CN107343165A - A kind of monitoring method, equipment and system - Google Patents

A kind of monitoring method, equipment and system Download PDF

Info

Publication number
CN107343165A
CN107343165A CN201610283248.2A CN201610283248A CN107343165A CN 107343165 A CN107343165 A CN 107343165A CN 201610283248 A CN201610283248 A CN 201610283248A CN 107343165 A CN107343165 A CN 107343165A
Authority
CN
China
Prior art keywords
image
camera
ball
shaped camera
sent
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
Application number
CN201610283248.2A
Other languages
Chinese (zh)
Inventor
�谷川�
徐卓东
陈树毅
徐杰
洪晖潞
唐小进
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hangzhou Hikvision Digital Technology Co Ltd
Original Assignee
Hangzhou Hikvision Digital Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Hangzhou Hikvision Digital Technology Co Ltd filed Critical Hangzhou Hikvision Digital Technology Co Ltd
Priority to CN201610283248.2A priority Critical patent/CN107343165A/en
Publication of CN107343165A publication Critical patent/CN107343165A/en
Pending legal-status Critical Current

Links

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
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • 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
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H04N23/682—Vibration or motion blur correction
    • H04N23/684—Vibration or motion blur correction performed by controlling the image sensor readout, e.g. by controlling the integration time
    • H04N23/6845—Vibration or motion blur correction performed by controlling the image sensor readout, e.g. by controlling the integration time by combination of a plurality of images sequentially taken
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/80—Camera processing pipelines; Components thereof
    • 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
    • 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
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30244—Camera pose

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Closed-Circuit Television Systems (AREA)

Abstract

The embodiment of the present application discloses a kind of monitoring method, equipment and system, is related to monitoring technology field, including：At least one image processing apparatus and ball-shaped camera；Image processing apparatus includes：At least one camera, a PLD, SOC and digital signal processor；Camera collection image is simultaneously sent to PLD；PLD carries out splicing to the image received and sent by SOC to digital signal processor；Digital signal processor is compressed to spliced image and handles and send to ball-shaped camera；Ball-shaped camera sends the image after compression to display terminal, and positional information of the tracing area in the image after being compressed in the PTZ coordinate systems of ball-shaped camera, close shot shooting is carried out to scene corresponding to tracing area, obtains the close shot monitoring information for being directed to object in scene.The scheme provided using the embodiment of the present application, can obtain the close shot monitoring information in monitoring scene.

