CN106973220A - Object method for tracing - Google Patents
Object method for tracing Download PDFInfo
- Publication number
- CN106973220A CN106973220A CN201710102297.6A CN201710102297A CN106973220A CN 106973220 A CN106973220 A CN 106973220A CN 201710102297 A CN201710102297 A CN 201710102297A CN 106973220 A CN106973220 A CN 106973220A
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- Prior art keywords
- tracking
- tracing
- coordinate
- tracking articles
- picture
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Classifications
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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
Abstract
The present invention discloses a kind of object method for tracing, suitable for object tracing system, the system includes image capture unit and bogey, image capture unit includes image acquisition module, processing unit and display, bogey includes control module, drive module and load bearing seat, image capture unit is arranged at load bearing seat, and object method for tracing includes：Set up the line of image capture unit and bogey；First is obtained with image acquisition module and samples picture, and the first sampling picture is shown in display；It is tracking articles to specify the object in the first sampling picture, and obtains object coordinate；Calculate the difference of object coordinate and the coordinates of targets of target location；First control signal is produced according to difference, and the first control signal is sent to bogey；Control module is rotated or mobile load bearing seat according to the first control signal control drive module, makes tracking articles be located at target location.The present invention can carry out object tracking and positioning automatically, effectively solve the problems, such as the auto heterodyne of existing apparatus.
Description
Technical field
The present invention on a kind of object method for tracing, it is espespecially a kind of can automatic tracing object object method for tracing.
Background technology
With continuing to develop for electronic industry, electronic installation such as intelligent mobile phone turns into can not in people's daily life
Or a scarce part.Develop into photograph, record and function of making video recording in addition, mobile phone also only has single call function from the beginning
Intelligent mobile phone.And start gradually to replace the custom taken pictures and photographed using camera and video camera in the past.
But in use, intelligent mobile phone is relatively adapted to grip and shoots and make video recording, if user wants to autodyne, takes pictures
Scope will be limited to everyone arm length, and the quality taken pictures also by everyone operation skill influence and not
Together.If in addition, must be assisted through auxiliary equipment (such as rod of autodyning) if autodyning, because of operating difficulties, operation skill and can also hold
The problems such as holding stability etc. and excellent shooting or photographic quality can not be obtained.And the servicing unit of majority is only capable of extension on the market
The scope of taking pictures (for example extending hand-held distance through auto heterodyne rod) of user, there is no the problem of method solves to shoot quality.
In addition, how the appropriate position being maintained in seasonal target piece (such as face or article) of taking pictures or photograph in picture
Put, be also operational a great problem.
Therefore, how a kind of method that can carry out object tracking and positioning automatically is provided, to solve existing apparatus from
Bat problem, actually industry problem urgently to be resolved hurrily.
The content of the invention
Have mirror in above mentioned problem, the present invention proposes a kind of object method for tracing, it is espespecially a kind of can automatic tracing object thing
Part method for tracing.
The object method for tracing of the present invention, it is adaptable to which an object tracing system, object tracing system includes an image and picked
Device and a bogey are taken, image capture unit includes an image acquisition module, a processing unit and a display, carried
Device includes a control module, drive module and a load bearing seat, and wherein image capture unit is arranged at load bearing seat, and object is followed the trail of
Method includes：Set up the line of image capture unit and bogey；One first, which is obtained, with image acquisition module samples picture,
And the first sampling picture is shown in display；It is a tracking articles to specify the object in the first sampling picture, and obtains one
Object coordinate；Calculate the difference of object coordinate and a coordinates of targets of a target location；One first control letter is produced according to difference
Number, and control signal is sent to bogey；And control module is rotated or mobile according to the first control signal control drive module
Load bearing seat, makes tracking articles be located at target location.
In one embodiment, the object in the first sampling picture is specified for tracking articles and obtains object seat calibration method
For：Object is chosen in the first sampling picture of display, to specify object as tracking articles；Tracking articles is obtained to take in first
The first coordinate in sample picture is object coordinate；And the feature of analysis and recording, tracking object.
