CN107438152B - Method and system for quickly positioning and capturing panoramic target by motion camera - Google Patents
Method and system for quickly positioning and capturing panoramic target by motion camera Download PDFInfo
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- CN107438152B CN107438152B CN201610355437.6A CN201610355437A CN107438152B CN 107438152 B CN107438152 B CN 107438152B CN 201610355437 A CN201610355437 A CN 201610355437A CN 107438152 B CN107438152 B CN 107438152B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B37/00—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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Abstract
The invention relates to a method for quickly positioning and capturing a panoramic target by a motion camera, which realizes the primary positioning of the motion camera by utilizing the mapping corresponding relation between a panoramic video picture and a preset position of the motion camera, and arranges a frame selection area in the video picture of the motion camera; matching the frame selection area with an image in a video picture of the motion camera to obtain the position of the frame selection area in the video picture of the motion camera; and moving the frame selection area to the central area position of the video picture of the motion camera by using a motion camera control strategy to realize the positioning capture of the local detail video picture of the panoramic video. The system of the invention comprises: the system comprises a moving camera and a plurality of fixed cameras, wherein the moving camera and the fixed cameras are arranged in a complex scene; a plurality of fixed cameras for obtaining source data of panoramic seamless video pictures in a complex scene; and the motion camera obtains the local detail video picture in the panoramic video picture, and realizes the positioning capture of the local detail video picture of the panoramic video.
Description
Technical Field
The invention belongs to the technical field of intelligent monitoring, and particularly relates to a method and a system for quickly positioning and capturing a panoramic target by a motion camera.
Background
The airport, the port and other areas have the characteristics of spaciousness and large visual field, and the visual field angle of a single camera is limited, so that the comprehensive monitoring cannot be carried out; although a plurality of scattered cameras can monitor the scene in an all-around way, the provided pictures are scattered and messy, the vision of a user is required to be switched on each picture, and the visual inspection is inconvenient; the method comprises the steps of obtaining images by utilizing a plurality of fixed cameras installed at a certain position, obtaining a real-time seamless panoramic spliced picture through an image splicing and fusion algorithm, enabling users to conveniently and visually check the overall situation of a scene, but the panoramic picture cannot display details in the scene in detail, and the linkage of the panorama and a dome camera or a moving camera becomes an effective method for simultaneously holding the overall situation and checking local details. The ball machine is limited by a physical structure, the focal length of a lens of the ball machine is usually limited, local detailed information of objects at a remote end cannot be viewed in large areas such as airports and ports, and accordingly, distributed linkage of a panorama and a motion camera becomes a practical method for monitoring management of the type, for example, a distributed linkage system (ZL 2013 0644.4) which can simultaneously perform panorama display and local viewing is disclosed in the patent.
The patent 'method and device (201510178584.6) for realizing distributed linkage display of observation pictures by adopting preset bits' realizes linkage of two observation pictures by utilizing the preset bits, avoids complex calculation and coordinate conversion, and can better meet the monitoring and management requirements of open areas such as airports, ports and the like, but the selected position in a panoramic picture is not necessarily in the central area of a motion camera picture.
Through the analysis of the prior art, the method and the system for quickly positioning and capturing the panoramic target by utilizing the moving camera are simple, quick and accurate and improve the search matching efficiency.
Disclosure of Invention
The invention aims to provide a method and a system for quickly positioning and capturing a panoramic target by a moving camera, which have the advantages of simple calculation, reduced image search matching range and improved search matching efficiency.
In order to achieve the object of the present invention, a first aspect of the present invention provides a method for capturing a panoramic target by a moving camera, the method comprising the following steps:
step S1: the method comprises the steps that the mapping corresponding relation between a panoramic video picture and preset positions of a motion camera in a complex scene is utilized to achieve primary positioning of the motion camera, and a frame selection area is arranged in the video picture of the motion camera;
step S2: matching the frame selection area with the image in the video picture of the motion camera to obtain the position of the frame selection area in the video picture of the motion camera;
and step S3: and utilizing a motion camera control strategy to enable the frame selection area to appear at the central area position of the video picture of the motion camera, thereby realizing the positioning capture of the local detail video picture of the panoramic video.