Description

A kind of monitoring method, equipment and system
Technical field
The application is related to monitoring technology field, more particularly to a kind of monitoring method, equipment and system.
Background technology
With the continuous development of Video Supervision Technique, Video Supervision Technique obtains more and more extensive application.So And because the coverage of single camera is limited, and the monitoring demand for large scene is more and more, is full The monitoring of sufficient large scene needs, and the scheme of multiple camera joint-monitorings is introduced in the prior art, to obtain The monitoring information of big coverage.
In the prior art, during multiple camera joint-monitorings, to obtain the monitoring image of big coverage, lead to Video-splicing server is often introduced, after multiple cameras gather video images, is spliced by video-splicing server Obtain the video image of big coverage.
Although the video image of larger coverage can be obtained using aforesaid way, due to camera only The image under distant view state can be only photographed, and monitoring scene is complicated and changeable in practical application, so The monitoring image obtained using aforesaid way is unfavorable for video monitoring.
The content of the invention
The embodiment of the present application discloses a kind of monitoring method, equipment and system, to obtain obtaining big shooting model The close shot monitoring information in monitoring scene is obtained while enclosing monitoring image.
To reach above-mentioned purpose, the embodiment of the present application discloses a kind of monitoring method, applied to monitoring device, The monitoring device includes：At least one image processing apparatus and ball-shaped camera；Wherein, at described image Reason device includes：At least one camera, a PLD, a system level chip SOC and One digital signal processor, the coverage of each camera not exclusively overlap and form continuous shooting model Enclose；
Methods described includes：
The camera collection image, and acquired image is sent to the PLD；
After the PLD receives the image from the camera, the image received is carried out Splicing, and spliced image is sent to the digital signal processor by the SOC；
The digital signal processor is compressed processing to spliced image, and the image after compression is sent out Deliver to the ball-shaped camera；
The tracing area in image after the ball-shaped camera acquisition compression is in the ball-shaped camera Positional information in PTZ coordinate systems, scene corresponding to the tracing area is entered according to the positional information obtained Row close shot is shot, and the movement locus of object in the scene is obtained according to captured close shot image, according to The movement locus adjusts shooting angle, and then obtains the close shot monitoring information for being directed to object in the scene.
In a kind of specific implementation of the application, the tracking in image after the acquisition compression Before positional information of the region in the PTZ coordinate systems of the ball-shaped camera, in addition to：
The digital signal processor is obtained in the image after the compression according to default region recognition algorithm Tracing area；According to XY coordinate systems corresponding to each camera being obtained ahead of time and the ball-shaped camera Corresponding relation between PTZ coordinate systems, obtain position letter of the tracing area in the PTZ coordinate systems Breath, and obtained positional information is sent to the ball-shaped camera；
The PTZ coordinate systems of tracing area in the image obtained after the compression in the ball-shaped camera In positional information, including：
According to the digital signal processor send positional information, obtain in the image after the compression with Positional information of the track region in the PTZ coordinate systems.
It is described that obtained position is sent to the ball-shaped camera in a kind of specific implementation of the application Confidence ceases, including：
Meet that default tracking is regular and the ball-shaped camera is in idle condition in the positional information obtained In the case of, obtained positional information is sent to the ball-shaped camera.
In a kind of specific implementation of the application, the tracking in image after the acquisition compression Before positional information of the region in the PTZ coordinate systems of the ball-shaped camera, in addition to：
Image after the compression is sent to display terminal；
The PTZ coordinate systems of tracing area in the image obtained after the compression in the ball-shaped camera In positional information, including：
The tracing area in image after the compression sent according to the display terminal images in the ball-type Positional information in the PTZ coordinate systems of machine, the tracing area in the image after the compression is obtained in the PTZ Positional information in coordinate system, wherein, the positional information that the display terminal is sent is：The display terminal According to the PTZ coordinate systems of XY coordinate systems corresponding to each camera being obtained ahead of time and the ball-shaped camera it Between corresponding relation obtain.
It is two-dimentional corresponding to each camera being obtained ahead of time in a kind of specific implementation of the application Corresponding relation between coordinate system and the PTZ coordinate systems of the ball-shaped camera, is obtained in the following manner：
The ball-shaped camera sends demarcation instruction to the digital signal processor, wherein, the demarcation refers to The mark of camera to be calibrated is carried in order；
The digital signal processor obtains the first image of the camera shooting to be calibrated, and from the ball Type video camera obtains the second image for current scene；According to the XY coordinates of pixel, from first figure Similarity is more than the mesh for presetting similarity threshold between predetermined number pixel value is obtained in picture and second image Mark pixel；The XY coordinates of the target pixel points are sent to the ball-shaped camera；
The ball-shaped camera obtains PTZ coordinates corresponding to the XY coordinates of the target pixel points, and by described in The PTZ coordinates of target pixel points are sent to the digital signal processor；
The digital signal processor is according to the XY coordinates and PTZ coordinates of the target pixel points, according to default Calibration algorithm, complete to handle for the demarcation of the camera to be calibrated, and calibration result sent to institute State ball-shaped camera；
The ball-shaped camera sends the calibration result to the display terminal.
It is two-dimentional corresponding to each camera being obtained ahead of time in a kind of specific implementation of the application Corresponding relation between coordinate system and the PTZ coordinate systems of the ball-shaped camera, is obtained in the following manner：
The ball-shaped camera receives the demarcation instruction that display terminal is sent, wherein, taken in the demarcation instruction XY coordinate of the band for the target pixel points of shot by camera image to be calibrated；Obtain the target pixel points XY coordinates corresponding to PTZ coordinates；The XY coordinates of the target pixel points and PTZ coordinates are sent to described Digital signal processor；
The digital signal processor is according to the XY coordinates and PTZ coordinates of the target pixel points, according to default Calibration algorithm, complete to handle for the demarcation of the camera to be calibrated, and calibration result sent to institute State ball-shaped camera；
The ball-shaped camera sends the calibration result to the display terminal.
In a kind of specific implementation of the application, receive what display terminal was sent in the ball-shaped camera Before demarcation instruction, in addition to：
The ball-shaped camera receives the image for camera to be calibrated that display terminal is sent and instructed, And instructed to digital signal processor forwarding described image；
The digital signal processor is instructed according to described image, by the PLD and The SOC obtains the image of the camera collection to be calibrated, and the figure that the camera to be calibrated is gathered As sending to the ball-shaped camera；
The image of the camera collection to be calibrated is forwarded to the display terminal by the ball-shaped camera.
In a kind of specific implementation of the application, include in scene corresponding to the tracing area multiple It is described that scene corresponding to the tracing area is carried out closely according to the positional information obtained in the case of object Scape is shot, and the movement locus of object in the scene is obtained according to captured close shot image, according to described Movement locus adjusts shooting angle, and then obtains the close shot monitoring information for being directed to object in the scene, including：
Rule is determined according to default object priority, it is each right in scene corresponding to the tracing area to determine The tracking priority of elephant；
According to the tracking priority, the close shot monitoring of each object is obtained in a manner of taking turn by following steps Information：
Close shot shooting is carried out to destination object according to the positional information obtained, wherein, the destination object is Any object in scene corresponding to the tracing area；
The movement locus of the destination object is obtained according to captured close shot image；
Shooting angle is adjusted according to the movement locus, acquisition is near for the preset duration of the destination object Scape monitoring information.
To reach above-mentioned purpose, the embodiment of the present application discloses a kind of monitoring device, and the monitoring device includes： At least one image processing apparatus and ball-shaped camera；Wherein, described image processing unit includes：At least one Individual camera, a PLD, a system level chip SOC and a digital signal processor, The coverage of each camera not exclusively overlaps and forms continuous coverage；
The camera, sent for gathering image, and by acquired image to the programmable logic device Part；
The PLD, for receiving the image from the camera, to the image received Splicing is carried out, and spliced image is sent to the digital signal processor by the SOC；
The digital signal processor, for being compressed processing to spliced image, and by after compression Image is sent to the ball-shaped camera；
The ball-shaped camera, taken the photograph for obtaining the tracing area in the image after the compression in the ball-type Positional information in the PTZ coordinate systems of camera, according to the positional information obtained to corresponding to the tracing area Scene carries out close shot shooting, and the movement locus of object in the scene is obtained according to captured close shot image, Shooting angle is adjusted according to the movement locus, and then obtains the close shot monitoring letter for being directed to object in the scene Breath.
In a kind of specific implementation of the application, the digital signal processor, it is additionally operable to according to default Region recognition algorithm, obtain the tracing area in the image after the compression；It is each according to what is be obtained ahead of time Corresponding relation between XY coordinate systems corresponding to camera and the PTZ coordinate systems of the ball-shaped camera, obtain Positional information of the tracing area in the PTZ coordinate systems, and send and obtained to the ball-shaped camera Positional information；
The ball-shaped camera, the positional information sent according to the digital signal processor is additionally operable to, is obtained Positional information of the tracing area in image in the PTZ coordinate systems after the compression.
In a kind of specific implementation of the application, the digital signal processor, specifically for being obtained Positional information meet that default tracking is regular and the ball-shaped camera is in idle condition in the case of, Obtained positional information is sent to the ball-shaped camera.
In a kind of specific implementation of the application, the ball-shaped camera, it is additionally operable to after the compression Image send to display terminal, and according to the display terminal send the compression after image in Positional information of the track region in the PTZ coordinate systems of the ball-shaped camera, is obtained in the image after the compression Positional information of the tracing area in the PTZ coordinate systems, wherein, the position letter that the display terminal is sent Cease and be：Display terminal XY coordinate systems according to corresponding to each camera being obtained ahead of time are taken the photograph with the ball-type What the corresponding relation between the PTZ coordinate systems of camera obtained.
In a kind of specific implementation of the application, the ball-shaped camera, specifically for the numeral Signal processor sends demarcation instruction, wherein, the demarcation carries the mark of camera to be calibrated in instructing；