In one embodiment, when object tracing system, which is in object more than one, follows the trail of pattern, it can be taken in the first of display
It is tracking articles that sample picture, which chooses multiple objects,；It is thing to calculate a centre coordinate of multiple tracking articles in the first sampling picture
Part coordinate.
In one embodiment, the object in the first sampling picture is specified for tracking articles and obtains object seat calibration method
For：A marquee is shown in display；It is specified in and the object of a preset time is stopped in marquee for tracking articles；Obtain and follow the trail of
First coordinate of the object in the first sampling picture is object coordinate；And the feature of analysis and recording, tracking object.
In one embodiment, the object in the first sampling picture is specified for tracking articles and obtains object seat calibration method
For：One second, which is obtained, with image acquisition module samples picture；Compare the first sampling picture and the second sampling picture, when a wherein thing
When part produces displacement, the object of designated displacement is tracking articles；Tracking articles is obtained in one second object of the second sampling picture
Coordinate is object coordinate；And the feature of analysis and recording, tracking object.
In one embodiment, when multiple objects produce displacement, it is tracking articles to specify the object with maximum area.
In one embodiment, also comprising carrying out the following steps with a predetermined period：One the 3rd is obtained with image acquisition module
Sample picture；Tracking articles is obtained in one the 3rd object coordinate of the 3rd sampling picture；Calculate the 3rd object coordinate and target position
The difference for the coordinates of targets put；One second control signal is produced according to difference, and the second control signal is sent to bogey；
And control module is rotated or mobile load bearing seat according to the second control signal control drive module, makes tracking articles be located at target location.
In one embodiment, target location is located at the central point of display, or is set by a user.
In one embodiment, the line of image capture unit and bogey is a wired line or a radio connecting.
In one embodiment, the feature of tracking articles includes shape, color, size and characteristic point.
Based on above-mentioned, of the invention object method for tracing, object tracking and positioning can be carried out automatically, existing dress is effectively solved
The auto heterodyne problem put.
Brief description of the drawings
Fig. 1 is the schematic diagram of the embodiment of object tracing system one of the present invention.
Fig. 2 is the flow chart of the embodiment of object method for tracing one of the present invention.
Fig. 3 is the flow chart of another embodiment of object track method of the present invention.
Fig. 4 is the schematic diagram of the specified embodiment of tracking articles one of the present invention.
Fig. 5 is the schematic diagram of another embodiment of the specified tracking articles of the present invention.
Fig. 6 is the schematic diagram of the another embodiment of the specified tracking articles of the present invention.
Embodiment
Describe the embodiment of the present invention in detail below in conjunction with accompanying drawing.Identical symbology has identical or class
Like the component or device of function.It is electrically connected with or electrical connection represents direct or indirect electric connection.
Fig. 1, Fig. 2 and Fig. 4 are referred to, is respectively schematic diagram, the object tracking of the embodiment of object tracing system one of the present invention
The flow chart of the embodiment of method one and the schematic diagram of the embodiment of specified tracking articles one.As illustrated, the object of the present invention is followed the trail of
Method is applied to an object tracing system 10, and wherein object tracing system 10 includes an image capture unit 12 and a carrying dress
Put 16.Image capture unit 12 includes an image acquisition module 121, a processing unit 123 and a display 125.Wherein, shadow
As acquisition module 121 is used to pick-up image or picture, operation, progress of the processing unit 123 to control image capture unit 12
Image processing or computing, application is performed, control signal is produced or sets up line with external device (ED) (such as bogey 16),
Display 125 is then to show the image produced by image, picture or processing unit 123 that image acquisition module 121 is captured.
Bogey 16 includes a control module 165, a drive module 163 and a load bearing seat 161.Wherein, load bearing seat 161 is to hold
Carry image capture unit 12.Drive module 163 is to drive load bearing seat 161 to rotate or mobile.Control module 165 is then to control
The operation of bogey 16 and external device (ED) (such as image capture unit 12) set up line or receive the control letter of external device (ED)
Number.