Compared with the prior art, the beneficial technical effects of the invention comprise: the method for quickly positioning and capturing the panoramic target by the moving camera converts image search matching in the panoramic video picture into image search matching of the moving camera video picture by utilizing the mapping relation between the preset position and the panoramic video picture, and realizes accurate positioning of the moving target by utilizing the image search matching and the motion control algorithm.
In order to achieve the object of the present invention, a second aspect of the present invention provides a system for quickly locating and capturing a panoramic target by a moving camera, the system having a moving camera and a plurality of fixed cameras disposed in a complex scene;
a plurality of fixed cameras for obtaining source data of panoramic video pictures in a complex scene;
and the motion camera is used for obtaining the local detail video picture in the panoramic video picture and realizing the positioning capture of the local detail video picture of the panoramic video.
Compared with the prior art, the system has the beneficial effects that: according to the system for quickly positioning and capturing the panoramic target by the motion camera, the local detail video picture in the panoramic video picture is obtained by utilizing the mapping relation table of the preset position of the motion camera and the fixed panoramic video picture of the camera, so that the local detail video picture of the panoramic video is positioned and captured, the image searching matching range is reduced, and the searching matching efficiency is improved; the image search matching in the panoramic video picture is converted into the image search matching of the video picture of the motion camera, so that the resolution is greatly reduced, and the search matching efficiency is improved; the image matching and the motion control can be completed only under a rectangular coordinate system without involving coordinate conversion; the motion control is realized by comparing the coordinate positions, and the smooth and accurate motion of the motion camera can be realized by simply comparing the coordinate positions; the method is suitable for the situation of the movement of the panoramic frame selection target. The system of the invention combines the mapping relation table of the preset position, the image matching and the motion control method to realize the positioning of the target on the panoramic video picture.
Drawings
In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
FIG. 1 is a flow chart of a method for capturing panoramic objects by a moving camera according to the present invention;
FIG. 2 is a schematic view of the orientation of the present invention;
FIG. 3 is a schematic view of the orientation of the present invention;
FIG. 4 is a system for capturing panoramic objects by fast positioning with a moving camera according to the present invention;
fig. 5 is a shroud support structure of the present invention.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only used as examples, and the protection scope of the present invention is not limited thereby.
It should be noted that unless otherwise indicated, technical or scientific terms used herein shall be the subject matter of the present application
The general meaning as understood by a person skilled in the art to which the invention pertains. The invention discloses a method and a system for quickly positioning and capturing a panoramic target by a moving camera, which are applied to large places such as airports, ports and warehouses and square areas.
The invention discloses a method and a system for quickly positioning and capturing a panoramic target by a motion camera, belongs to the field of intelligent monitoring, and is used for realizing accurate positioning and capturing of a panoramic frame selection target. Firstly, realizing primary linkage by utilizing the corresponding relation between a panoramic picture and a preset position of a motion camera, and ensuring that a frame selection area is in a video picture of the motion camera; then, performing image matching of the framing area to obtain the position of the framing area in the video picture of the motion camera; and finally, enabling the selected area to appear in the central area of the video picture of the motion camera by utilizing the control strategy of the motion camera.
Example 1:
fig. 1 shows a method for capturing a panoramic object by a motion camera, which includes the following steps:
step S1: the mapping corresponding relation between a panoramic video picture and a preset position of a motion camera in a complex scene is utilized to realize the primary positioning of the motion camera, and a frame selection area is arranged in the video picture of the motion camera;
step S2: matching the frame selection area with the image in the video picture of the motion camera to obtain the position of the frame selection area in the video picture of the motion camera;
and step S3: and utilizing a control strategy of the motion camera to enable the frame selection area to appear at the central area position of the video picture of the motion camera, so as to realize the positioning capture of the local detail video picture of the panoramic video.
According to the method for quickly positioning and capturing the panoramic target by the motion camera, the mapping relation between the preset position and the panoramic video picture is utilized, image searching and matching in the panoramic video picture is converted into image searching and matching of the video picture of the motion camera, and the quick and accurate positioning of the motion target is realized by utilizing the image searching and matching and a motion control algorithm.
Example 2:
referring to fig. 1, a method for capturing a panoramic object by a motion camera in a fast positioning manner is shown, in this embodiment, a step of obtaining a panoramic video picture is further provided on the basis of embodiment 1, where the step of obtaining the panoramic video picture includes: and splicing and fusing the video pictures of the N fixed cameras into a seamless panoramic video picture by using an image splicing processing algorithm, wherein the N number of the fixed cameras is set according to the size of the scene.
