CN107292906A - A kind of method for tracking target, storage device and target tracker - Google Patents
A kind of method for tracking target, storage device and target tracker Download PDFInfo
- Publication number
- CN107292906A CN107292906A CN201710685138.3A CN201710685138A CN107292906A CN 107292906 A CN107292906 A CN 107292906A CN 201710685138 A CN201710685138 A CN 201710685138A CN 107292906 A CN107292906 A CN 107292906A
- Authority
- CN
- China
- Prior art keywords
- video camera
- monopod video
- moving target
- coordinate system
- target
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 20
- 239000011159 matrix material Substances 0.000 claims abstract description 29
- 239000013558 reference substance Substances 0.000 claims description 15
- 238000006073 displacement reaction Methods 0.000 claims description 12
- 230000004807 localization Effects 0.000 abstract description 4
- 239000013256 coordination polymer Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000001914 filtration 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
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
Landscapes
- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Multimedia (AREA)
- Studio Devices (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Image Analysis (AREA)
Abstract
The invention provides a kind of method for tracking target, storage device and target tracker, method for tracking target includes：By binocular camera, the first three-dimensional coordinate D of moving target is obtained；According to the second three-dimensional coordinate F and the first three-dimensional coordinate D of the spin matrix R, the moving target of the relative world coordinate system of monopod video camera in world coordinate system, position coordinates Pc of the moving target in the monopod video camera is obtained；According to the position coordinates Pc, the monopod video camera is controlled to be tracked the moving target.In above-mentioned technical proposal, pass through second three-dimensional coordinate and first three-dimensional coordinate of the spin matrix, the moving target of the relative world coordinate system of monopod video camera in world coordinate system, obtain position coordinates of the moving target in the monopod video camera, the three-dimensional accurate track and localization to moving target is realized, the teaching efficiency in wisdom classroom is greatly improved.
Description
Technical field
The invention belongs to target tracking domain, more particularly to a kind of method for tracking target, storage device and target following dress
Put.
Background technology
At present, in wisdom classroom field, especially in wisdom classroom, when being tracked to moving target, using following
Two schemes：
1st, the video camera bound using positioning head and follower head is tracked to moving target；
2nd, positioning head and follower head are separated, wherein, the positioning head is used to position moving target, the tracking
Head is used for the feedback result according to positioning head, and shooting is tracked to moving target.
But, the common issue that above two scheme is present is only to carry out two-dimensional tracking shooting to moving target, no
The three-dimensional accurate track and localization to moving target can be realized, the teaching efficiency in wisdom classroom has been had a strong impact on.
Therefore, above-mentioned technical problem is solved in the urgent need to providing a kind of target following scheme.
The content of the invention
The present invention provides a kind of method for tracking target, storage device and target tracker, to solve the above problems.
The embodiment of the invention discloses a kind of method for tracking target, comprise the following steps：By binocular camera, fortune is obtained
Dynamic mesh
The first three-dimensional coordinate of target D；
According to the spin matrix R of the relative world coordinate system of monopod video camera, the moving target in world coordinate system
Second three-dimensional coordinate F and the first three-dimensional coordinate D, obtains position coordinates of the moving target in the monopod video camera
Pc；
According to the position coordinates Pc, the monopod video camera is controlled to be tracked the moving target.
The invention also discloses a kind of storage device, wherein a plurality of instruction that is stored with, the instruction is suitable to be added by processor
Carry and perform, including：
By binocular camera, the first three-dimensional coordinate D of moving target is obtained；
According to the spin matrix R of the relative world coordinate system of monopod video camera, the moving target in world coordinate system
Second three-dimensional coordinate F and the first three-dimensional coordinate D, obtains position coordinates of the moving target in the monopod video camera
Pc；
According to the position coordinates Pc, the monopod video camera is controlled to be tracked the moving target.
The embodiment of the invention also discloses a kind of target tracker, including：Processor, is adapted for carrying out each instruction；
Storage device, suitable for storing a plurality of instruction, the instruction is suitable to be loaded and performed by the processor；
By binocular camera, the first three-dimensional coordinate D of moving target is obtained；
According to the spin matrix R of the relative world coordinate system of monopod video camera, the moving target in world coordinate system
Second three-dimensional coordinate F and the first three-dimensional coordinate D, obtains position coordinates of the moving target in the monopod video camera
Pc；
According to the position coordinates Pc, the monopod video camera is controlled to be tracked the moving target.
