CN107564036A - A kind of method for tracking target and terminal based on structure light - Google Patents
A kind of method for tracking target and terminal based on structure light Download PDFInfo
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- CN107564036A CN107564036A CN201710647515.4A CN201710647515A CN107564036A CN 107564036 A CN107564036 A CN 107564036A CN 201710647515 A CN201710647515 A CN 201710647515A CN 107564036 A CN107564036 A CN 107564036A
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Abstract
The embodiment of the invention discloses a kind of method for tracking target based on structure light, methods described includes：To objective emission structure optical signal, the optical signal that real-time reception is reflected by target；According to the threedimensional model for the structure optical signal of objective emission and the optical signal of real-time reception, drawing target；Feature is extracted in the threedimensional model of initial time target, by the way that the threedimensional model of the feature of extraction and current target is carried out into characteristic matching, realizes the tracking to target；In this way, structure optical signal can be utilized to realize identification and tracking to target, the application of terminal is improved；The embodiment of the invention also discloses a kind of terminal and computer-readable recording medium.
Description
Technical field
The present invention relates to end objectives tracking technique, more particularly to a kind of method for tracking target and end based on structure light
End.
Background technology
At present, as the integrated application of various functions in terminal, the application of terminal become more and more extensive；However,
For mobile target, how using terminal target following is realized, there is not yet the implementation method of maturation.
The content of the invention
In order to solve the above technical problems, the embodiment of the present invention provides a kind of method for tracking target and end based on structure light
End, structure optical signal can be utilized to realize identification and tracking to target, improve the application of terminal.
To reach above-mentioned purpose, what the technical scheme of the embodiment of the present invention was realized in：
The embodiments of the invention provide a kind of image processing method based on electronic map, methods described includes：
To objective emission structure optical signal, the optical signal that real-time reception is reflected by target；
According to the threedimensional model for the structure optical signal of objective emission and the optical signal of real-time reception, drawing target；
Feature is extracted in the threedimensional model of initial time target, by by the three of the feature of extraction and current target
Dimension module carries out characteristic matching, realizes the tracking to target.
Optionally, after the threedimensional model of initial time target is drawn, methods described also includes：It is determined that target is rigid body
When, target's feature-extraction mode is determined, the target's feature-extraction mode is used to represent at least one following feature of extraction：Target
Overall dimensions feature, the Global shape feature of target, target at least two parts relative position relation.
Optionally, after the threedimensional model of initial time target is drawn, methods described also includes：It is determined that target is non-firm
During body, the selection area of target is obtained；Target's feature-extraction mode is determined, the target's feature-extraction mode is used to represent to extract
At least one feature below：At least two parts of the shape facility of the selection area of target, the selection area of target
Relative position relation.
Optionally, methods described also includes：
According to the structure optical signal of objective emission and the optical signal of real-time reception, show that current goal is sent out with structure light
Penetrate the range information in source；
It is described by the way that the threedimensional model of the feature of extraction and current target is carried out into characteristic matching, realize to target
Tracking, including：
The matching degree of each feature and the feature of the extraction in the current threedimensional model of target is drawn, is being drawn at least
When one matching degree exceedes setting matching degree threshold value, the range information based on current goal Yu structured light source, realize to mesh
Target tracks.
Optionally, it is described according to the structure optical signal of objective emission and the optical signal of real-time reception, show that target is worked as
Preceding range information, including：
According to the time of the structure optical signal to objective emission and the time difference of the time of the optical signal of real-time reception, draw
Current goal and the range information in structured light source.
The embodiment of the present invention additionally provides a kind of terminal, and the terminal includes transmitter, receiver, memory, processor
And the computer program that can be run on the memory and on the processor is stored in, wherein,
Following steps are realized when the computer program is by the computing device：
Control transmitter is believed to objective emission structure optical signal, and the light that control receiver real-time reception is reflected by target
Number；
According to the threedimensional model for the structure optical signal of objective emission and the optical signal of real-time reception, drawing target；
Feature is extracted in the threedimensional model of initial time target, passes through the three-dimensional mould by the feature of extraction and target currently
Type carries out characteristic matching, realizes the tracking to target.