The object method for tracing of the present invention makes image capture unit 12 set up line, such as step with bogey 16 first
201.Wherein, the line between image capture unit 12 and bogey 16 can be wired line or radio connecting.Wired line can
For USB lines, serial port line, I2C lines, I2S lines, message line or other wired lines.Radio connecting can be then nothing
Gauze road (Wi-Fi) line, radiofrequency signal line, blue tooth connection, NFC lines, ZigBee lines or other radio connectings.
After the completion of line is set up, obtain one first with the image acquisition module in image capture unit 12 and sample picture 42,
And the first sampling picture 42 is shown in display 125.Then specify an object 421 to follow the trail of thing in the first sampling picture 42
Part, and obtain object coordinate of the tracking articles in the first sampling picture 42, such as step 203 and step 205.Wherein, object is worked as
421 in the first sampling picture 42 when having a particular range, and the coordinate that can use object 421 central point is object coordinate.
In one embodiment of this invention, a target location can be set in picture or in display 125.In general,
The central point of predeterminable picture or display 125 is default target location 46, also can be by user in picture or display 125
In one position of any setting be used as target location 46.After the completion of target location 46 is set, its coordinates of targets can be equally obtained.
The object method for tracing of the present invention calculates object coordinate and target using the processing unit 123 of image capture unit 12
The difference of coordinate, and one first control signal is produced according to its difference, then by the first control signal via image capture unit 12
Line between bogey 16 is sent to bogey 16, such as step 207 and step 209.Bogey 16 receives first
After control signal, acted by control module 165 according to the first control signal control drive module 163, to drive load bearing seat 161
Rotate or mobile.Via rotation or mobile load bearing seat 161, the image capture unit 12 being fixed on load bearing seat 161 can be made to rotate
Or it is mobile, and then change angle or the position of the pick-up image of image acquisition module 121, finally make tracking articles be located at target position
Put, such as step 211.
In one embodiment of this invention, an object 421 is specified to be tracking articles and included the step of obtaining object coordinate
Have：An object 421 is chosen in the first sampling picture 42 shown by display 125, is tracking articles to specify object 421；
Obtain first coordinate of the tracking articles in the first sampling picture 42 and be used as object coordinate；And the spy of analysis and recording, tracking object
Levy, be used as the foundation for subsequently following the trail of this tracking articles.
Wherein, the mode that object 421 is tracking articles is chosen, the vernier 44 in moveable display 125 to object 421
On, then click on input.Or, can be directly in clicking object on display 125 when display 125 is touch control display
421, you can complete to choose the action of object 421.
In one embodiment of this invention, can be in display when object tracing system 10, which is in many objects, follows the trail of pattern
The first sampling picture 42 in 125 chooses multiple objects as tracking articles.Now, multiple tracking articles can be calculated to take first
Center in sample picture 42, and it is that object coordinate is tracked to obtain the centre coordinate of its center.
Referring to Fig. 5, being the schematic diagram of another embodiment of the specified tracking articles of the present invention.In one embodiment of the invention
In, specify an object 521 to be tracking articles and include the step of obtaining object coordinate：Display one is chosen in display 125
Frame 54；Then rotate or movable image capture device 12 makes the object 521 to be followed the trail of in the first sampling picture 42 be located at marquee
In 54, and stop a preset time, you can complete the selection of object 521, be tracking articles to specify object 521；Obtain and follow the trail of
First coordinate of the object in the first sampling picture 42 is used as object coordinate；And the feature of analysis and recording, tracking object, as
Subsequently follow the trail of the foundation of this tracking articles.
In one embodiment of this invention, the object 521 to be followed the trail of also is may move, makes the object in the first sampling picture 42
521 are located in marquee 54, and stop a preset time, to complete the selection of object 521.It is pre- in one embodiment of this invention
If the time can be 2-5 seconds, or be set according to the demand of user.In one embodiment of this invention, target location 56 can
The optional position of display 125 is set in by user.
Using the method for the present embodiment, then user need not operate image capture unit 12, you can complete tracking articles
Setting.