The digital signal processor, the first image specifically for obtaining the camera shooting to be calibrated, And obtain the second image for current scene from the ball-shaped camera；According to the XY coordinates of pixel, from Similarity is similar more than default between predetermined number pixel value is obtained in described first image and second image Spend the target pixel points of threshold value；The XY coordinates of the target pixel points are sent to the ball-shaped camera；
The ball-shaped camera, specifically for obtaining PTZ coordinates corresponding to the XY coordinates of the target pixel points, And the PTZ coordinates of the target pixel points are sent to the digital signal processor；
The digital signal processor, specifically for the XY coordinates and PTZ coordinates according to the target pixel points, According to default calibration algorithm, complete to handle for the demarcation of the camera to be calibrated, and by calibration result Send to the ball-shaped camera；
The ball-shaped camera, specifically for the calibration result is sent to the display terminal.
In a kind of specific implementation of the application, the ball-shaped camera, specifically for receiving display eventually The demarcation instruction that end is sent, wherein, carried in the demarcation instruction and be directed to shot by camera image to be calibrated Target pixel points XY coordinates；Obtain PTZ coordinates corresponding to the XY coordinates of the target pixel points；By institute State the XY coordinates of target pixel points and PTZ coordinates are sent to the digital signal processor；
The digital signal processor, specifically for the XY coordinates and PTZ coordinates according to the target pixel points, According to default calibration algorithm, complete to handle for the demarcation of the camera to be calibrated, and by calibration result Send to the ball-shaped camera；
The ball-shaped camera, specifically for the calibration result is sent to the display terminal.
In a kind of specific implementation of the application, the ball-shaped camera, it is additionally operable to receive display terminal The image for camera to be calibrated sent is instructed, and to described in digital signal processor forwarding Image is instructed；
The digital signal processor, it is additionally operable to be instructed according to described image, is patrolled by described may be programmed Volume device and the SOC obtain the image of the camera collection to be calibrated, and by the camera to be calibrated The image of collection is sent to the ball-shaped camera；
The ball-shaped camera, it is additionally operable to the image of the camera collection to be calibrated being forwarded to the display Terminal.
In a kind of specific implementation of the application, the ball-shaped camera, specifically for according to default Object priority determines rule, determines the tracking priority of each object in scene corresponding to the tracing area； According to the tracking priority, the close shot monitoring information of each object is obtained in a manner of taking turn by following steps：
Close shot shooting is carried out to destination object according to the positional information obtained, wherein, the destination object is Any object in scene corresponding to the tracing area；
The movement locus of the destination object is obtained according to captured close shot image；
Shooting angle is adjusted according to the movement locus, acquisition is near for the preset duration of the destination object Scape monitoring information.
To reach above-mentioned purpose, the embodiment of the present application discloses a kind of monitoring system, and the monitoring system includes： Monitoring device and display terminal；
The monitoring device includes：At least one image processing apparatus and ball-shaped camera；Wherein, the figure As processing unit includes：Multiple cameras, a PLD, a system level chip SOC and One digital signal processor, the coverage of each camera not exclusively overlap and form continuous shooting model Enclose；
The camera, sent for gathering image, and by acquired image to the programmable logic device Part；
The PLD, for receiving the image from the camera, to the image received Splicing is carried out, and spliced image is sent to the digital signal processor by the SOC；
The digital signal processor, for being compressed processing to spliced image, and by after compression Image is sent to the ball-shaped camera；
The ball-shaped camera, taken the photograph for obtaining the tracing area in the image after the compression in the ball-type Positional information in the PTZ coordinate systems of camera, according to the positional information obtained to corresponding to the tracing area Scene carries out close shot shooting, and the movement locus of object in the scene is obtained according to captured close shot image, Shooting angle is adjusted according to the movement locus, and then obtains the close shot monitoring letter for being directed to object in the scene Breath；
The display terminal, the image after the compression sent for receiving the ball-shaped camera, and show institute State the image after compression.
In a kind of specific implementation of the application, the display terminal, specifically for receiving the ball-type Image after the compression that video camera is sent, obtain the tracking in the image after the compression that user selectes Positional information of the region in the PTZ coordinate systems of the ball-shaped camera, and the positional information obtained is sent To the ball-shaped camera；
The ball-shaped camera, specifically for the positional information sent according to the display terminal, described in acquisition Positional information of the tracing area in image in the PTZ coordinate systems after compression, wherein, the display is eventually End send positional information be：Display terminal XY coordinates according to corresponding to each camera being obtained ahead of time What the corresponding relation between system and the PTZ coordinate systems of the ball-shaped camera obtained.
In a kind of specific implementation of the application, the display terminal, it is additionally operable to image to the ball-type Machine sends demarcation instruction, wherein, carried in the demarcation instruction for shot by camera image to be calibrated The XY coordinates of target pixel points；
The ball-shaped camera, specifically for being instructed according to the demarcation；Obtain the XY of the target pixel points PTZ coordinates corresponding to coordinate；The XY coordinates of the target pixel points and PTZ coordinates are sent to the numeral Signal processor；
The digital signal processor, specifically for the XY coordinates and PTZ coordinates according to the target pixel points, According to default calibration algorithm, complete to handle for the demarcation of the camera to be calibrated, and by calibration result Send to the ball-shaped camera；
The ball-shaped camera, specifically for the calibration result is sent to the display terminal.
In a kind of specific implementation of the application, the display terminal, it is additionally operable to image to the ball-type Machine transmission is instructed for the image of camera to be calibrated；
The ball-shaped camera, it is additionally operable to be instructed to digital signal processor forwarding described image；
The digital signal processor, it is additionally operable to be instructed according to described image, is patrolled by described may be programmed Volume device and the SOC obtain the image of the camera collection to be calibrated, and by the camera to be calibrated The image of collection is sent to the ball-shaped camera；
The ball-shaped camera, it is additionally operable to the image of the camera collection to be calibrated being forwarded to the display Terminal.
As seen from the above, in the scheme that the embodiment of the present application provides, after camera collection image, by may be programmed Logical device carries out the image that image mosaic obtains big coverage, and obtains big shooting model in ball-shaped camera In the image enclosed after positional information of the tracing area in the PTZ coordinate systems of ball-shaped camera, according to being obtained Positional information to above-mentioned tracing area carry out close shot shooting, obtain scene in object movement locus, according to Movement locus adjusts shooting angle, and then obtains the close shot monitoring information of object in scene.
Brief description of the drawings
, below will be to implementing in order to illustrate more clearly of the embodiment of the present application or technical scheme of the prior art The required accompanying drawing used is briefly described in example or description of the prior art, it should be apparent that, describe below In accompanying drawing be only some embodiments of the present application, for those of ordinary skill in the art, do not paying On the premise of going out creative work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is a kind of structural representation for monitoring device that the embodiment of the present application provides；
Fig. 2 a are a kind of schematic diagram for stitching image that the embodiment of the present application provides；
Fig. 2 b are the schematic diagram for another stitching image that the embodiment of the present application provides；
Fig. 3 a are a kind of monitoring effect schematic diagram that the embodiment of the present application provides；
Fig. 3 b are another monitoring effect schematic diagram that the embodiment of the present application provides；
Fig. 4 is a kind of structural representation for monitoring system that the embodiment of the present application provides；
Fig. 5 is a kind of schematic flow sheet for monitoring method that the embodiment of the present application provides；
Fig. 6 is a kind of schematic flow sheet for scaling method that the embodiment of the present application provides.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present application, the technical scheme in the embodiment of the present application is carried out clear Chu, it is fully described by, it is clear that described embodiment is only some embodiments of the present application, rather than Whole embodiments.Based on the embodiment in the application, those of ordinary skill in the art are not making creation Property work under the premise of the every other embodiment that is obtained, belong to the scope of the application protection.
Fig. 1 is a kind of structural representation for monitoring device that the embodiment of the present application provides, and the monitoring device includes： At least one image processing apparatus 101 and ball-shaped camera 102；Wherein, described image processing unit 101 includes： At least one camera, a PLD 101A, a system level chip SOC101B and one Digital signal processor 101C, the coverage of each camera not exclusively overlap and form continuous shooting model Enclose.
Wherein, above-mentioned PLD can be FPGA (Field-Programmable Gate Array, Field programmable gate array), above-mentioned digital signal processor can be DSP (Digital Signal Processing)。
Ball-shaped camera is a kind of lens shooting adjustable angle and the adjustable video camera of shooting focal length, is taken the photograph by this Camera can gather scene image from different perspectives, can also carry out close shot shooting or remote by adjusting focal length Scape is shot.
Because the coverage of above-mentioned each camera not exclusively overlaps, so the coverage of each camera The coverage for being continuously shot scope and being more than single one camera formed, thus clapped according to each camera The image taken the photograph can obtain the image of big coverage.
In addition, the quantity of camera can be determined according to actual conditions included in above-mentioned image processing apparatus , for example, 2,3,4 etc..The scope that is continuously shot that the coverage of each camera is formed can Be 180 degree, 145 degree, 360 degree etc., the application is defined not to this.
In a kind of specific implementation of the application, it is contemplated that the operational capability of PLD, take the photograph The hardware factors such as the coverage as head, it can include at two even more images in above-mentioned monitoring device Device is managed, the application is defined not to this.
For example, it is assumed that above-mentioned image processing apparatus includes 4 cameras, the coverage of this 4 cameras It it is 45 degree, then being continuously shot for coverage composition of this 4 cameras may range from 180 degree.It is actual Want to obtain 360 degree of monitoring information in, then two image procossings can be set in above-mentioned monitoring device Device.
Specifically, above-mentioned camera, for gathering image, and acquired image is sent to programmable and patrolled Collect device 101A；
PLD 101A, for receiving the image from camera, the image received is carried out Splicing, and spliced image is sent to digital signal processor 101C by SOC101B；
Digital signal processor 101C, for being compressed processing to spliced image, and by after compression Image is sent to ball-shaped camera 102；
Ball-shaped camera 102, for the tracing area in the image after being compressed ball-shaped camera PTZ Positional information in coordinate system, scene corresponding to above-mentioned tracing area is carried out according to the positional information obtained Close shot is shot, and the movement locus of object in above-mentioned scene is obtained according to captured close shot image, according to upper Movement locus adjustment shooting angle is stated, and then obtains the close shot monitoring information for being directed to object in above-mentioned scene.