The method searches the matching image in the seamless panoramic video picture, converts the searching matching image into the searching matching image in the video picture of the motion camera, and greatly reduces the range of image searching matching.
Example 3:
referring to fig. 1, a method for capturing a panoramic object by a motion camera in a fast positioning manner is further illustrated, in this embodiment, on the basis of embodiments 1 and 2, a specific embodiment of obtaining a mapping corresponding relationship between a panoramic video picture and a preset position of the motion camera is further provided, and the step of obtaining the mapping corresponding relationship between the panoramic video picture and the preset position of the motion camera includes: and constructing grid (m, n) on the panoramic video picture, and establishing a mapping table list of the grid and preset positions of the motion camera, wherein m is a row of the grid, and n is a column of the grid. The invention can convert the image search matching in the panoramic video picture into the image search matching of the moving camera video picture by utilizing the mapping relation between the preset position and the panoramic video picture, greatly reduces the resolution and improves the search matching efficiency.
Example 4:
referring to fig. 1, a method for capturing a panoramic object by a moving camera in a fast positioning manner is further shown, where this embodiment further provides a specific embodiment of the initial positioning of the moving camera on the basis of embodiments 1 and 3, and the step of the initial positioning of the moving camera includes:
step S21: using a mouse to frame and select an area (x, y, w, h) on a panoramic video picture; x and y are coordinate points at the upper left corner of the framing area, and w and h are the length and the width of the framing area;
step S22: cutting the frame selection area to obtain a cut frame selection area;
step S23: arranging the cutting frame selection area (x 1, y1, w1, h 1) in a single grid to obtain a cutting frame selection area matched with the grid;
step S24: by inquiring the mapping table list, driving and primarily positioning the moving camera, so as to ensure that a cutting frame selection area (x 1, y1, w1, h 1) matched with the grids is arranged in a video picture of the moving camera; wherein x1 and y1 are coordinate points at the upper left corner of the new framing area, and w1 and h1 are the length and the width of the new framing area.
The specific embodiment of the initial positioning provided by the invention combines the preset bit mapping relation list lis, the image matching and the motion control method, so that the position of a new frame selection area is ensured to be in the video picture of the motion camera, and the video picture of the target in the motion camera is accurately positioned.
Example 5:
still referring to fig. 1, a method for capturing a panoramic object by a motion camera in a fast positioning manner is further provided in embodiments 1 and 4, where the method includes:
step S31: setting the cutting frame selection area matched with the grids as a frame selection area of the previous frame;
step S32: acquiring a new frame of video image of a moving camera, and matching a frame selection area (x 1, y1, w1, h 1) of a previous frame in the new frame of video image by using an image search matching algorithm to obtain a new frame selection area (x 2, y2, w2, h 2) of the new frame of video image, wherein x2 and y2 are coordinate points at the upper left corner of the new frame selection area, and w2 and h2 are the length and the width of the new frame selection area;
the image search matching algorithm can use an error back propagation 2BP algorithm, and accelerates a robust feature SURF algorithm or a Scale Invariant Feature Transform (SIFT) algorithm.
Step S33: moving the new frame selection area (x 2, y2, w2, h 2) to a central area (x 0, y0, w0, h 0) of an image taken by the motion camera through a motion camera control algorithm, wherein x0 and y0 are coordinate points of the central area (x 0, y 0), and w0 and h0 are the length and the width of the central area;
assigning the position information of the frame selection area (x 2, y2, w2, h 2) to the frame selection area (x 1, y1, w1, h 1), namely setting (x 1, y1, w1, h 1) = (x 2, y2, w2, h 2);
step S34: and acquiring a new video image from the moving camera, and circularly executing the steps S32 to S33 until the moving camera stops moving, thereby realizing the rapid positioning and capturing of the panoramic target.
According to the method for quickly positioning and capturing the panoramic target by the motion camera, disclosed by the embodiment of the invention, the motion control of the motion camera can be realized by utilizing a simple and effective motion camera control strategy of coordinate position comparison and comparing the coordinate of the central point of the frame selection area of the motion camera with the orientation relation of the central point of the central area of the image shot by the motion camera. The control strategy of the motion camera is simple and effective.