Referring to Fig. 6, being the schematic diagram of the another embodiment of the specified tracking articles of the present invention.In one embodiment of the invention
In, specify an object 621 to be tracking articles and include the step of obtaining object coordinate：Picked with the image of image capture unit 12
Modulus block 121 obtains one second sampling picture 62 again；Compare the first sampling picture 42 and the second sampling picture 62, when a wherein thing
When part 621 produces displacement, that is, specify and produce the object 621 of displacement for tracking articles；Obtain tracking articles and sample picture second
The second coordinate in 62 is used as object coordinate；And the feature of analysis and recording, tracking object, as subsequently following the trail of this tracking articles
Foundation.
In one embodiment of this invention, there are multiple objects when comparing the first sampling picture 42 and the second sampling picture 62
When producing displacement, then it is tracking articles to specify the object with maximum area in the object for producing displacement.Utilize the present embodiment
Method, user also need not operate image capture unit 12 to complete the setting of tracking articles.
Referring to Fig. 3, be the flow chart of another embodiment of the present invention, and please refer to Fig. 1 and Fig. 2.As illustrated, this
The object method for tracing of invention still carries out the following steps in completing after the flow shown in Fig. 2 with a predetermined period：Picked with image
Take the image acquisition module 121 of device 12 to obtain one the 3rd and sample picture, analyze and obtain tracking articles in the 3rd sampling picture
In the 3rd object coordinate, such as step 301 and step 303.When the 3rd object coordinate is different from the coordinates of targets of target location,
The difference of the 3rd object coordinate and coordinates of targets is calculated, and one second control signal is produced according to difference, then by the second control
Line of the signal between image capture unit 12 and bogey 16 is sent to bogey, such as step 305 and step
307.Bogey 16 is received after the second control signal, and control module 165 controls drive module 163 to enter according to the second control signal
Action is made, to drive load bearing seat 161 to rotate or move.Via rotation or mobile load bearing seat 161, it can make and be fixed on load bearing seat 161
On image capture unit 12 rotate or mobile, and then change angle or the position of the pick-up image of image acquisition module 121, finally
Tracking articles is made to be located at target location, such as step 309.
Abovementioned steps 301 are performed to step 309 by periodicity, you can persistently tracking articles is tracked, order is followed the trail of
Object is located at target location.
In one embodiment of this invention, the feature of analysis and recording, tracking object, can include shape, the color of object
The feature such as color, size and characteristic point.Compared, preferably object can be tracked using the feature interaction of object.Wherein, feature
Point may be selected to be Harris (Harris) Corner Feature, Scale invariant features transform (scale invariant feature
Transform, SIFT) feature, binary robust independent elementary features (BRIEF) feature
One of or oriented fast and rotated BRIEF (ORB) feature.
In one embodiment of this invention, image capture unit 12 can be a camera, an intelligent mobile phone or flat board electricity
Brain.
Described above is only the preferred embodiment of the present invention.The scope of the present invention is not limited with above-mentioned embodiment.
Equivalent modification or change that those skilled in the art's spirit under this invention is made, should all be included in claim.
Claims (10)
1. object method for tracing, it is adaptable to which an object tracing system, the object tracing system includes an image capture unit
And a bogey, the image capture unit includes an image acquisition module, a processing unit and a display, described to hold
Carry to put and include a control module, drive module and a load bearing seat, wherein the image capture unit is arranged at the carrying
Seat, it is characterised in that the object method for tracing includes：
Set up the line of the image capture unit and the bogey；
One first is obtained with the image acquisition module and samples picture, and the described first sampling picture is shown in the display
Device；
It is a tracking articles to specify the object in the first sampling picture, and obtains an object coordinate；
Calculate the difference of the object coordinate and a coordinates of targets of a target location；
One first control signal is produced according to the difference, and first control signal is sent to the bogey；And
The control module is rotated or the mobile load bearing seat according to first control signal control drive module, makes the tracking
Object is located at the target location.
2. object method for tracing according to claim 1, it is characterised in that described to specify in the first sampling picture
The object is the tracking articles and obtains the object seat calibration method：
The object is chosen in the first sampling picture of the display, to specify the object as the tracking thing
Part；
It is the object coordinate to obtain first coordinate of the tracking articles in the described first sampling picture；And
Analyze and record the feature of the tracking articles.
