CN107341828A - A kind of CCTV video objects two dimension modeling and GIS projecting methods - Google Patents
A kind of CCTV video objects two dimension modeling and GIS projecting methods Download PDFInfo
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- CN107341828A CN107341828A CN201710474929.1A CN201710474929A CN107341828A CN 107341828 A CN107341828 A CN 107341828A CN 201710474929 A CN201710474929 A CN 201710474929A CN 107341828 A CN107341828 A CN 107341828A
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- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
Abstract
The invention discloses a kind of modeling of CCTV video objects two dimension and GIS projecting methods, this method is transmitted by a point-to-points individual face, realize a projection of the physical plane on picture, and target coordinate on screen is calculated according to projection geometry principle, then change obtaining GIS map coordinate by coordinate system again.Video image is abstracted as two dimensional image by the present invention, the image outline identified by intelligent video analysis in the two dimensional image after abstract carries out target identification, and calculate the position coordinates of target, the target location coordinate of identification passes through the GIS map longitude and latitude for being converted to target of longitude and latitude, so as to project to generalized information system, the video image for including geographical location information is produced.
Description
Technical field
The invention belongs to intelligent video monitoring system method and technology field, more particularly to a kind of intelligent video monitoring system and
The method that GIS-Geographic Information System is combined.
Background technology
The security monitoring that intelligent video monitoring system and GIS-Geographic Information System have been widely used in various regions is worked as
In, be the destination object in video pictures is identified, tracked, behavioural analysis etc., so as to filter out some useless information,
Obtain useful information.
And GIS-Geographic Information System (abbreviation GIS) is also gradually applied to the every field such as airport, harbour, water transport, land transportation, especially
It is GIS and ship automatic identification system (abbreviation AIS) and radar monitoring system among the regional monitoring systems such as harbour, harbour
The target position information arrived with the use of the positional information of display ship that can be immediately and radar scanning of system, it is effective to improve
Shipping safety and the efficiency of waterborne target monitoring.In some special regions (high mountain or building stop etc.) and situation (AIS
Equipment not enabled etc.) under radar and AIS equipment dead angle be present and can not be monitored, and these regions CCTV monitoring systems can obtain
Then picture image to these targets carries out intelligent video analysis.
As patent application 201610824625.9 discloses a kind of intelligent video monitoring system based on cloud platform, the system
It is on the server cluster built based on Hadoop cloud calculating platform, develops video monitoring cloud platform, headend equipment is gathered
Video data service device in a streaming manner, using the distributed cloud computing technology of magnanimity, realize to the real-time of video flowing
Tracking, processing, analysis and output, and service is externally provided, facilitate terminal user to check calling.
But the positional information not included in the target information that goes out of above-mentioned intelligent video analysis system identification, how to calculate
It is to need to solve the problems, such as at present to go out video object positional information and be projected directly into GIS map.
The content of the invention
Based on this, therefore the primary mesh of the present invention be to provide a kind of modeling of CCTV video objects two dimension and GIS projection sides
Video image is abstracted as two dimensional image by method, this method, is identified by intelligent video analysis in the two dimensional image after abstract
Image outline out carries out target identification, and calculates the position coordinates of target, is produced so as to project to generalized information system comprising geography
The video image of positional information.
To achieve the above object, the technical scheme is that：
A kind of CCTV video objects two dimension modeling and GIS projecting methods, it is characterised in that this method is point-to-points by one
Individual face is transmitted, and realizes a projection of the physical plane on picture, and calculate target according to projection geometry principle and exist
Coordinate on screen, then changed again by coordinate system and obtain GIS map coordinate.Video image is abstracted as X-Y scheme by the present invention
Picture, the image outline identified by intelligent video analysis in the two dimensional image after abstract carries out target identification, and calculates
The position coordinates of target, the target location coordinate of identification pass through the GIS map longitude and latitude for being converted to target of longitude and latitude, so as to
Generalized information system is projected to, produces the video image for including geographical location information.
Specifically, physical length of this method in video pictures, it is N part equal lengths by scores such as line segments
Section, according to ratio of the section on image, is calculated with triangle in the projection of screen and real world, and one is drawn on screen
The line of direct north is pointed to as longitude and latitude convert reference, you can know on this line between physical displacement and image coordinate
Relation, GIS coordinates are converted into so as to project in GIS map.
Further, the triangle is isosceles triangle.