The embodiment of the present invention provides following technical scheme：By binocular camera, the first three-dimensional seat of moving target is obtained
Mark D；According to monopod video camera with respect to world coordinate system spin matrix R, the moving target in world coordinate system second
Three-dimensional coordinate F and the first three-dimensional coordinate D, obtains position coordinates Pc of the moving target in the monopod video camera；
According to the position coordinates Pc, the monopod video camera is controlled to be tracked the moving target.
In above-mentioned technical proposal, spin matrix, the moving target by monopod video camera with respect to world coordinate system exist
The second three-dimensional coordinate and first three-dimensional coordinate in world coordinate system, obtain the moving target in the monopod video camera
In position coordinates, realize the three-dimensional accurate track and localization to moving target, greatly improve wisdom classroom teaching effect
Really.
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 for the method for tracking target that a preferred embodiment according to embodiments of the present invention is provided；
Fig. 2 show the block diagram for the target tracker that a preferred embodiment according to embodiments of the present invention is provided.
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 method for tracking target provided according to a preferred embodiment of the present invention, including following
Step：
Step 101：By binocular camera, the first three-dimensional coordinate D of moving target is obtained；
Further, the binocular camera is made up of at least two analyzing and positioning video cameras.
Step 102：:Spin matrix R, the moving target according to monopod video camera with respect to world coordinate system are sat in the world
The second three-dimensional coordinate F and the first three-dimensional coordinate D in mark system, obtain the moving target in the monopod video camera
Position coordinates Pc；
Further, the monopod video camera is with respect to the spin matrix R of world coordinate system acquisition process：
Obtain depression angle, horizontal-shift angle, the anglec of rotation of the monopod video camera with respect to world coordinate system；
According to the depression angle, the horizontal-shift angle, the anglec of rotation, obtain the monopod video camera and sat with respect to the world
Mark the spin matrix R of system.
Further, the depression angle ψ=((T1-T0)/lammdaT, the horizontal-shift angle θ=((P1-P0)/
LammdaP, the anglec of rotationWherein, the lammdaP represents that the monopod video camera level turns correspondence at 1 degree
Displacement, the lammdaT represent above and below the monopod video camera turn 1 degree when corresponding displacement；
Obtain the corresponding absolute coordinate of monopod video camera origin position：(P0, T0, Z0)；The monopod video camera is controlled to draw
The picture that face center is pointed on reference substance in corresponding symmetric points, and the monopod video camera is parallel with the reference substance, record
The absolute coordinate of the monopod video camera now：(P1, T1, Z0)；
Hung by reference to the symmetric points on thing and described hang down is calibrated in the picture in a vertical line, the monopod video camera
Line, and then
Obtain slope k of the vertical line in picture.
Further,
The R=Rz*Rx*Ry；
Specifically：
Monopod video camera, analyzing and positioning video camera and world coordinate system are demarcated in advance.
It is reference substance to be pre-selected and install the relative metope of metope with head.
Inquiry records the corresponding absolute coordinate of head origin position after installing：(P0, T0, Z0)；
The monopod video camera picture center is controlled to point on reference substance in corresponding symmetric points, and the monopod video camera
Picture it is parallel with the reference substance, the absolute coordinate of the record monopod video camera now：(P1, T1, Z0)；
Measure monopod video camera head and turn 1 degree of lower PTZ size, record the horizontal leftmost position PL of monopod video camera head, and it is most right
Position PR, and now monopod video camera has turned angle CP, lammdaP=(PR-Pl)/CP altogether；
Record monopod video camera head and overlook extreme lower position TD, and title uppermost position in fig-ure TU, and now monopod video camera one
The angle CT, lammdaT=(TU-TD)/CT. turned altogether fact proved, generally lammdaT=lammdaP.
Monopod video camera with respect to world coordinate system depression angle ψ=((T1-T0)/lammdaT) and horizontal-shift angle θ=
((P1-P0)/lammdaP)。
A plumb line for crossing monopod video camera symmetric points is hung on reference to metope, is calibrated in monopod video camera picture
This plumb line, measures line segment slope k in picture, rotation of the monopod video camera relative to world coordinate systemAngle=atan
(k)。
Spin matrix R, Pc=R (P0-T) that accordingly can be by monopod video camera with respect to world coordinate system, calculate motion mesh
It is marked on the position coordinates Pc of monopod video camera coordinate system.Wherein P0 is 3D coordinate of the moving target in world coordinate system, and T is double
Lens camera is relative to the 3D coordinates of world coordinate system, and R=Rz*Rx*Ry (YXZ rotational orders) is rotation translation matrix.
