Conversion subelement, the installation for gathering concatenation unit according to second three-dimensional coordinate, described image is believed
Breath, the zone position information of described image collection concatenation unit determine the first three-dimensional coordinate of the destination object.
12. tracking control system according to claim 10, it is characterised in that the analysis controlling unit, for basis
The mount message and detection zone information of each image collecting device gather level in described image in described image collection concatenation unit
Reliable area and detection region are determined in the corresponding detectable region of receipts or other documents in duplicate member；
Wherein, the mount message includes the installation site information of image collecting device, figure in described image collection concatenation unit
As the setting angle information of harvester.
13. tracking control system according to claim 10, it is characterised in that multiple described images gather concatenation unit phase
Neighbour is set.
14. tracking control system according to claim 13, it is characterised in that multiple described images gather concatenation unit phase
Neighbour sets the whole default region to be detected of reliable area covering for making each described image collection concatenation unit and each reliable area
Between it is non-overlapping.
15. the tracking control system according to any one of claim 9 to 14, it is characterised in that described image gathers level
Receipts or other documents in duplicate member includes at least two image collecting devices.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710133672.3A CN106954041A (en) | 2017-03-08 | 2017-03-08 | A kind of tracking and controlling method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710133672.3A CN106954041A (en) | 2017-03-08 | 2017-03-08 | A kind of tracking and controlling method and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106954041A true CN106954041A (en) | 2017-07-14 |
Family
ID=59467880
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710133672.3A Pending CN106954041A (en) | 2017-03-08 | 2017-03-08 | A kind of tracking and controlling method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106954041A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111416942A (en) * | 2020-04-27 | 2020-07-14 | 深圳市瑞立视多媒体科技有限公司 | Method, device, equipment and storage medium for limiting camera search range |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102460512A (en) * | 2009-04-17 | 2012-05-16 | 特鲁瓦技术大学 | System and method for locating a target with a network of cameras |
| CN103475858A (en) * | 2013-08-28 | 2013-12-25 | 天津市亚安科技股份有限公司 | Video monitoring system with cradle head three-dimensional preparatory function based on GIS (Geographic Information System) |
| US20140300723A1 (en) * | 2013-04-09 | 2014-10-09 | Sony Corporation | Analysis apparatus, analysis program, and analysis system |
| CN106303409A (en) * | 2016-07-27 | 2017-01-04 | 阔地教育科技有限公司 | A kind of destination object combined tracking method and destination object combine tracking device |
| CN206820882U (en) * | 2017-03-08 | 2017-12-29 | 阔地教育科技有限公司 | A kind of tracking control system |
-
2017
- 2017-03-08 CN CN201710133672.3A patent/CN106954041A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102460512A (en) * | 2009-04-17 | 2012-05-16 | 特鲁瓦技术大学 | System and method for locating a target with a network of cameras |
| US20140300723A1 (en) * | 2013-04-09 | 2014-10-09 | Sony Corporation | Analysis apparatus, analysis program, and analysis system |
| CN103475858A (en) * | 2013-08-28 | 2013-12-25 | 天津市亚安科技股份有限公司 | Video monitoring system with cradle head three-dimensional preparatory function based on GIS (Geographic Information System) |
| CN106303409A (en) * | 2016-07-27 | 2017-01-04 | 阔地教育科技有限公司 | A kind of destination object combined tracking method and destination object combine tracking device |
| CN206820882U (en) * | 2017-03-08 | 2017-12-29 | 阔地教育科技有限公司 | A kind of tracking control system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111416942A (en) * | 2020-04-27 | 2020-07-14 | 深圳市瑞立视多媒体科技有限公司 | Method, device, equipment and storage medium for limiting camera search range |
| CN111416942B (en) * | 2020-04-27 | 2021-06-29 | 深圳市瑞立视多媒体科技有限公司 | Method, device, equipment and storage medium for limiting camera search range |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP2918972B1 (en) | Method and handheld distance measuring device for generating a spatial model | |
| JP5586765B2 (en) | Camera calibration result verification apparatus and method | |
| JP4662514B2 (en) | How to find the coordinates of a mark in a 3D volume data record | |
| US20020175994A1 (en) | Image pickup system | |
| CN105898107B (en) | A kind of target object grasp shoot method and system | |
| CN109977813A (en) | A kind of crusing robot object localization method based on deep learning frame | |
| DE102018113672A1 (en) | Mobile robot and control method for it | |
| CN110458897B (en) | Multi-camera automatic calibration method and system and monitoring method and system | |
| US20210311187A1 (en) | Systems and methods for tagging and linking acoustic images | |
| KR101146119B1 (en) | Method and apparatus for determining positions of robot | |
| CN207115193U (en) | A kind of mobile electronic device for being used to handle the task of mission area | |
| CN103795935B (en) | A kind of camera shooting type multi-target orientation method and device based on image rectification | |
| CN103824298A (en) | Intelligent body visual and three-dimensional positioning method based on double cameras and intelligent body visual and three-dimensional positioning device based on double cameras | |
| KR20170024560A (en) | X-ray image apparatus nad control method for the same | |
| CN109084749B (en) | Method and device for semantic positioning through objects in environment | |
| CN207067803U (en) | A kind of mobile electronic device for being used to handle the task of mission area | |
| JP5079547B2 (en) | Camera calibration apparatus and camera calibration method | |
| CN106303409A (en) | A kind of destination object combined tracking method and destination object combine tracking device | |
| CN104700355A (en) | Generation method, device and system for indoor two-dimension plan | |
| CN109410282A (en) | A kind of detecting and tracking method and apparatus of transfusion pole | |
| CN110134117A (en) | A kind of mobile robot method for relocating, mobile robot and electronic equipment | |
| CN206820882U (en) | A kind of tracking control system | |
| CN106954041A (en) | A kind of tracking and controlling method and system | |
| CN206833252U (en) | A kind of mobile electronic device | |
| EP2831839B1 (en) | Method for automatically operating a monitoring system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170714 |