Further, the intersection point on three sides of the isosceles triangle is carried out pairing, described pairing, be defined as follows：
O is defined as with the point at an angle of triangle, upper two end points of angle equal edge AD any two point between A and D, A and D is
B, C, then OA, OB, OC, OD are four projection lines, and there is l and 2 two to be cut scape between O points and AB sides, then have：
If three couples of points B, H on straight line；D, F；C, G, there is following relation
It is pairing then to claim this three pairs of points.
Further, B, H are worked as；D, F；C, G；When M, N have following relation, then it is pairing to claim this four pairs of points
Further, section of the physical length in picture by scores such as line segments for N part equal lengths, is scheming according to line segment
As upper ratio, you can know the relation between physical displacement and image coordinate on this line；According to different target in image
Skew in the same horizontal line can ratio and the actual displacement such as approximation, you can knows the actual displacement of x directions；According to line segment ratio
Principle, integrate, the pixel according to where target can calculate the actual displacement in y directions；Then a sensing due north is drawn
The line in direction is measured due north angle, using the elevation angle E and oblique distance R for identifying target, calculated as longitude and latitude convert reference
Coordinate of the target in rectangular coordinate system.
The coordinate system uses WGS-84 geocentric coordinate systems, and obtains the camera coordinates in video.
Further, the target calculation of longitude ＆ latitude, it is by following formula：
ObjLat=asin (sin (camLat) * cos (dist/R)+cos (camLat) * sin (dist/R) * cos
(fObjtoNorth))；
ObjLon=camLon+atan2 (sin (fObjtoNorth) * sin (dist/R) * cos (camLat), cos
(dist/R)-sin(camLat)*sin(ObjLat))
Rectangular coordinate system coordinate is calculated, in formula：ObjLat, ObjLon- are measured target in WGS-84 geocentric coordinate systems
In coordinate；Dist- is the distance of the identification target range origin of coordinates calculated by isosceles trapezoid line segment；R- is the earth half
Footpath；FObjtoNorth- is the deviation radian value of identification target and direct north；CamLat, camLon are the WGS- of video camera
84 coordinate system coordinates.
The projecting method that the present invention is realized, " polar coordinate system " of camera field of view is abstracted as " pseudo- rectangular coordinate system ",
Video image is namely abstracted as two dimensional image, identified by intelligent video analysis in the two dimensional image after abstract
Image outline carry out target identification, and calculate the position coordinates of target, the target location coordinate of identification turns by longitude and latitude
Get the GIS map longitude and latitude of target in return, so as to project to generalized information system, produce the video image for including geographical location information.
Brief description of the drawings
Fig. 1 realizes projection and section scape schematic diagram between point range and wire harness for the present invention.
Fig. 2 is realized Cross ration invariability schematic diagram by the present invention.
Fig. 3 realizes the rectangular coordinate system coordinate schematic diagram of CCTV video objects for the present invention.
Fig. 4 realizes that the rectangular coordinate system coordinate of CCTV video objects calculates schematic diagram for the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
It is shown in Figure 1, directly originated from using projective geometry and perspective for the present invention, injected between eyes and scenery
One upright glass plate, and light is contemplated from each point that eyes go out to be transmitted into scenery, these lines are projection line.Contemplate
Every line is met at a bit with glass plate, and the set of these points, which is called, cuts scape.As shown in figure 1, eyes are observed on horizontal plane at O
During rectangle ABCD, a projection pyramid, wherein OA, OB are formed from O to the line of rectangle each point, OC, OD are four typical projections
If line inserts a plane between human eye and rectangle, and links four lines and intersection point A ', B ', C ', the D ' of plane, then quadrangle A '
Section scape that B ' C ' D ' are rectangle ABCD.
According to above-mentioned, figure shown in Fig. 2 is amplified out, if OA, OB, OC, OD are four projection lines, l1 and l2 are that l cuts scapes,
Then have：
If three couples of points B, H on straight line；D, F；C, G, such as Fig. 3, there is following relation
It is pairing then to claim this three pairs of points；As D=F and C=G, above formula becomes：
This just provides two couples of points (B, H；D, C) pairing definition, it is considered as the special circumstances of three pairs of point pairings.As for
The pairing of three pairs of point above, it is entirely to be defined with three pairs of points to being combined into foundation, for example, work as B, H；D, F；C, G；M, N have
During following relation, then it is pairing to claim this four pairs of points.