Optionally, the computer program by the computing device when also realize following steps：
After the threedimensional model of initial time target is drawn, when it is determined that target is rigid body, target's feature-extraction side is determined
Formula, the target's feature-extraction mode are used to represent at least one following feature of extraction：The overall dimensions feature of target, target
Global shape feature, target at least two parts relative position relation.
Optionally, the computer program by the computing device when also realize following steps：
After the threedimensional model of initial time target is drawn, when it is determined that target is non-rigid, the selected area of target is obtained
Domain；Target's feature-extraction mode is determined, the target's feature-extraction mode is used to represent at least one following feature of extraction：Target
The shape facility of selection area, target selection area at least two parts relative position relation.
Optionally, the computer program by the computing device when also realize following steps：
According to the structure optical signal of objective emission and the optical signal of real-time reception, show that current goal is sent out with structure light
Penetrate the range information in source；
The matching degree of each feature and the feature of the extraction in the current threedimensional model of target is drawn, is being drawn at least
When one matching degree exceedes setting matching degree threshold value, the range information based on current goal Yu structured light source, realize to mesh
Target tracks.
Optionally, it is applied to objective emission structure optical signal and being capable of the optical signal that is reflected by target of real-time reception
Terminal in, the computer-readable recording medium storage has target following program,
When the target following program is by least one computing device, cause at least one computing device
State the step described in any one image processing method based on electronic map.
In a kind of method for tracking target and terminal based on structure light provided in an embodiment of the present invention, first to objective emission
Structure optical signal, the optical signal that real-time reception is reflected by target；Then, according to the structure optical signal to objective emission and in real time
The optical signal of reception, draw the threedimensional model of target；Finally, feature is extracted in the threedimensional model of initial time target, passed through
The current threedimensional model of the feature of extraction and target is subjected to characteristic matching, realizes the tracking to target；In this way, knot can be utilized
Structure optical signal realizes the identification and tracking to target, improves the application of terminal.
Brief description of the drawings
Fig. 1 is a kind of hardware architecture diagram for the mobile terminal for realizing each embodiment of the present invention；
Fig. 2 is a kind of communications network system Organization Chart provided in an embodiment of the present invention；
Fig. 3 is the flow chart of method for tracking target of the embodiment of the present invention based on structure light
Fig. 4 is the schematic diagram for the target three-dimensional that the embodiment of the present invention is shown on terminal display screen；
Fig. 5 is the schematic diagram that the embodiment of the present invention prompts the user with selection target region；
Fig. 6 is the schematic diagram in user's selection target region in the embodiment of the present invention；
Fig. 7 is the structural representation of the terminal of the embodiment of the present invention.
Embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
In follow-up description, the suffix using such as " module ", " part " or " unit " for representing element is only
Be advantageous to the explanation of the present invention, itself there is no a specific meaning.Therefore, " module ", " part " or " unit " can mix
Ground uses.
Terminal can be implemented in a variety of manners.For example, the terminal described in the present invention can include such as mobile phone, flat board
Computer, notebook computer, palm PC, personal digital assistant (Personal Digital Assistant, PDA), portable
Media player (Portable Media Player, PMP), guider, wearable device, Intelligent bracelet, pedometer etc. move
Dynamic terminal, and the fixed terminal such as digital TV, desktop computer.
It will be illustrated in subsequent descriptions by taking mobile terminal as an example, it will be appreciated by those skilled in the art that except special
Outside element for moving purpose, construction according to the embodiment of the present invention can also apply to the terminal of fixed type.
Referring to Fig. 1, its hardware architecture diagram for a kind of mobile terminal of each embodiment of the realization present invention, the shifting
Dynamic terminal 100 can include：A/V (audio/video) input block 104, sensor 105, display unit 106, user input list
The parts such as member 107, interface unit 108, memory 109, processor 110 and power supply 111.Those skilled in the art can manage
Solve, the mobile terminal structure shown in Fig. 1 does not form the restriction to mobile terminal, and mobile terminal can include more more than illustrating
Or less part, either combine some parts or different parts arrangement.
The all parts of mobile terminal are specifically introduced with reference to Fig. 1：
A/V input blocks 104 are used to receive audio or video signal.A/V input blocks 104 can include graphics processor
(Graphics Processing Unit, GPU) 1041, graphics processor 1041 is in video acquisition mode or image capture mould
The static images or the view data of video obtained in formula by image capture apparatus (such as camera) are handled.Figure after processing
As frame may be displayed on display unit 106.Picture frame after the processing of graphics processor 1041 can be stored in memory 109
In (or other storage mediums).