Example 6:
fig. 2 shows that, based on the embodiment 5, the motion camera control algorithm only needs to perform simple mathematical operations such as comparing the size at regular time, and the specific implementation method for achieving rapid and accurate positioning capture of the panoramic target is as follows:
step S321: determining the orientation relation between the coordinates (x, y) of the central point of the frame selection area of the moving camera and the coordinates (x 0, y 0) of the central point of the central area; x, y are coordinate points of the center point coordinates (x, y) of the framed area, where:
orientation relation 1: when the coordinate point x < x0 and y < y0, the coordinate (x, y) of the central point of the frame selection area of the moving camera is positioned at the lower left position of the coordinate (x 0 and y 0) of the central point of the central area;
orientation relation 2: when the coordinate point x is less than x0 and y is more than y0, the coordinate (x, y) of the central point of the frame selection area of the moving camera is positioned at the upper left position of the coordinate (x 0, y 0) of the central point of the central area;
orientation relationship 3: when the coordinate point x is larger than x and y is larger than y0, the coordinate (x, y) of the central point of the frame selection area of the moving camera is positioned at the upper right position of the coordinate (x 0, y 0) of the central point of the central area;
orientation relationship 4: when the coordinate point x is larger than x0 and y is smaller than y0, the coordinate (x, y) of the central point of the frame selection area of the moving camera is positioned at the lower right position of the coordinate (x 0, y 0) of the central point of the central area.
Referring to FIG. 3, a motion control strategy for controlling a motion camera is shown
Step S322: determining a motion control strategy for controlling the motion camera based on the orientation relationship of step S321 includes:
motion control strategy 1:
step 11, according to the coordinate point x < x0 and y < y0 in the step S321, that is, the coordinate (x, y) of the center point of the frame selection area is at the lower left position of the coordinate (x 0 and y 0) of the center point in the center area, firstly controlling the moving camera to move to the lower left position;
step 12, when the moving camera moves to | X-X0| < a, stopping the movement in the X direction, and enabling the moving camera to move only in the Y direction; wherein a represents the X-direction spacing value of X, X0;
and step 13, when the moving camera moves to the Y-Y0 < b, stopping the movement in the Y direction, and enabling the moving camera to move only in the X direction, wherein the b represents the Y-direction spacing value of Y and Y0.
Or:
when | x-x0| < a and | y-y0| < b simultaneously, the moving camera stops moving, and the boxed area is already in the center area of the moving camera.
Motion control strategy 2:
step 21, controlling the moving camera to move towards the upper left direction according to the coordinate points x < x0 and y > y0 in the step S321, namely, the coordinate (x, y) of the center point of the frame selection area is at the upper left position of the coordinate (x 0, y 0) of the center point in the center area;
step 22, when the moving camera moves to | X-X0| < a, stopping the movement in the X direction, and enabling the moving camera to move only in the Y direction;
step 23, when the moving camera moves to Y-Y0 < b, stopping the movement in the Y direction, and moving the moving camera only in the X direction;
or:
when | x-x0| < a and | y-y0| < b, the moving camera stops moving, and the framing area is already in the center area of the moving camera.
Motion control strategy 3:
step 31, controlling the moving camera to move to the upper right direction according to the coordinate points x > x0 and y > y0 in the step S321, namely, the coordinate (x, y) of the center point of the frame selection area is at the upper right position of the coordinate (x 0, y 0) of the center point in the center area;
step 32, when the moving camera moves to | X-X0| < a, stopping the movement in the X direction, and enabling the moving camera to move only in the Y direction;
step 33, when the moving camera moves to Y-Y0 < b, stopping the movement in the Y direction, and moving the moving camera only in the X direction;
or:
when | x-x0| < a and | y-y0| < b simultaneously, the moving camera stops moving, and the boxed area is already in the center area of the moving camera.
Motion control strategy 4:
step 41, controlling the moving camera to move to the lower right direction according to the coordinate points x > x0 and y < y0 in the step S321, namely, the coordinate (x, y) of the center point of the frame selection area is at the lower right position of the coordinate (x 0, y 0) of the center point in the center area;
step 42, when the moving camera moves to | X-X0| < a, stopping the movement in the X direction, and moving the moving camera only in the Y direction;
when the moving camera moves to the Y-Y0 < b, stopping the movement in the Y direction, and moving the moving camera only in the X direction;
or:
when | x-x0| < a and | y-y0| < b, the moving camera stops moving, and the framing area is already in the center area of the moving camera.