3. object method for tracing according to claim 2, it is characterised in that when the object tracing system is in thing more than one
When part follows the trail of pattern, it is tracking articles that can choose multiple objects in the first sampling picture of the display；Calculate described
A centre coordinate of multiple tracking articles in the described first sampling picture is the object coordinate.
4. object method for tracing according to claim 1, it is characterised in that described to specify in the first sampling picture
The object is the tracking articles and obtains the object seat calibration method：
A marquee is shown in the display；
It is specified in and the object of a preset time is stopped in the marquee for the tracking articles；
It is the object coordinate to obtain first coordinate of the tracking articles in the described first sampling picture；And
Analyze and record the feature of the tracking articles.
5. object method for tracing according to claim 1, it is characterised in that described to specify in the first sampling picture
The object is the tracking articles and obtains the object seat calibration method：
One second, which is obtained, with the image acquisition module samples picture；
Compare the first sampling picture and the second sampling picture, when a wherein object produces displacement, specify institute's rheme
The object of shifting is the tracking articles；
The one second object coordinate that the tracking articles is obtained in the described second sampling picture is the object coordinate；And
Analyze and record the feature of the tracking articles.
6. object method for tracing according to claim 5, it is characterised in that when multiple objects produce displacement, specify production
The object in the object of raw displacement with maximum area is the tracking articles.
7. object method for tracing according to claim 1, it is characterised in that also comprising with the following step of predetermined period progress
Suddenly：
One the 3rd, which is obtained, with the image acquisition module samples picture；
The tracking articles is obtained in one the 3rd object coordinate of the described 3rd sampling picture；
Calculate the difference of the 3rd object coordinate and the coordinates of targets of the target location；
One second control signal is produced according to the difference, and second control signal is sent to the bogey；And
The control module is rotated or the mobile load bearing seat according to second control signal control drive module, makes the tracking
Object is located at the target location.
8. object method for tracing according to claim 1, it is characterised in that the target location is located at the center of display
Point, or set by a user.
9. object method for tracing according to claim 1, it is characterised in that the image capture unit is filled with the carrying
The line put is a wired line or a radio connecting.
10. the object method for tracing according to claim 2,4 or 5, it is characterised in that the feature of the tracking articles is included
There are shape, color, size and characteristic point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710102297.6A CN106973220A (en) | 2017-02-24 | 2017-02-24 | Object method for tracing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710102297.6A CN106973220A (en) | 2017-02-24 | 2017-02-24 | Object method for tracing |
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| Publication Number | Publication Date |
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| CN106973220A true CN106973220A (en) | 2017-07-21 |
Family
ID=59328632
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710102297.6A Pending CN106973220A (en) | 2017-02-24 | 2017-02-24 | Object method for tracing |
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| CN109544594A (en) * | 2017-09-22 | 2019-03-29 | 财团法人资讯工业策进会 | Target tracking method and system under multiple nonlinear distorted lenses |
| CN110390365A (en) * | 2018-04-16 | 2019-10-29 | 台达电子工业股份有限公司 | Carrier tracing system and method |
| CN110443825A (en) * | 2018-05-03 | 2019-11-12 | 香港商女娲创造股份有限公司 | Visual pursuit and human-computer interaction system and follow system |
| CN111050100A (en) * | 2018-10-12 | 2020-04-21 | 黑快马股份有限公司 | Automatic video recording and follow-up system and automatic video recording and follow-up method |
| CN111050059A (en) * | 2018-10-12 | 2020-04-21 | 黑快马股份有限公司 | Follow shooting system with picture stabilizing function and follow shooting method with picture stabilizing function |
| CN113079342A (en) * | 2020-01-03 | 2021-07-06 | 深圳市春盛海科技有限公司 | Target tracking method and system based on high-resolution image device |
| CN113973145A (en) * | 2020-07-22 | 2022-01-25 | 黄仲贤 | Programmable automatic photographic system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109544594A (en) * | 2017-09-22 | 2019-03-29 | 财团法人资讯工业策进会 | Target tracking method and system under multiple nonlinear distorted lenses |
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| CN113973145A (en) * | 2020-07-22 | 2022-01-25 | 黄仲贤 | Programmable automatic photographic system |
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