Mobile terminal 100 also includes at least one sensor 105, such as optical sensor, motion sensor and other biographies
Sensor.Specifically, optical sensor includes ambient light sensor and proximity transducer, wherein, ambient light sensor can be according to environment
The light and shade of light adjusts the brightness of display panel 1061, and proximity transducer can close when mobile terminal 100 is moved in one's ear
Display panel 1061 and/or backlight.As one kind of motion sensor, accelerometer sensor can detect in all directions (general
For three axles) size of acceleration, size and the direction of gravity are can detect that when static, the application available for identification mobile phone posture
(such as horizontal/vertical screen switching, dependent game, magnetometer pose calibrating), Vibration identification correlation function (such as pedometer, percussion) etc.；
The fingerprint sensor that can also configure as mobile phone, pressure sensor, iris sensor, molecule sensor, gyroscope, barometer,
The other sensors such as hygrometer, thermometer, infrared ray sensor, will not be repeated here.
Display unit 106 is used for the information for showing the information inputted by user or being supplied to user.Display unit 106 can wrap
Display panel 1061 is included, liquid crystal display (Liquid Crystal Display, LCD), Organic Light Emitting Diode can be used
Forms such as (Organic Light-Emitting Diode, OLED) configures display panel 1061.
User input unit 107 can be used for the numeral or character information for receiving input, and produce the use with mobile terminal
The key signals input that family is set and function control is relevant.Specifically, user input unit 107 may include contact panel 1071 with
And other input equipments 1072.Panel 1071, also referred to as touch-screen are controlled, collects touch operation of the user on or near it
(for example user uses any suitable objects or annex such as finger, stylus on contact panel 1071 or in contact panel 1071
Neighbouring operation), and corresponding attachment means are driven according to formula set in advance.Contact panel 1071 may include touch detection
Two parts of device and touch controller.Wherein, the touch orientation of touch detecting apparatus detection user, and detect touch operation band
The signal come, transmits a signal to touch controller；Touch controller receives touch information from touch detecting apparatus, and by it
Contact coordinate is converted into, then gives processor 110, and the order sent of reception processing device 110 and can be performed.In addition, can
To realize contact panel 1071 using polytypes such as resistance-type, condenser type, infrared ray and surface acoustic waves.Except contact panel
1071, user input unit 107 can also include other input equipments 1072.Specifically, other input equipments 1072 can wrap
Include but be not limited to physical keyboard, in function key (such as volume control button, switch key etc.), trace ball, mouse, action bars etc.
One or more, do not limit herein specifically.
Further, contact panel 1071 can cover display panel 1061, detect thereon when contact panel 1071 or
After neighbouring touch operation, processor 110 is sent to determine the type of touch event, is followed by subsequent processing device 110 according to touch thing
The type of part provides corresponding visual output on display panel 1061.Although in Fig. 1, contact panel 1071 and display panel
1061 be the part independent as two to realize the input of mobile terminal and output function, but in certain embodiments, can
Input and the output function of mobile terminal are realized so that contact panel 1071 and display panel 1061 is integrated, is not done herein specifically
Limit.
Interface unit 108 is connected the interface that can pass through as at least one external device (ED) with mobile terminal 100.For example,
External device (ED) can include wired or wireless head-band earphone port, external power source (or battery charger) port, wired or nothing
Line FPDP, memory card port, the port for connecting the device with identification module, audio input/output (I/O) end
Mouth, video i/o port, ear port etc..Interface unit 108 can be used for receiving the input from external device (ED) (for example, number
It is believed that breath, electric power etc.) and the input received is transferred to one or more elements in mobile terminal 100 or can be with
For transmitting data between mobile terminal 100 and external device (ED).
Memory 109 can be used for storage software program and various data.Memory 109 can mainly include storing program area
And storage data field, wherein, storing program area can storage program area, application program (such as the sound needed at least one function
Sound playing function, image player function etc.) etc.；Storage data field can store according to mobile phone use created data (such as
Voice data, phone directory etc.) etc..In addition, memory 109 can include high-speed random access memory, can also include non-easy
The property lost memory, a for example, at least disk memory, flush memory device or other volatile solid-state parts.