The R=Rz*Rx*Ry；
Step 103：According to the position coordinates Pc, the monopod video camera is controlled to be tracked the moving target.
Further, the Pc=R (F-D).
It can know from above-described embodiment：
Monopod video camera is associated with world coordinate system, while binocular camera can also be associated with world coordinate system.At the beginning of system
Beginning positions moving target interested using binocular camera, can be measured using binocular camera after moving target is detected
Go out 3D coordinate of the moving target in world coordinate system, after coarse positioning according to monopod video camera relative to world coordinate system rotation
Matrix, coordinate of the moving target in world coordinate system obtains position coordinates of the moving target in the monopod video camera, root
According to the position coordinates, control monopod video camera is tracked to the moving target.Can also by using Face datection and
Identification technology, tracking is modeled with Interactive Multiple-Model (Kalman filtering) to target 3D positions.
The embodiment of the present invention additionally provides a kind of storage device, wherein a plurality of instruction that is stored with, the instruction be suitable to by
Reason device is loaded and performed, including：
By binocular camera, the first three-dimensional coordinate D of moving target is obtained；
According to the spin matrix R of the relative world coordinate system of monopod video camera, the moving target in world coordinate system
Second three-dimensional coordinate F and the first three-dimensional coordinate D, obtains position coordinates of the moving target in the monopod video camera
Pc；
According to the position coordinates Pc, the monopod video camera is controlled to be tracked the moving target.
Further, the Pc=R (F-D).
Further, the monopod video camera is with respect to the spin matrix R of world coordinate system acquisition process：
Obtain depression angle, horizontal-shift angle, the anglec of rotation of the monopod video camera with respect to world coordinate system；
According to the depression angle, the horizontal-shift angle, the anglec of rotation, obtain the monopod video camera and sat with respect to the world
Mark the spin matrix R of system.
Further, the depression angle ψ=((T1-T0)/lammdaT, the horizontal-shift angle θ=((P1-P0)/
LammdaP, the anglec of rotationWherein, the lammdaP represents that the monopod video camera level turns correspondence at 1 degree
Displacement, the lammdaT represent above and below the monopod video camera turn 1 degree when corresponding displacement；
Obtain the corresponding absolute coordinate of monopod video camera origin position：(P0, T0, Z0)；The monopod video camera is controlled to draw
The picture that face center is pointed on reference substance in corresponding symmetric points, and the monopod video camera is parallel with the reference substance, record
The absolute coordinate of the monopod video camera now：(P1, T1, Z0)；
Hung by reference to the symmetric points on thing and described hang down is calibrated in the picture in a vertical line, the monopod video camera
Line, and then obtain slope k of the vertical line in picture.
Further,
The R=Rz*Rx*Ry；
Fig. 2 show the block diagram for the target tracker that a preferred embodiment according to embodiments of the present invention is provided, including：
Processor, is adapted for carrying out each instruction；
Storage device, suitable for storing a plurality of instruction, the instruction is suitable to be loaded and performed by the processor；
By binocular camera, the first three-dimensional coordinate D of moving target is obtained；
According to the spin matrix R of the relative world coordinate system of monopod video camera, the moving target in world coordinate system
Second three-dimensional coordinate F and the first three-dimensional coordinate D, obtains position coordinates of the moving target in the monopod video camera
Pc；
According to the position coordinates Pc, the monopod video camera is controlled to be tracked the moving target.
Further, the Pc=R (F-D).
Further, the monopod video camera is with respect to the spin matrix R of world coordinate system acquisition process：
Obtain depression angle, horizontal-shift angle, the anglec of rotation of the monopod video camera with respect to world coordinate system；
According to the depression angle, the horizontal-shift angle, the anglec of rotation, obtain the monopod video camera and sat with respect to the world
Mark the spin matrix R of system.
Further, the depression angle ψ=((T1-T0)/lammdaT, the horizontal-shift angle θ=((P1-P0)/
LammdaP, the anglec of rotationWherein, the lammdaP represents that the monopod video camera level turns correspondence at 1 degree
Displacement, the lammdaT represent above and below the monopod video camera turn 1 degree when corresponding displacement；
Obtain the corresponding absolute coordinate of monopod video camera origin position：(P0, T0, Z0)；The monopod video camera is controlled to draw
The picture that face center is pointed on reference substance in corresponding symmetric points, and the monopod video camera is parallel with the reference substance, record
The absolute coordinate of the monopod video camera now：(P1, T1, Z0)；
Hung by reference to the symmetric points on thing and described hang down is calibrated in the picture in a vertical line, the monopod video camera
Line, and then obtain slope k of the vertical line in picture.