According to foregoing description, the rectangular coordinate system coordinate of CCTV video object CCTV video objects calculates schematic diagram and sees Fig. 4
It is shown.The line segment of the ratio such as eight sections of reality of a-h., the base of P. isosceles trapezoids, the top margin of T. isosceles trapezoids, X.X axles, Y.Y axles in figure
N. direct north index line.
In order to facilitate calculating, approximate can be calculated with isosceles triangle in the projection of screen and real world.
Section of the physical length by scores such as line segments for N part equal lengths in picture, according to line segment on image
Ratio, you can know the relation between physical displacement and image coordinate on this line.Isosceles trapezoid waist is divided into by we in figure
The ratio such as this eight sections of reality line segment, it is respectively a, b, c, d, e, f, g, h that can obtain these length according to measurement, isosceles trapezoid
Top width be T, bottom width P.The length of this line segment is divided into 10 parts to calculate, first is 1 part of height, the last item T/P
≈h/a。
1) x displacement
Can ratio and the actual displacement such as approximation according to the skew of different target in image in the same horizontal line, you can know
The actual displacement of x directions.
2) y displacement
According to line segment proportionality principle, integrate, it is known that the different pixels in video required for 1 meter of target offset.Root
The actual displacement for deviateing base can be calculated according to the pixel where target.
3) latitude and longitude coordinates
The line of a sensing direct north is drawn on screen as longitude and latitude convert reference, due north angle is measured, utilizes
The elevation angle E and oblique distance R of target are identified, calculates coordinate of the target in rectangular coordinate system.
4) target calculation of longitude ＆ latitude
According to target " rectangular coordinate system " coordinate X, Y, the Z and Coordinate Conversion calculation formula calculated：
ObjLat=asin (sin (camLat) * cos (dist/R)+cos (camLat) * sin (dist/R) * cos
(fObjtoNorth))；
ObjLon=camLon+atan2 (sin (fObjtoNorth) * sin (dist/R) * cos (camLat), cos
(dist/R)-sin(camLat)*sin(ObjLat))
* can calculate by sidelong glance target WGS-84 rectangular coordinate system coordinates.
In formula：ObjLat, ObjLon- are coordinate of the measured target in WGS-84 geocentric coordinate systems；
Dist- is the distance of the identification target range origin of coordinates calculated by isosceles trapezoid line segment.
R- is earth radius.
FObjtoNorth- is the deviation radian value of identification target and direct north.
The WGS-84 coordinate system coordinates of camLat, camLon- video camera 0.
Thus, the projecting method that the present invention is realized, " pseudo- rectangular co-ordinate is abstracted as by " polar coordinate system " of camera field of view
System ", that is, video image is abstracted as two dimensional image, identified by intelligent video analysis in the two dimensional image after abstract
Image outline out carries out target identification, and calculates the position coordinates of target, and the target location coordinate of identification passes through longitude and latitude
The GIS map longitude and latitude for being converted to target, so as to project to generalized information system, produce the video figure for including geographical location information
Picture.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should be included in the scope of the protection.
Claims (8)
1. a kind of CCTV video objects two dimension modeling and GIS projecting methods, it is characterised in that this method passes through one point-to-points
Face is transmitted, and realizes a projection of the physical plane on picture, and calculate target according to projection geometry principle and shielding
Coordinate on curtain, then changed again by coordinate system and obtain GIS map coordinate.
2. CCTV video objects two dimension modeling as claimed in claim 1 and GIS projecting methods, it is characterised in that drawn according to video
Physical length in face, the section that the scores such as line segment are N part equal lengths according to ratio of the section on image, is existed with triangle
The projection of screen and real world is calculated, and the line of a sensing direct north is drawn on screen as longitude and latitude conversion ginseng
Examine, you can know the relation between physical displacement and image coordinate on this line, be converted into GIS coordinates so as to project to
In GIS map.
3. CCTV video objects two dimension modeling as claimed in claim 2 and GIS projecting methods, it is characterised in that the triangle
For isosceles triangle.
4. CCTV video objects two dimension modeling as claimed in claim 3 and GIS projecting methods, it is characterised in that make the isosceles
The intersection point on three sides of triangle carries out pairing, described pairing, is defined as follows：O is defined as with the point at an angle of triangle,
Upper two end points of angle equal edge AD any two point between A and D, A and D is B, C, then OA, OB, OC, OD are four projections
Line, between O points and AB sides there is l and 2 two to be cut scape, then have：
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If three couples of points B, H on straight line；D, F；C, G, there is following relation
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It is pairing then to claim this three pairs of points.