In the invention, the image matching and the motion control can be completed only under the rectangular coordinate system without involving coordinate conversion, so that the motion control algorithm is simple, and the smooth and accurate motion of the motion camera can be realized only by simple coordinate position comparison. The method avoids the conversion of longitude and latitude coordinates and reduces the cost of additional equipment such as a differential GPS and the like.
Referring to fig. 4, the system for quickly positioning and capturing a panoramic object by a motion camera according to the present invention uses a method for quickly positioning and capturing a panoramic object by a motion camera and embodiments 1 to 6 thereof, and the embodiments of the system for quickly positioning and capturing a panoramic object by a motion camera are as follows:
example A:
the invention provides a system for quickly positioning and capturing a panoramic target by a moving camera, which comprises the moving camera and a plurality of fixed cameras, wherein the moving camera and the fixed cameras are arranged in a complex scene;
a plurality of fixed cameras for obtaining source data of panoramic video pictures in a complex scene;
and the motion camera is used for obtaining the local detail video picture in the panoramic video picture and realizing the positioning capture of the local detail video picture of the panoramic video.
According to the embodiment, the local detail video picture in the panoramic video picture is obtained by utilizing the mapping relation table of the preset position of the moving camera and the panoramic video picture of the fixed camera, so that the local detail video picture of the panoramic video picture is positioned and captured, the image searching and matching range is reduced, and the searching and matching efficiency is improved.
Example B:
the system for quickly positioning and capturing the panoramic target by the moving camera comprises a plurality of fixed cameras, a moving camera, a first switch and a second switch, wherein:
the moving camera and the fixed cameras are arranged in a complex scene;
a plurality of fixed cameras for obtaining source data of panoramic seamless video pictures in a complex scene;
a motion camera for obtaining the local detail video picture in the panoramic seamless video picture and realizing the positioning capture of the local detail video picture of the panoramic seamless video;
the first switch is connected with the corresponding fixed camera and the corresponding moving camera through network cables;
the first switch and the second switch are connected and used for transmitting video pictures of the fixed camera and the moving camera and sending preset bit commands to the moving camera. The number of the fixed cameras generally takes 4-8.
In the system of the present invention, based on an image stitching processing algorithm, video frames of N fixed cameras are stitched and fused into a panoramic seamless video frame, and the number N of the fixed cameras is set according to the size of a scene. In the system for locating the frame selection area in the panoramic seamless video picture in a linkage manner, the first switch and the second switch are connected and transmit the video pictures of the fixed camera and the moving camera and the corresponding preset position commands, so that the search matching image in the panoramic video picture is converted into the search matching image in the video picture of the moving camera, and the image search matching range is greatly reduced.
Example C:
the embodiment provides a system for quickly positioning and capturing a panoramic target by a moving camera based on embodiment B, which includes: a plurality of fixed cameras, a motion camera, first switch, second switch, the system still includes: concatenation processing unit, control processing unit, wherein:
the moving camera and the fixed cameras are arranged in a complex scene;
a plurality of fixed cameras for obtaining panoramic seamless video pictures in a complex scene;
the motion camera is used for obtaining a local detail video picture in the panoramic video picture and realizing the positioning capture of the local detail video picture of the panoramic video;
the first switch is connected with the corresponding fixed camera and the corresponding moving camera through network cables;
the first switch and the second switch are connected and used for transmitting video pictures of the fixed camera and the moving camera and sending a preset bit command to the moving camera;
the splicing processing unit is connected with the second switch,
the splicing processing unit is used for processing splicing fusion of video picture information of the fixed cameras, obtaining panoramic video pictures, constructing grids, identifying the position of a mouse and transmitting the position information of the mouse;
the control processing unit is connected with the second switch;
the control processing unit decodes the video image of the motion camera, stores the mapping table, receives the mouse position information from the splicing processing unit, inquires the two-dimensional mapping table, obtains the motion camera and the preset position component, sends a preset position command to the motion camera by utilizing a Pelco-P or Pelco-D protocol, drives the motion camera to rotate to a proper angle, and automatically zooms and focuses.