PTZ coordinate systems：It is writing a Chinese character in simplified form for Pan/Tilt/Zoom in safety monitoring application, it is comprehensive represents head (left and right/up and down) mobile and camera lens zoom, Zoom control.This word is commonly referred, can be with popular understanding For cradle head control.
Specifically, when PLD 101A carries out splicing to the image from camera, can be with " one " font image is spliced into according to the actual requirements, for example, the order according to camera arrangement from left to right Splice each camera acquired image successively, specifically, referring to Fig. 2 a, camera 1 to camera 4 is adopted " one " glyph image that the image mosaic of collection obtains.
In addition, the data processing feature with reference to PLD can also be spliced into sphere of movements for the elephants type image, For example, in the case that above-mentioned image processing apparatus includes 4 cameras, 4 cameras gather depositing for image Storage space is put as shown in Figure 2 b, the sphere of movements for the elephants shape image that the image mosaic that camera 1 to camera 4 gathers obtains.
It should be understood that the data volume of image is larger, for ease of transmitting, reducing the memory space of image occupancy Etc. digital signal processor 101C spliced image can be pressed using existing method for video coding Contracting is handled, specifically, H.264, H.265 etc. above-mentioned method for video coding can be, the application is not right This is defined.
After ball-shaped camera 102 receives the image after compression, the image can be sent to display terminal, shown Show that terminal shows the image after above-mentioned compression by way of decompression, such staff can conveniently, directly That sees passes through the monitoring information in display terminal checking monitoring scene in big coverage.
Specifically, referring to Fig. 3 a and Fig. 3 b, wherein, Fig. 3 a are that each camera acquired image is spelled The image obtained after connecing, the close shot image that Fig. 3 b are gathered by ball-shaped camera.
In a kind of optional implementation of the application, spherical camera 102, which obtains, is directed to object in above-mentioned scene Close shot monitoring information after, the close shot monitoring information obtained can also be sent to display device, display and set The standby close shot monitoring information to being obtained shows that such user can view scene by display terminal In detailed information.
In a kind of specific implementation of the application, above-mentioned digital signal processor 101C, basis is additionally operable to Default region recognition algorithm, the tracing area in image after being compressed；It is each according to what is be obtained ahead of time Corresponding relation between XY coordinate systems corresponding to camera and the PTZ coordinate systems of ball-shaped camera 102, obtain with Positional information of the track region in above-mentioned PTZ coordinate systems, and obtained position is sent to ball-shaped camera 102 Information；
Ball-shaped camera 102, the positional information sent according to digital signal processor 101C is additionally operable to, is pressed Positional information of the tracing area in image in above-mentioned PTZ coordinate systems after contracting.
Wherein, XY coordinate systems can be understood as corresponding to above-mentioned camera：Image captured by camera is corresponding Two-dimensional coordinate system, X-coordinate and Y-coordinate may be respectively used for each pixel edge in image captured by camera The coordinate value in picture traverse direction and the coordinate value along picture altitude direction.
It should be understood that each object is typically static in monitoring scene, therefore, each camera is adopted The image of the monitoring scene of collection is the image of geo-stationary, in this case, once appearance activity in scene Object then merits attention, in consideration of it, above-mentioned default region recognition algorithm can refer to acquisition time Image before the acquisition time of image after above-mentioned compression, go out if detecting in the image after above-mentioned compression Show the object of activity, then the movable object region is defined as tracing area.
Specifically, above-mentioned movable object can be the situation that the object enters specific region, this can also be Object leaves the situation of specific region, and the application is defined not to this.
Whether those skilled in the art can be detected in the image after above-mentioned compression according to prior art occurs The object of activity, herein wouldn't describe in detail.
In a kind of specific implementation of the application, digital signal processor 101C is specifically used for being obtained Positional information meet default tracking rule and in the case that ball-shaped camera 102 is in idle condition, to ball Type video camera 102 sends obtained positional information.
Above-mentioned default tracking rule can be to the positional information obtained corresponding to the related rule in region, For example, the positional information obtained is located at the edge of monitor area, then it is considered that obtained positional information Default tracking rule is unsatisfactory for, and the positional information obtained is located at the central area of monitor area, then may be used To think that obtained positional information meets default tracking rule.
In addition, above-mentioned default tracking rule can also be the relative variation phase of the positional information with being obtained The rule of pass, for example, above-mentioned relative variation is big, then it is considered that obtained positional information meets to preset Tracking rule, above-mentioned relative variation is small, then it is considered that obtained positional information be unsatisfactory for it is default Tracking rule, specifically, above-mentioned relative variation can be according to above-mentioned compression image and previous collection moment What corresponding compression image determined.
It should be noted that the application is simply illustrated exemplified by above-mentioned, it is above-mentioned default in practical application Tracking rule is not limited to that.
In the case where above-mentioned ball-shaped camera 102 is not present from ball-shaped camera, above-mentioned ball-shaped camera 102 It can be understood as in idle condition：Above-mentioned ball-shaped camera 102 does not gather the close shot monitoring letter of any object Breath；
In the case where above-mentioned ball-shaped camera 102 is present from ball-shaped camera, at above-mentioned ball-shaped camera 102 It can be understood as in idle condition：Above-mentioned ball-shaped camera 102 does not gather the close shot monitoring information of any object, Or it stores the video camera for the close shot monitoring information for not gathering any object from ball-shaped camera.
Determine that tracing area is different according to default region recognition algorithm by digital signal processor from above-mentioned, on State tracing area and can also be that user artificially selects what is determined.In consideration of it, in one kind specific implementation of the application In mode, ball-shaped camera 102, it is additionally operable to send the image after above-mentioned compression to display terminal, and according to The tracing area in image after the compression that display terminal is sent is in the PTZ coordinate systems of ball-shaped camera 102 Positional information, positional information of the tracing area in image in above-mentioned PTZ coordinate systems after being compressed.
Wherein, the positional information of display terminal transmission is：Display terminal is according to each camera being obtained ahead of time What the corresponding relation between the PTZ coordinate systems of corresponding XY coordinate systems and ball-shaped camera 102 obtained.
Specifically, user is by the concrete condition in the image viewing monitoring scene shown by display terminal, when , can be by modes such as frame choosings shown by display terminal when user needs to check some region of details Image in carry out regional choice, then, region of the display terminal according to selected by user determines that the region exists Corresponding positional information in above-mentioned PTZ coordinate systems, and the positional information is sent to ball-shaped camera 102, this Sample ball-shaped camera 102 further can carry out close shot shooting according to the positional information of reception.
It can be seen that, either digital signal processor determines tracing area, or uses from the foregoing description Tracing area is artificially selected at family, is required to use XY coordinate systems and ball corresponding to each camera being obtained ahead of time Corresponding relation between the PTZ coordinate systems of type video camera 102.
In a kind of optional implementation of the application, ball-shaped camera 102, specifically at data signal Manage device 101C and send demarcation instruction, wherein, above-mentioned demarcation carries the mark of camera to be calibrated in instructing；
Digital signal processor 101C is specifically used for the first image for obtaining camera to be calibrated shooting, and from ball Type video camera 102 obtains the second image for current scene；According to the XY coordinates of pixel, from the first figure Similarity is more than the target picture for presetting similarity threshold between predetermined number pixel value is obtained in picture and the second image Vegetarian refreshments；The XY coordinates of target pixel points are sent to ball-shaped camera 102；
Ball-shaped camera 102, specifically for obtaining PTZ coordinates corresponding to the XY coordinates of target pixel points, and will The PTZ coordinates of target pixel points are sent to digital signal processor 101C；
Digital signal processor 101C is specifically used for XY coordinates and PTZ coordinates according to target pixel points, according to Default calibration algorithm, complete to handle for the demarcation of camera to be calibrated, and calibration result is sent to ball Type video camera 102；
Ball-shaped camera 102 is specifically used for sending above-mentioned calibration result to display terminal.
Preferably, the value of above-mentioned predetermined number is not less than 4, preferably, the value of above-mentioned predetermined number is 6, Specifically, the application does not limit the value of above-mentioned predetermined number.
Above-mentioned default similarity threshold can be 99%, can also be the value such as 90%, 80%.
In specific implementation in addition to carrying out foregoing location position, it is also necessary to multiplying power demarcation is carried out, by ball The Focussing of type video camera is to suitable degree.
Specifically, ball-shaped camera 102 receives the multiplying power demarcation instruction that display terminal is sent, and by the multiplying power mark Fixed instruction is forwarded to digital signal processor 101C；Digital signal processor 101C receives above-mentioned multiplying power demarcation After instruction, its current PTZ information is obtained from ball-shaped camera 102, and can be calculated according to following formula The Z values of any pixel point in above-mentioned target pixel points, and according to the Z values being calculated to above-mentioned target pixel points Re-scaled, and then obtain re-scaling result for above-mentioned video camera to be calibrated, and will be above-mentioned heavy New calibration result is sent to spherical camera 102, then is forwarded to display terminal by spherical camera 102.
Wherein, above-mentioned expression formula is：Zoom × title1=zoom2 × title2, wherein, title1 works as to be above-mentioned T component in preceding PTZ information, zoom2 and title2 are that PTZ corresponding to any pixel point believes in target pixel points Z component and T component in breath.
After zoom is calculated according to above expression formula, if zoom is less than zoom1, increase zoom1's takes Value, if zoom is more than zoom1, reduce zoom1 value.
Digital signal processor 101C obtains according to the XY coordinates of pixel from the first image and the second image , can be from first when similarity is more than the target pixel points of default similarity threshold between predetermined number pixel value Selected in image and the second image in the identical pixel of pixel position, i.e.,：It is identical from pixel position and Selection target pixel in the similar pixel of pixel value；Can also from the first image and the second image pixel Selected in pixel similar in point position, i.e.,：Closely located between pixel and pixel value is similar from two images Pixel in selection target pixel.
In a kind of specific implementation of the application, it can also be obtained ahead of time by way of being manually set each Corresponding relation between XY coordinate systems corresponding to individual camera and the PTZ coordinate systems of ball-shaped camera 102.