5. CCTV video objects two dimension modeling as claimed in claim 4 and GIS projecting methods, it is characterised in that work as B, H；D, F；
C, G；When M, N have following relation, then it is pairing to claim this four pairs of points
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6. CCTV video objects two dimension modeling as claimed in claim 2 and GIS projecting methods, it is characterised in that according in picture
Physical length by the scores such as line segment be N part equal lengths section, according to ratio of the line segment on image, you can know at this
Relation on line between physical displacement and image coordinate；Can be near according to the skew of different target in image in the same horizontal line
Like grade ratio and actual displacement, you can know the actual displacement of x directions；According to line segment proportionality principle, integrate, according to where target
Pixel can calculate the actual displacement in y directions；Then the line of a sensing direct north is drawn as longitude and latitude convert reference,
Due north angle is measured, using the elevation angle E and oblique distance R for identifying target, calculates coordinate of the target in rectangular coordinate system.
7. CCTV video objects two dimension modeling as claimed in claim 6 and GIS projecting methods, it is characterised in that the coordinate system
Using WGS-84 geocentric coordinate systems, and obtain the camera coordinates in video.
8. CCTV video objects two dimension modeling as claimed in claim 7 and GIS projecting methods, it is characterised in that the target warp
Latitude calculates, and is by following formula：
ObjLat=asin (sin (camLat) * cos (dist/R)+cos (camLat) * sin (dist/R) * cos
(fObjtoNorth))；
ObjLon=camLon+atan2 (sin (fObjtoNorth) * sin (dist/R) * cos (camLat), cos (dist/
R)-sin(camLat)*sin(ObjLat))
Rectangular coordinate system coordinate is calculated, in formula：ObjLat, ObjLon- are measured target in WGS-84 geocentric coordinate systems
Coordinate；Dist- is the distance of the identification target range origin of coordinates calculated by isosceles trapezoid line segment；R- is earth radius；
FObjtoNorth- is the deviation radian value of identification target and direct north；CamLat, camLon are that the WGS-84 of video camera is sat
Mark system coordinate.
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Cited By (6)
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| CN109918466A (en) * | 2019-03-08 | 2019-06-21 | 江西憶源多媒体科技有限公司 | A kind of real-time map information overall situation rendering method based on video analysis |
| CN110211177A (en) * | 2019-06-05 | 2019-09-06 | 视云融聚（广州）科技有限公司 | Camera picture linear goal refers to northern method, electronic equipment and storage medium |
| CN111931555A (en) * | 2020-06-14 | 2020-11-13 | 交通运输部科学研究院 | Method for identifying whether ship AIS is started or not by utilizing video image |
| CN111965630A (en) * | 2020-08-17 | 2020-11-20 | 南京先能光电科技有限公司 | Space positioning system |
| CN113240253A (en) * | 2021-04-30 | 2021-08-10 | 南通中德计算机网络工程有限公司 | Inland river overwater supervision middle platform system |
| CN117437552A (en) * | 2023-12-21 | 2024-01-23 | 绘见科技(深圳)有限公司 | Method, device, equipment and storage medium for constructing visual positioning map |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109918466A (en) * | 2019-03-08 | 2019-06-21 | 江西憶源多媒体科技有限公司 | A kind of real-time map information overall situation rendering method based on video analysis |
| CN110211177A (en) * | 2019-06-05 | 2019-09-06 | 视云融聚（广州）科技有限公司 | Camera picture linear goal refers to northern method, electronic equipment and storage medium |
| CN111931555A (en) * | 2020-06-14 | 2020-11-13 | 交通运输部科学研究院 | Method for identifying whether ship AIS is started or not by utilizing video image |
| CN111931555B (en) * | 2020-06-14 | 2023-08-08 | 交通运输部科学研究院 | Method for identifying whether ship AIS is opened or not by utilizing video image |
| CN111965630A (en) * | 2020-08-17 | 2020-11-20 | 南京先能光电科技有限公司 | Space positioning system |
| CN113240253A (en) * | 2021-04-30 | 2021-08-10 | 南通中德计算机网络工程有限公司 | Inland river overwater supervision middle platform system |
| CN117437552A (en) * | 2023-12-21 | 2024-01-23 | 绘见科技(深圳)有限公司 | Method, device, equipment and storage medium for constructing visual positioning map |
| CN117437552B (en) * | 2023-12-21 | 2024-03-26 | 绘见科技(深圳)有限公司 | Method, device, equipment and storage medium for constructing visual positioning map |
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Application publication date: 20171110 |