In the embodiment, the splicing processing unit and the control processing unit are adopted, the splicing processing unit transmits information to the control processing unit through the second switch, and the image search matching in the panoramic video picture is converted into the image search matching of the moving camera video picture by combining the preset bit mapping relation list lis and the image matching and motion control method, so that the resolution is greatly reduced, and the search matching efficiency is improved.
Example D:
the embodiment provides a system for capturing panoramic target by fast positioning of a moving camera, which comprises: the system comprises a plurality of fixed cameras, a moving camera, a first switch and a second switch, and further comprises a splicing processing unit and a control processing unit, wherein one of the splicing processing unit and the control processing unit is as follows: wherein:
the moving camera and the fixed cameras are arranged in a complex scene;
a plurality of fixed cameras for obtaining panoramic seamless video pictures in a complex scene; the fixed cameras are arranged in the same shield bracket;
the motion camera is used for obtaining a local detail video picture in the panoramic video picture and realizing the positioning capture of the local detail video picture of the panoramic video;
the first switch is connected with the corresponding fixed camera and the corresponding moving camera through network cables;
the first switch and the second switch are connected and used for transmitting video pictures of the fixed camera and the moving camera and sending a preset bit command to the moving camera;
the splicing processing unit is connected with the second switch;
the splicing processing unit is used for processing splicing fusion of video picture information of the fixed cameras, acquiring panoramic video pictures, identifying the position of a mouse and transmitting the position information of the mouse; or
The control processing unit is connected with the second switch;
the control processing unit decodes the video image of the motion camera, stores the mapping table, receives the mouse position from the splicing processing unit, inquires the two-dimensional mapping table, obtains the motion camera and the preset position component, sends a preset position command to the motion camera by utilizing a Pelco-D or Pelco-P protocol, drives the motion camera to rotate to a proper angle, and automatically zooms and focuses.
In this embodiment, based on the control strategies of the motion cameras provided in embodiments 1 to 5 and embodiments B to C, a frame selection area is found in the motion camera by using an image search matching algorithm; and moving the frame selection area to a central area of an image shot by the motion camera through a motion camera control algorithm until the motion camera stops moving, thereby realizing the rapid positioning and capturing of the panoramic target. The motion control strategy for controlling the motion camera is determined by comparing the coordinate of the central point of the frame area of the motion camera with the orientation relation of the central point of the central area of the image shot by the motion camera, so that the motion control of the motion camera can be realized. The motion camera control strategy of the invention is simple and effective. In the invention, the image matching and the motion control can be completed only under the rectangular coordinate system without involving coordinate conversion, so that the motion control algorithm is simple, and the smooth and accurate motion of the motion camera can be realized only by simple coordinate position comparison. The method avoids the conversion of longitude and latitude coordinates and reduces the cost of additional equipment such as a differential GPS and the like.
Example E:
referring to fig. 5, a shield structure is shown, in this embodiment, the fixed camera is mounted in the same shield bracket; the number of the fixed cameras and the number N of the moving cameras with different high and low positions are set according to the size of a scene, and the selection of the lens of the moving camera is selected randomly according to actual conditions. The moving camera needs to be mounted on the horizontal plane or horizontal parallel plane of the fixed camera.
Referring to fig. 5, a shield support structure of the present embodiment includes: mount table 1, network equipment box 2, pylon 3, upper portion pylon 4, support bracket 5, support frame 6, frame 7, frame lid 8, bracing piece 9, support 10, wherein:
the bottoms of the network equipment box 2 and the bottom tower 3 are correspondingly arranged on the mounting platform 1;
the upper tower 4 is correspondingly connected with the support bracket 5 and the bottom tower 3;
the support frame 6 and the support 10 are correspondingly connected with the support bracket 5; the lightning arrester is connected with the bracket 10
The supporting frame 6 is connected with the frame 7; the frame 7 is connected with a plurality of fixed cameras;
the frame cover 8 is arranged between the frame 7 and the support rod 9, and the support rod 9 is connected with the motion camera.
The shield structure of the present embodiment can ensure that the fixed camera mounted in the frame 7 and the moving camera on the support bar 9 are on the horizontal parallel plane; the direct irradiation of the sun to the fixed camera is basically prevented, and the backlight imaging is avoided; so that the moving camera and the lens thereof can be arbitrarily selected according to actual needs.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described apparatus embodiments are merely illustrative, and for example, the division of the units into only one type of logical function may be implemented in other ways, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.