Specifically, ball-shaped camera 102 is used for the demarcation instruction for receiving display terminal transmission, wherein, demarcation refers to The XY coordinates of the target pixel points for shot by camera image to be calibrated are carried in order；Ball-shaped camera 102, according to the PTZ coordinate systems of itself, carry out Coordinate Conversion to the XY coordinates of target pixel points, obtain target picture PTZ coordinates corresponding to the XY coordinates of vegetarian refreshments；The XY coordinates of target pixel points and PTZ coordinates are sent to numeral Signal processor 101C；
Digital signal processor 101C is used for XY coordinates and PTZ coordinates according to target pixel points, according to default Calibration algorithm, complete to handle for the demarcation of camera to be calibrated, and calibration result sent to ball-type and taken the photograph Camera 102；
Ball-shaped camera 102 is specifically used for sending above-mentioned calibration result to display terminal.
Specifically, it can also be multiple pixels that above-mentioned target pixel points, which can be the pixel artificially selected, Point, in the case where above-mentioned target pixel points are multiple, the XY coordinates of target pixel points can be one by one Send to ball-shaped camera 102, can also be and send together to ball-shaped camera 102, the application is not This is defined.
When demarcation processing is carried out to camera to be calibrated according to default calibration algorithm, it can be assumed that XY coordinate systems Corresponding relation between PTZ coordinate systems is linear relationship, so can be in the picture under have selected XY coordinate systems Vegetarian refreshments is got back after positional information of these pixels in PTZ coordinate systems, can be by way of solving equations Linear relationship parameter is obtained, so as to obtain XY coordinate systems corresponding to camera to be calibrated and ball-shaped camera 102 PTZ coordinate systems between corresponding relation.
It should be understood that user in selection target pixel, need to ensure to show on display terminal it is to be calibrated Camera acquired image, in the case of the camera acquired image is not present in display terminal, Display terminal can send image to dome camera 102 and be instructed, and ball-shaped camera 102 receives display eventually After the image for camera to be calibrated that end is sent is instructed, in digital signal processor 101C forwardings Image is stated to be instructed；
Digital signal processor 101C is additionally operable to be instructed according to image, passes through PLD 101A The image of camera collection to be calibrated is obtained with SOC101B, and the image that camera to be calibrated is gathered is sent To ball-shaped camera 102；
Ball-shaped camera 102 is additionally operable to the image that camera to be calibrated gathers being forwarded to display terminal.
Those skilled in the art it is understood that in scene corresponding to above-mentioned tracing area it is also possible to Multiple objects be present, and the movement locus of these objects is probably different, is obtained for guarantee more comprehensive Monitoring information, in a kind of optional implementation of the application, ball-shaped camera 102 is specifically used for according to pre- If object priority determine rule, determine the tracking priority of each object in scene corresponding to tracing area； According to priority is tracked, the close shot monitoring information of each object is obtained in a manner of taking turn by following steps：
Close shot shooting is carried out to destination object according to the positional information obtained, wherein, destination object is above-mentioned Any object in scene corresponding to tracing area；
The movement locus of destination object is obtained according to captured close shot image；
Shooting angle is adjusted according to above-mentioned movement locus, obtains the close shot prison for the preset duration of destination object Control information.
It is noted that it can shoot one when obtaining the close shot monitoring information of each object using aforesaid way Timing is long, and as shooting is carried out, the object in scene corresponding to above-mentioned tracing area may change, For example, some objects enter above-mentioned tracing area etc. out of above-mentioned tracing area, other objects, In this case the tracking priority of object can constantly be refreshed in taking turn shooting process, to obtain preferably Close shot tracking information.
It should be noted that for the monitoring device with the above-mentioned image processing apparatus of two or more, often Its acquired image is sent compiling to the image processing apparatus by the camera in one image processing apparatus Journey logical device, also only processing fills the digital signal processor in the image processing apparatus with the image procossing The information of camera acquired image correlation in putting, may be programmed for example, receiving in the image processing apparatus The image information that logical device is sent by SOC, receive the image procossing that is directed to that ball-shaped camera is sent and fill Put interior video camera and gather image processing commands of image etc..
As seen from the above, in the monitoring device that the embodiment of the present application provides, after camera collection image, by can Programmed logic device carries out the image that image mosaic obtains big coverage, and obtains big clap in ball-shaped camera Take the photograph in the image of scope after positional information of the tracing area in the PTZ coordinate systems of ball-shaped camera, according to institute The positional information of acquisition carries out close shot shooting to above-mentioned tracing area, obtains the movement locus of object in scene, Shooting angle is adjusted according to movement locus, and then obtains the close shot monitoring information of object in scene.
Corresponding with above-mentioned monitoring device, the embodiment of the present application additionally provides a kind of monitoring system.
Fig. 4 is a kind of structural representation for monitoring system that the embodiment of the present application provides, and the monitoring system includes： Monitoring device 401 and display terminal 402；
The monitoring device includes：At least one image processing apparatus 401A and ball-shaped camera 401B；Wherein, Described image processing unit includes：Multiple cameras, a PLD 401A1, one it is system-level A chip SOC401A2 and digital signal processor 401A3, the endless full weight of coverage of each camera Close and form continuous coverage；
The camera, sent for gathering image, and by acquired image to the programmable logic device Part 401A1；
The PLD 401A1, for receiving the image from the camera, to what is received Image carries out splicing, and spliced image is sent to the data signal by the SOC401A2 Processor 401A3；
The digital signal processor 401A3, for being compressed processing to spliced image, and will compression Image afterwards is sent to the ball-shaped camera 401B；
The ball-shaped camera 401B, for obtaining the tracing area in the image after the compression in the ball Positional information in type video camera 401B PTZ coordinate systems, according to the positional information obtained to the tracking Scene corresponding to region carries out close shot shooting, and obtains object in the scene according to captured close shot image Movement locus, according to the movement locus adjust shooting angle, and then obtain be directed to the scene in object Close shot monitoring information；
The display terminal 402, the image after the compression sent for receiving the ball-shaped camera 401B, and Show the image after the compression.
In a kind of specific implementation of the application, the display terminal 402, specifically for receiving the ball Image after the compression that type video camera 401B is sent, obtain in the image after the compression that user selectes Positional information of the tracing area in the PTZ coordinate systems of the ball-shaped camera 401B, and will be obtained Positional information is sent to the ball-shaped camera 401B；
The ball-shaped camera 401B, specifically for the positional information sent according to the display terminal 402, obtain Positional information of the tracing area in the image after the compression in the PTZ coordinate systems is obtained, wherein, it is described Display terminal 402 send positional information be：The display terminal 402 is according to each camera being obtained ahead of time What the corresponding relation between corresponding XY coordinate systems and the ball-shaped camera 401B PTZ coordinate systems obtained.
In a kind of specific implementation of the application, the display terminal 402, it is additionally operable to take the photograph to the ball-type Camera 401B sends demarcation instruction, wherein, carried in the demarcation instruction and be directed to shot by camera to be calibrated The XY coordinates of the target pixel points of image；
The ball-shaped camera 401B, specifically for being instructed according to the demarcation；Obtain the target pixel points XY coordinates corresponding to PTZ coordinates；The XY coordinates of the target pixel points and PTZ coordinates are sent to described Digital signal processor 401A3；
The digital signal processor 401A3, specifically for the XY coordinates according to the target pixel points and PTZ coordinates, according to default calibration algorithm, complete to handle for the demarcation of the camera to be calibrated, and will Calibration result is sent to the ball-shaped camera 401B；
The ball-shaped camera 401B, specifically for the calibration result is sent to the display terminal 402.
In a kind of specific implementation of the application, the display terminal 402, it is additionally operable to take the photograph to the ball-type Camera 401B transmissions are instructed for the image of camera to be calibrated；
The ball-shaped camera 401B, it is additionally operable to obtain to digital signal processor 401A3 forwardings described image Call instruction；
The digital signal processor 401A3 is additionally operable to be instructed according to described image, by described programmable The logical device 401A1 and SOC401A2 obtains the image of the camera collection to be calibrated, and by described in The image of camera collection to be calibrated is sent to the ball-shaped camera 401B；
The ball-shaped camera 401B, it is additionally operable to the image of the camera to be calibrated collection being forwarded to described Display terminal 402.
In a kind of specific implementation of the application, the digital signal processor 401A3, basis is additionally operable to Default region recognition algorithm, obtains the tracing area in the image after the compression；According to what is be obtained ahead of time Corresponding pass between XY coordinate systems corresponding to each camera and the PTZ coordinate systems of the ball-shaped camera 401B System, obtains positional information of the tracing area in the PTZ coordinate systems, and to the ball-shaped camera 401B sends obtained positional information；
The ball-shaped camera 401B, the position for being additionally operable to be sent according to the digital signal processor 401A3 are believed Breath, obtains positional information of the tracing area in the PTZ coordinate systems in the image after the compression.
In a kind of specific implementation of the application, the digital signal processor 401A3, specifically for The positional information obtained meets that default tracking is regular and the ball-shaped camera 401B is in idle condition In the case of, obtained positional information is sent to the ball-shaped camera 401B.
In a kind of specific implementation of the application, the ball-shaped camera 401B, specifically for according to aobvious Show positional information of the tracing area of the transmission of terminal 402 in the PTZ coordinate systems of the ball-shaped camera 401B, Positional information of the tracing area in the PTZ coordinate systems in the image after the compression is obtained, wherein, institute Stating the positional information that display terminal 402 is sent is：The display terminal 402 is according to each shooting being obtained ahead of time Corresponding relation between XY coordinate systems and the ball-shaped camera 401B PTZ coordinate systems corresponding to head obtains 's.
In a kind of specific implementation of the application, the ball-shaped camera 401B, specifically for according to pre- If object priority determine rule, determine that the tracking of each object in scene corresponding to the tracing area is excellent First level；According to the tracking priority, the close shot for obtaining each object in a manner of taking turn by following steps is supervised Control information：
Close shot shooting is carried out to destination object according to the positional information obtained, wherein, the destination object is Any object in scene corresponding to the tracing area；
The movement locus of the destination object is obtained according to captured close shot image；
Shooting angle is adjusted according to the movement locus, acquisition is near for the preset duration of the destination object Scape monitoring information.