Further,
The R=Rz*Rx*Ry；
The embodiment of the present invention provides following technical scheme：By binocular camera, the first three-dimensional seat of moving target is obtained
Mark D；According to monopod video camera with respect to world coordinate system spin matrix R, the moving target in world coordinate system second
Three-dimensional coordinate F and the first three-dimensional coordinate D, obtains position coordinates Pc of the moving target in the monopod video camera；
According to the position coordinates Pc, the monopod video camera is controlled to be tracked the moving target.
In above-mentioned technical proposal, spin matrix, the moving target by monopod video camera with respect to world coordinate system exist
The second three-dimensional coordinate and first three-dimensional coordinate in world coordinate system, obtain the moving target in the monopod video camera
In position coordinates, realize the three-dimensional accurate track and localization to moving target, greatly improve wisdom classroom teaching effect
Really.
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 substitution, improvement etc., should be included in the scope of the protection.
Claims (15)
1. a kind of method for tracking target, it is characterised in that comprise the following steps：
By binocular camera, the first three-dimensional coordinate D of moving target is obtained；
According to monopod video camera with respect to world coordinate system spin matrix R, the moving target in world coordinate system second
Three-dimensional coordinate F and the first three-dimensional coordinate D, obtains position coordinates Pc of the moving target in the monopod video camera；
According to the position coordinates Pc, the monopod video camera is controlled to be tracked the moving target.
2. method for tracking target according to claim 1, it is characterised in that the Pc=R (F-D).
3. method for tracking target according to claim 1, it is characterised in that the monopod video camera is with respect to world coordinate system
Spin matrix R acquisition process be：
Obtain depression angle, horizontal-shift angle, the anglec of rotation of the monopod video camera with respect to world coordinate system；
According to the depression angle, the horizontal-shift angle, the anglec of rotation, the monopod video camera is obtained with respect to world coordinate system
Spin matrix R.
4. method for tracking target according to claim 3, it is characterised in that the depression angle ψ=((T1-T0)/
LammdaT, the horizontal-shift angle θ=((P1-P0)/lammdaP, the anglec of rotationWherein, the lammdaP
Represent that the monopod video camera level turns corresponding displacement at 1 degree, the lammdaT represents to turn 1 above and below the monopod video camera
Corresponding displacement when spending；
Obtain the corresponding absolute coordinate of monopod video camera origin position：(P0, T0, Z0)；Control in the monopod video camera picture
The picture that the heart is pointed on reference substance in corresponding symmetric points, and the monopod video camera is parallel with the reference substance, and record is now
The monopod video camera absolute coordinate：(P1, T1, Z0)；
Hung by reference to the symmetric points on thing in the picture in a vertical line, the monopod video camera and calibrate the vertical line, entered
And obtain slope k of the vertical line in picture.
5. method for tracking target according to claim 4, it is characterised in that
The R=Rz*Rx*Ry；
6. a kind of storage device, wherein a plurality of instruction that is stored with, the instruction is suitable to be loaded and performed by processor, its feature exists
In, including：
By binocular camera, the first three-dimensional coordinate D of moving target is obtained；
According to monopod video camera with respect to world coordinate system spin matrix R, the moving target in world coordinate system second
Three-dimensional coordinate F and the first three-dimensional coordinate D, obtains position coordinates Pc of the moving target in the monopod video camera；
According to the position coordinates Pc, the monopod video camera is controlled to be tracked the moving target.
7. storage device according to claim 6, it is characterised in that the Pc=R (F-D).
8. storage device according to claim 6, it is characterised in that rotation of the monopod video camera with respect to world coordinate system
Torque battle array R acquisition process be：
Obtain depression angle, horizontal-shift angle, the anglec of rotation of the monopod video camera with respect to world coordinate system；
According to the depression angle, the horizontal-shift angle, the anglec of rotation, the monopod video camera is obtained with respect to world coordinate system
Spin matrix R.