Claims (9)
1. A method for quickly positioning and capturing a panoramic target by a motion camera is characterized by comprising the following steps:
step S1: the mapping corresponding relation between a panoramic video picture and a preset position of a motion camera in a complex scene is utilized to realize the primary positioning of the motion camera, and a frame selection area is arranged in the video picture of the motion camera;
step S2: matching the frame selection area with an image in a video picture of the motion camera to obtain the position of the frame selection area in the video picture of the motion camera;
and step S3: moving the frame selection area to the central area position of the video picture of the motion camera by utilizing a motion camera control strategy to realize the positioning capture of the local detail video picture of the panoramic video;
the specific implementation steps of the motion camera control strategy comprise the following steps:
step S31: setting the cutting frame selection area matched with the grids as a frame selection area of the previous frame;
step S32: acquiring a new frame of video image of a moving camera, and matching a frame selection area (x 1, y1, w1, h 1) of a previous frame in the new frame of video image by using an image search matching algorithm to obtain a new frame selection area (x 2, y2, w2, h 2) of the new frame of video image, wherein x2 and y2 are coordinate points at the upper left corner of the new frame selection area, and w2 and h2 are the length and the width of the new frame selection area;
step S33: moving the new frame selection area (x 2, y2, w2, h 2) to a central area (x 0, y0, w0, h 0) of an image taken by the motion camera through a motion camera control algorithm, wherein x0 and y0 are coordinate points of the central area (x 0, y 0), and w0 and h0 are the length and the width of the central area; assigning the position information of the frame selection area (x 2, y2, w2, h 2) to the frame selection area (x 1, y1, w1, h 1);
step S34: new video images are acquired from the moving camera and steps S32 and S33 are looped until the moving camera stops moving.
2. The method of claim 1, wherein obtaining the panoramic video picture comprises: and splicing and fusing the video pictures of the plurality of fixed cameras into a seamless panoramic video picture by utilizing image splicing processing.
3. The method according to claim 1, wherein obtaining the mapping correspondence between the panoramic video picture and the preset position of the motion camera comprises the following steps: and constructing a grid on the panoramic video picture, and establishing a mapping table of the grid and preset positions of the motion camera.
4. The method of claim 1, wherein the step of initial positioning of the motion camera comprises:
step S21: selecting a region on a panoramic video picture;
step S22: cutting the frame selection area to obtain a cut frame selection area;
step S23: setting the cutting frame selection area in a single grid to obtain a cutting frame selection area matched with the grid;
step S24: and driving and primarily positioning the motion camera by inquiring the mapping table, and setting the cutting frame selection area matched with the grids in the video picture of the motion camera.
5. A system for fast positioning and capturing panoramic objects using a moving camera according to the method of any of claims 1 to 4, characterized in that it comprises: the system comprises a moving camera and a plurality of fixed cameras which are arranged in a complex scene;
a plurality of fixed cameras for obtaining source data of panoramic video pictures in a complex scene;
and the motion camera is used for obtaining the local detail video picture in the panoramic video picture and realizing the positioning capture of the local detail video picture of the panoramic video.
6. The system of claim 5, further comprising:
the first switch is connected with the corresponding fixed camera and the corresponding moving camera through network cables;
the first switch and the second switch are connected and used for transmitting video pictures of the fixed camera and the moving camera and sending preset bit commands to the moving camera.
7. The system of claim 6, further comprising:
the splicing processing unit is connected with the second switch;
and the splicing processing unit is used for splicing and fusing the video picture information of the fixed cameras, obtaining a panoramic picture, constructing a grid, identifying a mouse position and transmitting the mouse position information.
8. The system of claim 6, further comprising:
the control processing unit is connected with the second switch;
and the control processing unit is used for decoding a video picture of the motion camera, storing a mapping table, receiving mouse position information from the splicing processing unit, inquiring the two-dimensional mapping table, acquiring components of the motion camera and a preset position, sending a preset position command to the motion camera by utilizing a Pelco-D or Pelco-P transmission protocol, driving the motion camera to rotate to a proper angle, and automatically zooming and focusing.
9. The system of claim 5, wherein the fixed cameras are installed in the same shield, the number of the fixed cameras is set according to the size of the scene, and the selection of the lens of the moving camera is arbitrarily selected according to actual conditions.
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