As seen from the above, in the monitoring system that the embodiment of the present application provides, the camera collection figure of monitoring device As after, the image of the big coverage of image mosaic acquisition is carried out by PLD, and image in ball-type Positional information of the tracing area in the PTZ coordinate systems of ball-shaped camera in the image of the big coverage of machine acquisition Afterwards, close shot shooting is carried out to above-mentioned tracing area according to the positional information obtained, obtains object in scene Movement locus, shooting angle is adjusted according to movement locus, and then obtain the close shot monitoring information of object in scene.
Corresponding with above-mentioned monitoring device and monitoring system, the embodiment of the present application additionally provides a kind of monitoring method.
Fig. 5 is a kind of schematic flow sheet for monitoring method that the embodiment of the present application provides, and this method is applied to monitoring Equipment, wherein, above-mentioned monitoring device includes：At least one image processing apparatus and ball-shaped camera；Wherein, Above-mentioned image processing apparatus includes：Multiple cameras, a PLD, a system level chip SOC and digital signal processor, the coverage of each camera are not exclusively overlapped and formed continuous Coverage.
Specifically, above-mentioned monitoring method includes：
S501：Camera collection image, and acquired image is sent to PLD.
S502：After PLD receives the image from camera, the image received is spelled Processing is connect, and spliced image is sent to digital signal processor by SOC.
Specifically, when PLD carries out splicing to the image from camera, can basis Actual demand is spliced into " one " font image, for example, according to the order of camera arrangement from left to right successively Splice each camera acquired image, specifically, referring to Fig. 2 a, what camera 1 to camera 4 gathered " one " glyph image that image mosaic obtains.
In addition, the data processing feature with reference to PLD can also be spliced into sphere of movements for the elephants type image, For example, in the case that above-mentioned image processing apparatus includes 4 cameras, 4 cameras gather depositing for image Storage space is put as shown in Figure 2 b, the sphere of movements for the elephants shape image that the image mosaic that camera 1 to camera 4 gathers obtains.
S503：Digital signal processor is compressed processing to spliced image, and by the image after compression Send to ball-shaped camera.
It should be understood that the data volume of image is larger, for ease of transmitting, reducing the memory space of image occupancy Etc. digital signal processor place can be compressed to spliced image using existing method for video coding Reason, specifically, H.264, H.265 etc. above-mentioned method for video coding can be, the application enters not to this Row limits.
After ball-shaped camera receives the image after compression, the image can be sent to display terminal, display Terminal shows the image after above-mentioned compression by way of decompression, and such staff can conveniently, intuitively Pass through the monitoring information in display terminal checking monitoring scene in big coverage.
S504：Ball-shaped camera compressed after image in tracing area ball-shaped camera PTZ coordinates Positional information in system, close shot is carried out to scene corresponding to above-mentioned tracing area according to the positional information obtained Shooting, and according to the movement locus of object in the captured above-mentioned scene of close shot image acquisition, according to above-mentioned fortune Dynamic rail mark adjusts shooting angle, and then obtains the close shot monitoring information for being directed to object in above-mentioned scene.
In a kind of optional implementation of the application, spherical camera, which obtains, is directed to object in above-mentioned scene After close shot monitoring information, the close shot monitoring information obtained can also be sent to display device, display device Such user can be viewed in scene by display terminal to be shown to the close shot monitoring information obtained Detailed information.
In a kind of specific implementation of the application, the tracing area in the image after being compressed is in ball-type Before positional information in the PTZ coordinate systems of video camera, it can also include：
Digital signal processor is according to default region recognition algorithm, the tracking area in image after being compressed Domain；According to the PTZ coordinate systems of XY coordinate systems corresponding to each camera being obtained ahead of time and ball-shaped camera it Between corresponding relation, obtain positional information of the above-mentioned tracing area in the PTZ coordinate systems, and take the photograph to ball-type Camera sends obtained positional information；
In this case the tracing area in image after being compressed is in the PTZ coordinate systems of ball-shaped camera Positional information when, can according to digital signal processor send positional information, the image after being compressed In positional information of the tracing area in institute's PTZ coordinate systems.
Specifically, when digital signal processor is to ball-shaped camera transmission obtained positional information, Ke Yishi Meet the default feelings for tracking regular and described ball-shaped camera and being in idle condition in the positional information obtained Under condition, obtained positional information is sent to ball-shaped camera.
In a kind of specific implementation of the application, the tracing area in the image after being compressed is in ball Before positional information in the PTZ coordinate systems of type video camera, it can also include：
Image after compression is sent to display terminal；
In this case, the tracing area in image after being compressed is in the PTZ coordinate systems of ball-shaped camera Positional information when, can according to display terminal send tracing area in the PTZ coordinate systems of ball-shaped camera Positional information, positional information of the tracing area in image in above-mentioned PTZ coordinate systems after being compressed, Wherein, the positional information of above-mentioned display terminal transmission is：Display terminal is according to each camera being obtained ahead of time What the corresponding relation between the PTZ coordinate systems of corresponding XY coordinate systems and ball-shaped camera obtained.
In a kind of specific implementation of the application, referring to Fig. 6, there is provided a kind of flow of scaling method is shown It is intended to, two-dimensional coordinate system and ball-shaped camera corresponding to each camera that can be obtained ahead of time by this method PTZ coordinate systems between corresponding relation, specifically include：
S601：Ball-shaped camera sends demarcation instruction to digital signal processor.
Wherein, the mark of camera to be calibrated is carried in above-mentioned demarcation instruction.
S602：Digital signal processor obtains the first image of camera shooting to be calibrated, and is imaged from ball-type Machine obtains the second image for current scene；According to the XY coordinates of pixel, from the first image and the second figure Similarity is more than the target pixel points for presetting similarity threshold between predetermined number pixel value is obtained as in；By mesh The XY coordinates of mark pixel are sent to ball-shaped camera.
S603：Ball-shaped camera obtains PTZ coordinates corresponding to the XY coordinates of target pixel points, and by target picture The PTZ coordinates of vegetarian refreshments are sent to digital signal processor.
S604：Digital signal processor is according to the XY coordinates and PTZ coordinates of target pixel points, according to default Calibration algorithm, complete to handle for the demarcation of camera to be calibrated, and calibration result is sent to ball-type and imaged Machine.
S605：Ball-shaped camera sends calibration result to display terminal.
In a kind of optional implementation of the application, two-dimensional coordinate corresponding to each camera for being obtained ahead of time Corresponding relation between system and the PTZ coordinate systems of ball-shaped camera, can also be obtained in the following manner：
Ball-shaped camera receives the demarcation instruction that display terminal is sent, wherein, carried in demarcation instruction for treating The XY coordinates of the target pixel points of image captured by calibrating camera；The XY coordinate pairs for obtaining target pixel points should PTZ coordinates；The XY coordinates of target pixel points and PTZ coordinates are sent to digital signal processor；
Digital signal processor is calculated according to the XY coordinates and PTZ coordinates of target pixel points according to default demarcation Method, complete to handle for the demarcation of camera to be calibrated, and calibration result is sent to ball-shaped camera；
Ball-shaped camera sends calibration result to display terminal.
Optionally, before the demarcation instruction that ball-shaped camera receives that display terminal is sent, can also include：
Ball-shaped camera receives the image for camera to be calibrated that display terminal is sent and instructed, and to Digital signal processor forwarding described image is instructed；
Digital signal processor is instructed according to image, is obtained by PLD and SOC and is waited to mark Determine the image of camera collection, and the image that camera to be calibrated is gathered is sent to ball-shaped camera；
The image that camera to be calibrated gathers is forwarded to display terminal by ball-shaped camera.
In a kind of relatively good implementation of the application, include multiple objects in scene corresponding to tracing area In the case of, according to the positional information obtained to scene progress close shot shooting corresponding to tracing area, and according to Captured close shot image obtains the movement locus of object in above-mentioned scene, is adjusted and clapped according to above-mentioned movement locus Angle is taken the photograph, and then obtains the close shot monitoring information for being directed to object in above-mentioned scene, including：
Rule is determined according to default object priority, determines each object in scene corresponding to tracing area Track priority；According to above-mentioned tracking priority, each object is obtained in a manner of taking turn by following steps Close shot monitoring information：
Close shot shooting is carried out to destination object according to the positional information obtained, wherein, destination object is tracking Any object in scene corresponding to region；
The movement locus of destination object is obtained according to captured close shot image；
Shooting angle is adjusted according to above-mentioned movement locus, obtains the close shot prison for the preset duration of destination object Control information.
As seen from the above, in the monitoring method that the embodiment of the present application provides, the camera collection figure of monitoring device As after, the image of the big coverage of image mosaic acquisition is carried out by PLD, and image in ball-type Positional information of the tracing area in the PTZ coordinate systems of ball-shaped camera in the image of the big coverage of machine acquisition Afterwards, close shot shooting is carried out to above-mentioned tracing area according to the positional information obtained, obtains object in scene Movement locus, shooting angle is adjusted according to movement locus, and then obtain the close shot monitoring information of object in scene.
For system, embodiment of the method, because it is substantially similar to apparatus embodiments, so description Fairly simple, the relevent part can refer to the partial explaination of embodiments of method.
It should be noted that herein, such as first and second or the like relational terms be used merely to by One entity or operation make a distinction with another entity or operation, and not necessarily require or imply these Any this actual relation or order be present between entity or operation.Moreover, term " comprising ", "comprising" Or any other variant thereof is intended to cover non-exclusive inclusion, so that the mistake including a series of elements Journey, method, article or equipment not only include those key elements, but also other including being not expressly set out Key element, or also include for this process, method, article or the intrinsic key element of equipment.Do not having In the case of more limitations, the key element that is limited by sentence "including a ...", it is not excluded that including it is described will Other identical element also be present in the process of element, method, article or equipment.
One of ordinary skill in the art will appreciate that realize all or part of step in above method embodiment It is that by program the hardware of correlation can be instructed to complete, described program can be stored in computer-readable Take in storage medium, the storage medium designated herein obtained, such as：ROM/RAM, magnetic disc, CD etc..
The preferred embodiment of the application is the foregoing is only, is not intended to limit the protection domain of the application. All any modification, equivalent substitution and improvements made within spirit herein and principle etc., are all contained in In the protection domain of the application.