9. storage device according to claim 8, it is characterised in that the depression angle ψ=((T1-T0)/lammdaT, institute
State horizontal-shift angle θ=((P1-P0)/lammdaP, the anglec of rotationWherein, the lammdaP represents the cloud
Platform camera horizon turns corresponding displacement at 1 degree, and the lammdaT represents to turn above and below the monopod video camera corresponding at 1 degree
Displacement；
Obtain the corresponding absolute coordinate of monopod video camera origin position：(P0, T0, Z0)；Control in the monopod video camera picture
The picture that the heart is pointed on reference substance in corresponding symmetric points, and the monopod video camera is parallel with the reference substance, and record is now
The monopod video camera absolute coordinate：(P1, T1, Z0)；
Hung by reference to the symmetric points on thing in the picture in a vertical line, the monopod video camera and calibrate the vertical line, entered
And obtain slope k of the vertical line in picture.
10. storage device according to claim 9, it is characterised in that
The R=Rz*Rx*Ry；
11. a kind of target tracker, it is characterised in that including：
Processor, is adapted for carrying out each instruction；
Storage device, suitable for storing a plurality of instruction, the instruction is suitable to be loaded and performed by the processor；
By binocular camera, the first three-dimensional coordinate D of moving target is obtained；
According to monopod video camera with respect to world coordinate system spin matrix R, the moving target in world coordinate system second
Three-dimensional coordinate F and the first three-dimensional coordinate D, obtains position coordinates Pc of the moving target in the monopod video camera；
According to the position coordinates Pc, the monopod video camera is controlled to be tracked the moving target.
12. target tracker according to claim 11, it is characterised in that the Pc=R (F-D).
13. target tracker according to claim 11, it is characterised in that the monopod video camera is with respect to world coordinates
The spin matrix R of system acquisition process is：
Obtain depression angle, horizontal-shift angle, the anglec of rotation of the monopod video camera with respect to world coordinate system；
According to the depression angle, the horizontal-shift angle, the anglec of rotation, the monopod video camera is obtained with respect to world coordinate system
Spin matrix R.
14. target tracker according to claim 13, it is characterised in that the depression angle ψ=((T1-T0)/
LammdaT, the horizontal-shift angle θ=((P1-P0)/lammdaP, the anglec of rotationWherein, the lammdaP
Represent that the monopod video camera level turns corresponding displacement at 1 degree, the lammdaT represents to turn 1 above and below the monopod video camera
Corresponding displacement when spending；
Obtain the corresponding absolute coordinate of monopod video camera origin position：(P0, T0, Z0)；Control in the monopod video camera picture
The picture that the heart is pointed on reference substance in corresponding symmetric points, and the monopod video camera is parallel with the reference substance, and record is now
The monopod video camera absolute coordinate：(P1, T1, Z0)；
Hung by reference to the symmetric points on thing in the picture in a vertical line, the monopod video camera and calibrate the vertical line, entered
And obtain slope k of the vertical line in picture.
15. target tracker according to claim 14, it is characterised in that
The R=Rz*Rx*Ry；
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710685138.3A CN107292906B (en) | 2017-08-11 | 2017-08-11 | Target tracking method, storage device and target tracking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710685138.3A CN107292906B (en) | 2017-08-11 | 2017-08-11 | Target tracking method, storage device and target tracking device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107292906A true CN107292906A (en) | 2017-10-24 |
| CN107292906B CN107292906B (en) | 2021-04-13 |
Family
ID=60104941
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710685138.3A Expired - Fee Related CN107292906B (en) | 2017-08-11 | 2017-08-11 | Target tracking method, storage device and target tracking device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107292906B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110595443A (en) * | 2019-08-22 | 2019-12-20 | 苏州佳世达光电有限公司 | Projection device |
| CN113506340A (en) * | 2021-06-15 | 2021-10-15 | 浙江大华技术股份有限公司 | Method and equipment for predicting cloud deck pose and computer readable storage medium |
| CN115713565A (en) * | 2022-12-16 | 2023-02-24 | 盐城睿算电子科技有限公司 | Target positioning method for binocular servo camera |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102143324A (en) * | 2011-04-07 | 2011-08-03 | 天津市亚安科技电子有限公司 | Method for automatically and smoothly tracking target by cradle head |