Claims (20)

1. a kind of monitoring method, applied to monitoring device, it is characterised in that the monitoring device includes：Extremely Few an image processing apparatus and ball-shaped camera；Wherein, described image processing unit includes：It is at least one Camera, a PLD, a system level chip SOC and a digital signal processor, The coverage of each camera not exclusively overlaps and forms continuous coverage；
Methods described includes：
The camera collection image, and acquired image is sent to the PLD；
After the PLD receives the image from the camera, the image received is carried out Splicing, and spliced image is sent to the digital signal processor by the SOC；
The digital signal processor is compressed processing to spliced image, and the image after compression is sent out Deliver to the ball-shaped camera；
The tracing area in image after the ball-shaped camera acquisition compression is in the ball-shaped camera Positional information in PTZ coordinate systems, scene corresponding to the tracing area is entered according to the positional information obtained Row close shot is shot, and the movement locus of object in the scene is obtained according to captured close shot image, according to The movement locus adjusts shooting angle, and then obtains the close shot monitoring information for being directed to object in the scene.
2. according to the method for claim 1, it is characterised in that the figure after the acquisition compression Before positional information of the tracing area in the PTZ coordinate systems of the ball-shaped camera as in, in addition to：
The digital signal processor is obtained in the image after the compression according to default region recognition algorithm Tracing area；According to XY coordinate systems corresponding to each camera being obtained ahead of time and the ball-shaped camera Corresponding relation between PTZ coordinate systems, obtain position letter of the tracing area in the PTZ coordinate systems Breath, and obtained positional information is sent to the ball-shaped camera；
The PTZ coordinate systems of tracing area in the image obtained after the compression in the ball-shaped camera In positional information, including：
According to the digital signal processor send positional information, obtain in the image after the compression with Positional information of the track region in the PTZ coordinate systems.
3. according to the method for claim 2, it is characterised in that described to be sent to the ball-shaped camera The positional information obtained, including：
Meet that default tracking is regular and the ball-shaped camera is in idle condition in the positional information obtained In the case of, obtained positional information is sent to the ball-shaped camera.
4. according to the method for claim 1, it is characterised in that the figure after the acquisition compression Before positional information of the tracing area in the PTZ coordinate systems of the ball-shaped camera as in, in addition to：
Image after the compression is sent to display terminal；
The PTZ coordinate systems of tracing area in the image obtained after the compression in the ball-shaped camera In positional information, including：
The tracing area in image after the compression sent according to the display terminal images in the ball-type Positional information in the PTZ coordinate systems of machine, the tracing area in the image after the compression is obtained in the PTZ Positional information in coordinate system, wherein, the positional information that the display terminal is sent is：The display terminal According to the PTZ coordinate systems of XY coordinate systems corresponding to each camera being obtained ahead of time and the ball-shaped camera it Between corresponding relation obtain.
5. according to the method any one of claim 2-4, it is characterised in that it is described be obtained ahead of time it is each Corresponding relation between two-dimensional coordinate system corresponding to individual camera and the PTZ coordinate systems of the ball-shaped camera, lead to Cross in the following manner acquisition：
The ball-shaped camera sends demarcation instruction to the digital signal processor, wherein, the demarcation refers to The mark of camera to be calibrated is carried in order；
The digital signal processor obtains the first image of the camera shooting to be calibrated, and from the ball Type video camera obtains the second image for current scene；According to the XY coordinates of pixel, from first figure Similarity is more than the mesh for presetting similarity threshold between predetermined number pixel value is obtained in picture and second image Mark pixel；The XY coordinates of the target pixel points are sent to the ball-shaped camera；
The ball-shaped camera obtains PTZ coordinates corresponding to the XY coordinates of the target pixel points, and by described in The PTZ coordinates of target pixel points are sent to the digital signal processor；
The digital signal processor is according to the XY coordinates and PTZ coordinates of the target pixel points, according to default Calibration algorithm, complete to handle for the demarcation of the camera to be calibrated, and calibration result sent to institute State ball-shaped camera；
The ball-shaped camera sends the calibration result to the display terminal.
6. according to the method any one of claim 2-4, it is characterised in that it is described be obtained ahead of time it is each Corresponding relation between two-dimensional coordinate system corresponding to individual camera and the PTZ coordinate systems of the ball-shaped camera, lead to Cross in the following manner acquisition：
The ball-shaped camera receives the demarcation instruction that display terminal is sent, wherein, taken in the demarcation instruction XY coordinate of the band for the target pixel points of shot by camera image to be calibrated；Obtain the target pixel points XY coordinates corresponding to PTZ coordinates；The XY coordinates of the target pixel points and PTZ coordinates are sent to described Digital signal processor；
The digital signal processor is according to the XY coordinates and PTZ coordinates of the target pixel points, according to default Calibration algorithm, complete to handle for the demarcation of the camera to be calibrated, and calibration result sent to institute State ball-shaped camera；
The ball-shaped camera sends the calibration result to the display terminal.
7. according to the method for claim 6, it is characterised in that receive and show in the ball-shaped camera Before the demarcation instruction that terminal is sent, in addition to：
The ball-shaped camera receives the image for camera to be calibrated that display terminal is sent and instructed, And instructed to digital signal processor forwarding described image；
The digital signal processor is instructed according to described image, by the PLD and The SOC obtains the image of the camera collection to be calibrated, and the figure that the camera to be calibrated is gathered As sending to the ball-shaped camera；
The image of the camera collection to be calibrated is forwarded to the display terminal by the ball-shaped camera.
8. according to the method for claim 1, it is characterised in that in scene corresponding to the tracing area In the case of including multiple objects, it is described according to the positional information obtained to corresponding to the tracing area Scene carries out close shot shooting, and the movement locus of object in the scene is obtained according to captured close shot image, Shooting angle is adjusted according to the movement locus, and then obtains the close shot monitoring letter for being directed to object in the scene Breath, including：
Rule is determined according to default object priority, it is each right in scene corresponding to the tracing area to determine The tracking priority of elephant；
According to the tracking priority, the close shot monitoring of each object is obtained in a manner of taking turn by following steps Information：
Close shot shooting is carried out to destination object according to the positional information obtained, wherein, the destination object is Any object in scene corresponding to the tracing area；
The movement locus of the destination object is obtained according to captured close shot image；
Shooting angle is adjusted according to the movement locus, acquisition is near for the preset duration of the destination object Scape monitoring information.
9. a kind of monitoring device, it is characterised in that the monitoring device includes：At least one image procossing dress Put and ball-shaped camera；Wherein, described image processing unit includes：At least one camera, one can compile Journey logical device, a system level chip SOC and a digital signal processor, the shooting of each camera Scope not exclusively overlaps and forms continuous coverage；
The camera, sent for gathering image, and by acquired image to the programmable logic device Part；
The PLD, for receiving the image from the camera, to the image received Splicing is carried out, and spliced image is sent to the digital signal processor by the SOC；
The digital signal processor, for being compressed processing to spliced image, and by after compression Image is sent to the ball-shaped camera；
The ball-shaped camera, taken the photograph for obtaining the tracing area in the image after the compression in the ball-type Positional information in the PTZ coordinate systems of camera, according to the positional information obtained to corresponding to the tracing area Scene carries out close shot shooting, and the movement locus of object in the scene is obtained according to captured close shot image, Shooting angle is adjusted according to the movement locus, and then obtains the close shot monitoring letter for being directed to object in the scene Breath.
10. monitoring device according to claim 9, it is characterised in that
The digital signal processor, it is additionally operable to according to default region recognition algorithm, after obtaining the compression Image in tracing area；According to XY coordinate systems corresponding to each camera being obtained ahead of time and the ball-type Corresponding relation between the PTZ coordinate systems of video camera, the tracing area is obtained in the PTZ coordinate systems Positional information, and obtained positional information is sent to the ball-shaped camera；
The ball-shaped camera, the positional information sent according to the digital signal processor is additionally operable to, is obtained Positional information of the tracing area in image in the PTZ coordinate systems after the compression.
11. monitoring device according to claim 10, it is characterised in that
The digital signal processor, specifically for meeting default tracking rule in the positional information obtained And in the case that the ball-shaped camera is in idle condition, obtained position is sent to the ball-shaped camera Confidence ceases.
12. monitoring device according to claim 9, it is characterised in that
The ball-shaped camera, it is additionally operable to send the image after the compression to display terminal, and according to institute The tracing area stated in the image after the compression of display terminal transmission is sat in the PTZ of the ball-shaped camera Positional information in mark system, obtains the tracing area in the image after the compression in the PTZ coordinate systems Positional information, wherein, the positional information that the display terminal is sent is：The display terminal according to obtaining in advance Corresponding pass corresponding to each camera obtained between XY coordinate systems and the PTZ coordinate systems of the ball-shaped camera What system obtained.
13. according to the monitoring device any one of claim 10-12, it is characterised in that
The ball-shaped camera, specifically for sending demarcation instruction to the digital signal processor, wherein, The mark of camera to be calibrated is carried in the demarcation instruction；
The digital signal processor, the first image specifically for obtaining the camera shooting to be calibrated, And obtain the second image for current scene from the ball-shaped camera；According to the XY coordinates of pixel, from Similarity is similar more than default between predetermined number pixel value is obtained in described first image and second image Spend the target pixel points of threshold value；The XY coordinates of the target pixel points are sent to the ball-shaped camera；
The ball-shaped camera, specifically for obtaining PTZ coordinates corresponding to the XY coordinates of the target pixel points, And the PTZ coordinates of the target pixel points are sent to the digital signal processor；
The digital signal processor, specifically for the XY coordinates and PTZ coordinates according to the target pixel points, According to default calibration algorithm, complete to handle for the demarcation of the camera to be calibrated, and by calibration result Send to the ball-shaped camera；
The ball-shaped camera, specifically for the calibration result is sent to the display terminal.
14. according to the monitoring device any one of claim 10-12, it is characterised in that
The ball-shaped camera, the demarcation sent specifically for receiving display terminal instruct, wherein, the mark The XY coordinates of the target pixel points for shot by camera image to be calibrated are carried in fixed instruction；Described in acquisition PTZ coordinates corresponding to the XY coordinates of target pixel points；By the XY coordinates and PTZ coordinates of the target pixel points Send to the digital signal processor；
The digital signal processor, specifically for the XY coordinates and PTZ coordinates according to the target pixel points, According to default calibration algorithm, complete to handle for the demarcation of the camera to be calibrated, and by calibration result Send to the ball-shaped camera；
The ball-shaped camera, specifically for the calibration result is sent to the display terminal.
15. monitoring device according to claim 14, it is characterised in that
The ball-shaped camera, the image for camera to be calibrated for being additionally operable to receive display terminal transmission obtain Call instruction, and instructed to digital signal processor forwarding described image；
The digital signal processor, it is additionally operable to be instructed according to described image, is patrolled by described may be programmed Volume device and the SOC obtain the image of the camera collection to be calibrated, and by the camera to be calibrated The image of collection is sent to the ball-shaped camera；
The ball-shaped camera, it is additionally operable to the image of the camera collection to be calibrated being forwarded to the display Terminal.
16. monitoring device according to claim 9, it is characterised in that the ball-shaped camera, specifically For determining rule according to default object priority, it is each right in scene corresponding to the tracing area to determine The tracking priority of elephant；According to the tracking priority, obtained by following steps in a manner of taking turn every a pair The close shot monitoring information of elephant：
Close shot shooting is carried out to destination object according to the positional information obtained, wherein, the destination object is Any object in scene corresponding to the tracing area；
The movement locus of the destination object is obtained according to captured close shot image；
Shooting angle is adjusted according to the movement locus, acquisition is near for the preset duration of the destination object Scape monitoring information.
17. a kind of monitoring system, it is characterised in that the monitoring system includes：Monitoring device and display are eventually End；
The monitoring device includes：At least one image processing apparatus and ball-shaped camera；Wherein, the figure As processing unit includes：Multiple cameras, a PLD, a system level chip SOC and One digital signal processor, the coverage of each camera not exclusively overlap and form continuous shooting model Enclose；
The camera, sent for gathering image, and by acquired image to the programmable logic device Part；
The PLD, for receiving the image from the camera, to the image received Splicing is carried out, and spliced image is sent to the digital signal processor by the SOC；
The digital signal processor, for being compressed processing to spliced image, and by after compression Image is sent to the ball-shaped camera；
The ball-shaped camera, taken the photograph for obtaining the tracing area in the image after the compression in the ball-type Positional information in the PTZ coordinate systems of camera, according to the positional information obtained to corresponding to the tracing area Scene carries out close shot shooting, and the movement locus of object in the scene is obtained according to captured close shot image, Shooting angle is adjusted according to the movement locus, and then obtains the close shot monitoring letter for being directed to object in the scene Breath；
The display terminal, the image after the compression sent for receiving the ball-shaped camera, and show institute State the image after compression.
18. monitoring system according to claim 17, it is characterised in that
The display terminal, the image after the compression sent specifically for receiving the ball-shaped camera, Obtain PTZ coordinate of the tracing area in the image after the compression that user selectes in the ball-shaped camera Positional information in system, and the positional information obtained is sent to the ball-shaped camera；
The ball-shaped camera, specifically for the positional information sent according to the display terminal, described in acquisition Positional information of the tracing area in image in the PTZ coordinate systems after compression, wherein, the display is eventually End send positional information be：Display terminal XY coordinates according to corresponding to each camera being obtained ahead of time What the corresponding relation between system and the PTZ coordinate systems of the ball-shaped camera obtained.
19. monitoring system according to claim 18, it is characterised in that
The display terminal, it is additionally operable to send demarcation instruction to the ball-shaped camera, wherein, the demarcation The XY coordinates of the target pixel points for shot by camera image to be calibrated are carried in instruction；
The ball-shaped camera, specifically for being instructed according to the demarcation；Obtain the XY of the target pixel points PTZ coordinates corresponding to coordinate；The XY coordinates of the target pixel points and PTZ coordinates are sent to the numeral Signal processor；
The digital signal processor, specifically for the XY coordinates and PTZ coordinates according to the target pixel points, According to default calibration algorithm, complete to handle for the demarcation of the camera to be calibrated, and by calibration result Send to the ball-shaped camera；
The ball-shaped camera, specifically for the calibration result is sent to the display terminal.
20. monitoring system according to claim 19, it is characterised in that
The display terminal, it is additionally operable to obtain for the image of camera to be calibrated to ball-shaped camera transmission Call instruction；
The ball-shaped camera, it is additionally operable to be instructed to digital signal processor forwarding described image；
The digital signal processor, it is additionally operable to be instructed according to described image, is patrolled by described may be programmed Volume device and the SOC obtain the image of the camera collection to be calibrated, and by the camera to be calibrated The image of collection is sent to the ball-shaped camera；
The ball-shaped camera, it is additionally operable to the image of the camera collection to be calibrated being forwarded to the display Terminal.
CN201610283248.2A 2016-04-29 2016-04-29 A kind of monitoring method, equipment and system Pending CN107343165A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610283248.2A CN107343165A (en) 2016-04-29 2016-04-29 A kind of monitoring method, equipment and system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610283248.2A CN107343165A (en) 2016-04-29 2016-04-29 A kind of monitoring method, equipment and system

Publications (1)

Publication Number Publication Date
CN107343165A true CN107343165A (en) 2017-11-10

Family

ID=60222669

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610283248.2A Pending CN107343165A (en) 2016-04-29 2016-04-29 A kind of monitoring method, equipment and system

Country Status (1)

Country Link
CN (1) CN107343165A (en)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110197097A (en) * 2018-02-24 2019-09-03 北京图森未来科技有限公司 A kind of port area monitoring method and system, central control system
CN110599721A (en) * 2018-06-13 2019-12-20 杭州海康威视数字技术股份有限公司 Monitoring method, device and system and monitoring equipment
CN111131697A (en) * 2019-12-23 2020-05-08 北京中广上洋科技股份有限公司 Multi-camera intelligent tracking shooting method, system, equipment and storage medium
CN111179305A (en) * 2018-11-13 2020-05-19 晶睿通讯股份有限公司 Object position estimation method and object position estimation device
WO2020135106A1 (en) * 2018-12-28 2020-07-02 杭州海康威视数字技术股份有限公司 Method and apparatus for tracking target object, monitoring device, and storage medium
CN111462229A (en) * 2020-03-31 2020-07-28 普宙飞行器科技（深圳）有限公司 Target shooting method and shooting device based on unmanned aerial vehicle and unmanned aerial vehicle
CN113361306A (en) * 2020-03-06 2021-09-07 顺丰科技有限公司 Scene data display method, device, equipment and storage medium
CN113518174A (en) * 2020-04-10 2021-10-19 华为技术有限公司 Shooting method, device and system
CN113542679A (en) * 2021-06-24 2021-10-22 海信视像科技股份有限公司 Image playing method and device
CN113542672A (en) * 2021-05-25 2021-10-22 浙江大华技术股份有限公司 Camera cruising method, electronic device and storage medium
CN114189660A (en) * 2021-12-24 2022-03-15 威艾特科技(深圳)有限公司 Monitoring method and system based on omnidirectional camera

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101119482A (en) * 2007-09-28 2008-02-06 北京智安邦科技有限公司 Overall view monitoring method and apparatus
CN102148965A (en) * 2011-05-09 2011-08-10 上海芯启电子科技有限公司 Video monitoring system for multi-target tracking close-up shooting
US20120154522A1 (en) * 2010-12-21 2012-06-21 Electronics And Telecommunications Research Institute Object image capture apparatus and method
US20130100292A1 (en) * 2011-10-19 2013-04-25 Biotronix Corp. Compound dome camera assembly
CN103533309A (en) * 2013-10-18 2014-01-22 中国民用航空总局第二研究所 Method and distributed linked system capable of simultaneously performing panoramic display and local lookup
CN104539896A (en) * 2014-12-25 2015-04-22 桂林远望智能通信科技有限公司 Intelligent panoramic monitoring and hotspot close-up monitoring system and method
CN104867155A (en) * 2015-06-02 2015-08-26 阔地教育科技有限公司 Target tracking method and device on the basis of joint calibration
CN204948235U (en) * 2015-08-07 2016-01-06 富盛科技股份有限公司 A kind of panorama close-up image linkage positioning device based on dynamically splicing large scene

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101119482A (en) * 2007-09-28 2008-02-06 北京智安邦科技有限公司 Overall view monitoring method and apparatus
US20120154522A1 (en) * 2010-12-21 2012-06-21 Electronics And Telecommunications Research Institute Object image capture apparatus and method
CN102148965A (en) * 2011-05-09 2011-08-10 上海芯启电子科技有限公司 Video monitoring system for multi-target tracking close-up shooting
US20130100292A1 (en) * 2011-10-19 2013-04-25 Biotronix Corp. Compound dome camera assembly
CN103533309A (en) * 2013-10-18 2014-01-22 中国民用航空总局第二研究所 Method and distributed linked system capable of simultaneously performing panoramic display and local lookup
CN104539896A (en) * 2014-12-25 2015-04-22 桂林远望智能通信科技有限公司 Intelligent panoramic monitoring and hotspot close-up monitoring system and method
CN104867155A (en) * 2015-06-02 2015-08-26 阔地教育科技有限公司 Target tracking method and device on the basis of joint calibration
CN204948235U (en) * 2015-08-07 2016-01-06 富盛科技股份有限公司 A kind of panorama close-up image linkage positioning device based on dynamically splicing large scene

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110197097A (en) * 2018-02-24 2019-09-03 北京图森未来科技有限公司 A kind of port area monitoring method and system, central control system
CN110197097B (en) * 2018-02-24 2024-04-19 北京图森智途科技有限公司 Harbor district monitoring method and system and central control system
CN110599721A (en) * 2018-06-13 2019-12-20 杭州海康威视数字技术股份有限公司 Monitoring method, device and system and monitoring equipment
CN111179305A (en) * 2018-11-13 2020-05-19 晶睿通讯股份有限公司 Object position estimation method and object position estimation device
CN111179305B (en) * 2018-11-13 2023-11-14 晶睿通讯股份有限公司 Object position estimation method and object position estimation device thereof
WO2020135106A1 (en) * 2018-12-28 2020-07-02 杭州海康威视数字技术股份有限公司 Method and apparatus for tracking target object, monitoring device, and storage medium
CN111383251A (en) * 2018-12-28 2020-07-07 杭州海康威视数字技术股份有限公司 Method and device for tracking target object, monitoring equipment and storage medium
CN111131697A (en) * 2019-12-23 2020-05-08 北京中广上洋科技股份有限公司 Multi-camera intelligent tracking shooting method, system, equipment and storage medium
CN113361306A (en) * 2020-03-06 2021-09-07 顺丰科技有限公司 Scene data display method, device, equipment and storage medium
CN111462229B (en) * 2020-03-31 2023-06-30 普宙科技有限公司 Unmanned aerial vehicle-based target shooting method, shooting device and unmanned aerial vehicle
CN111462229A (en) * 2020-03-31 2020-07-28 普宙飞行器科技（深圳）有限公司 Target shooting method and shooting device based on unmanned aerial vehicle and unmanned aerial vehicle
CN113518174A (en) * 2020-04-10 2021-10-19 华为技术有限公司 Shooting method, device and system
CN113542672A (en) * 2021-05-25 2021-10-22 浙江大华技术股份有限公司 Camera cruising method, electronic device and storage medium
CN113542672B (en) * 2021-05-25 2023-08-18 浙江大华技术股份有限公司 Camera cruising method, electronic device and storage medium
CN113542679A (en) * 2021-06-24 2021-10-22 海信视像科技股份有限公司 Image playing method and device
CN114189660A (en) * 2021-12-24 2022-03-15 威艾特科技(深圳)有限公司 Monitoring method and system based on omnidirectional camera

Similar Documents

Publication Publication Date Title
CN107343165A (en) A kind of monitoring method, equipment and system
WO2018214078A1 (en) Photographing control method and device
CN111083380B (en) Video processing method, electronic equipment and storage medium
CN108702444B (en) Image processing method, unmanned aerial vehicle and system
US9479703B2 (en) Automatic object viewing methods and apparatus
CN103826103B (en) Cruise control method for tripod head video camera
CN103118230B (en) A kind of panorama acquisition, device and system
JP5659304B2 (en) Image generating apparatus and image generating method
US11290692B2 (en) Unmanned aerial vehicle imaging control method, unmanned aerial vehicle imaging method, control terminal, unmanned aerial vehicle control device, and unmanned aerial vehicle
CN106550182A (en) Shared unmanned plane viewing system
KR20210104684A (en) Surveying and mapping systems, surveying and mapping methods, devices and instruments
US20210112194A1 (en) Method and device for taking group photo
CN105718862A (en) Method, device and recording-broadcasting system for automatically tracking teacher via single camera
CN108702464B (en) Video processing method, control terminal and mobile device
US10977852B2 (en) VR playing method, VR playing device, and VR playing system
CN103907340A (en) Image generation device and image generation method
CN112207821B (en) Target searching method of visual robot and robot
CN106406343A (en) Control method, device and system of unmanned aerial vehicle
CN108351650A (en) A kind of flight control method, device and aircraft to aircraft
CN106851094A (en) A kind of information processing method and device
KR20210105345A (en) Surveying and mapping methods, devices and instruments
JP2019506012A (en) Smart airplane shooting method, smart airplane, program, and recording medium
CN114727028B (en) Image exposure method and device and unmanned aerial vehicle
CN108615243B (en) Method, device and system for determining stereoscopic multimedia information
WO2021083150A1 (en) Zoom method and device, aircraft, flight system and storage medium

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
RJ01 Rejection of invention patent application after publication
RJ01 Rejection of invention patent application after publication

Application publication date: 20171110