| KR20130070303A (en) * | 2011-12-19 | 2013-06-27 | 한국전자통신연구원 | Rendering method and apparatus for multi-view autostereoscopic 3d image display |
| CN103777643A (en) * | 2012-10-23 | 2014-05-07 | 北京网动网络科技股份有限公司 | Automatic camera tracking system based on image positioning and tracking method |
| CN104103077A (en) * | 2014-07-29 | 2014-10-15 | 浙江宇视科技有限公司 | Human head detecting method and human head detecting device |
| CN104574425A (en) * | 2015-02-03 | 2015-04-29 | 中国人民解放军国防科学技术大学 | Calibration and linkage method for primary camera system and secondary camera system on basis of rotary model |
| 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 |
| CN106355617A (en) * | 2016-08-12 | 2017-01-25 | 上海盟云移软网络科技股份有限公司 | Dynamic positioning algorithm in the motion capture system |
-
2017
- 2017-08-11 CN CN201710685138.3A patent/CN107292906B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102143324A (en) * | 2011-04-07 | 2011-08-03 | 天津市亚安科技电子有限公司 | Method for automatically and smoothly tracking target by cradle head |
| KR20130070303A (en) * | 2011-12-19 | 2013-06-27 | 한국전자통신연구원 | Rendering method and apparatus for multi-view autostereoscopic 3d image display |
| CN103777643A (en) * | 2012-10-23 | 2014-05-07 | 北京网动网络科技股份有限公司 | Automatic camera tracking system based on image positioning and tracking method |
| CN104103077A (en) * | 2014-07-29 | 2014-10-15 | 浙江宇视科技有限公司 | Human head detecting method and human head detecting device |
| CN104574425A (en) * | 2015-02-03 | 2015-04-29 | 中国人民解放军国防科学技术大学 | Calibration and linkage method for primary camera system and secondary camera system on basis of rotary model |
| 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 |
| CN106355617A (en) * | 2016-08-12 | 2017-01-25 | 上海盟云移软网络科技股份有限公司 | Dynamic positioning algorithm in the motion capture system |
Non-Patent Citations (3)
| Title |
|---|
| ALEJANDRO V. ARZOLA等: "Rotation, oscillation and hydrodynamic synchronization of optically trapped oblate spheroidal microparticles", 《OPTICS EXPRESS》 * |
| 吴瑶: "PTZ摄像机下的主动目掠跟踪算法研究", 《中国优秀硕士学位论文全文数据库信息科技辑》 * |
| 李 勃等: "路况PTZ摄像机自动标定方法", 《北京邮电大学学报》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110595443A (en) * | 2019-08-22 | 2019-12-20 | 苏州佳世达光电有限公司 | Projection device |
| CN113506340A (en) * | 2021-06-15 | 2021-10-15 | 浙江大华技术股份有限公司 | Method and equipment for predicting cloud deck pose and computer readable storage medium |
| CN115713565A (en) * | 2022-12-16 | 2023-02-24 | 盐城睿算电子科技有限公司 | Target positioning method for binocular servo camera |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107292906B (en) | 2021-04-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10165179B2 (en) | Method, system, and computer program product for gamifying the process of obtaining panoramic images | |
| US9530235B2 (en) | Aligning panoramic imagery and aerial imagery | |
| US9277122B1 (en) | System and method for removing camera rotation from a panoramic video | |
| CN104284155B (en) | Video image information mask method and device | |
| Ventura et al. | Wide-area scene mapping for mobile visual tracking | |
| US7688381B2 (en) | System for accurately repositioning imaging devices | |
| CN108810473B (en) | Method and system for realizing GPS mapping camera picture coordinate on mobile platform | |
| KR101342393B1 (en) | Georeferencing Method of Indoor Omni-Directional Images Acquired by Rotating Line Camera | |
| WO2018145291A1 (en) | System and method for real-time location tracking of drone | |
| AU2008365306B2 (en) | System and method for mixing a scene with a virtual scenario | |
| EP2423871A1 (en) | Apparatus and method for generating an overview image of a plurality of images using an accuracy information | |
| US9756260B1 (en) | Synthetic camera lenses | |
| US10127667B2 (en) | Image-based object location system and process | |
| CN107292906A (en) | A kind of method for tracking target, storage device and target tracker | |
| WO2015199772A3 (en) | Method and system of stitching aerial data using information from previous aerial images | |
| CN103813150B (en) | Image processing apparatus and method and image processing system | |
| Hübner et al. | Marker-based localization of the microsoft hololens in building models | |
| CN104457758B (en) | Video-acquisition-based Visual Map database establishing method and indoor visual positioning method using database | |
| JP2008513852A5 (en) | ||
| CN104006708A (en) | Scene matching based ground target indirect locating method | |
| JP5917767B2 (en) | Stereoscopic correction method | |
| CN112529957A (en) | Method and device for determining pose of camera device, storage medium and electronic device | |
| JP5669438B2 (en) | Object management image generation apparatus and object management image generation program | |
| CN111627048B (en) | Multi-camera cooperative target searching method | |
| EP3539085A1 (en) | 3d referencing |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210413 |