Processor 110 is the control centre of mobile terminal, utilizes each of various interfaces and the whole mobile terminal of connection
Individual part, by running or performing the software program and/or module that are stored in memory 109, and call and be stored in storage
Data in device 109, the various functions and processing data of mobile terminal are performed, so as to carry out integral monitoring to mobile terminal.Place
Reason device 110 may include one or more processing units；Preferably, processor 110 can integrate application processor and modulatedemodulate is mediated
Device is managed, wherein, application processor mainly handles operating system, user interface and application program etc., and modem processor is main
Handle radio communication.It is understood that above-mentioned modem processor can not also be integrated into processor 110.
Mobile terminal 100 can also include the power supply 111 (such as battery) to all parts power supply, it is preferred that power supply 111
Can be logically contiguous by power-supply management system and processor 110, so as to realize management charging by power-supply management system, put
The function such as electricity and power managed.
Although Fig. 1 is not shown, mobile terminal 100 can also will not be repeated here including bluetooth module etc..
For the ease of understanding the embodiment of the present invention, the communications network system being based on below to the mobile terminal of the present invention enters
Row description.
Referring to Fig. 2, Fig. 2 is a kind of communications network system Organization Chart provided in an embodiment of the present invention, the communication network system
Unite includes communication connection successively for LTE (Long Term Evolution, Long Term Evolution) system of universal mobile communications technology
UE (User Equipment, user equipment) 201, E-UTRAN (Evolved UMTS Terrestrial Radio Access
Network, evolved UMTS Terrestrial radio access network) 202, EPC (Evolved Packet Core, evolved block core
Net) 203 and operator IP operation 204.
Specifically, UE201 can be above-mentioned terminal 100, and here is omitted.
E-UTRAN202 includes eNodeB (evolved base station) 2021 and other eNodeB2022 etc..Wherein,
ENodeB2021 can be connected by backhaul (backhaul) (such as X2 interface) with other eNodeB2022, and eNodeB2021 connects
EPC203 is connected to, eNodeB2021 can provide UE201 to EPC203 access.
EPC203 can include MME (Mobility Management Entity, mobility management entity) 2031, HSS
(Home Subscriber Server, home subscriber server) 2032, other MME2033, SGW (Serving Gate Way,
Gateway) 2034, PGW (PDN Gate Way, grouped data network gateway) 2035 and PCRF (Policy and
Charging Rules Function, policy and rate functional entity) 2036 etc..Wherein, MME2031 be processing UE201 and
The control node of signaling between EPC203, there is provided carrying and connection management.HSS2032 is all to manage for providing some registers
Such as the function of attaching position register (not shown) etc, and preserve some and used about service features, data rate etc.
The special information in family.All customer data can be transmitted by SGW2034, and PGW2035 can provide UE 201 IP
Address is distributed and other functions, and PCRF2036 is strategy and the charging control strategic decision-making of business data flow and IP bearing resources
Point, it selects and provided available strategy and charging control decision-making with charge execution function unit (not shown) for strategy.
IP operation 204 can include internet, Intranet, IMS (IP Multimedia Subsystem, IP multimedia
System) or other IP operations etc..
Although above-mentioned be described by taking LTE system as an example, those skilled in the art it is to be understood that the present invention not only
Suitable for LTE system, other wireless communication systems, such as GSM (Global System of Mobile are readily applicable to
Communication, global system for mobile communications), CDMA2000 (Code Division Multiple Access 2000,
CDMA 2000), WCDMA (Wideband Code Division Multiple Access, WCDMA), TD-
(Time Division-Synchronous Code Division Multiple Access, time division synchronous code division are more by SCDMA
Location) and following new network system etc., do not limit herein.
Based on above-mentioned mobile terminal hardware configuration and communications network system, each embodiment of the inventive method is proposed.
First embodiment
First embodiment of the invention proposes a kind of method for tracking target based on structure light, and can apply to can be to mesh
Mark emitting structural optical signal, and can be in the terminal of optical signal that is reflected by target of real-time reception.
Here, the terminal of above-mentioned record can be mobile terminal or fixed terminal, and the terminal of above-mentioned record includes
But it is not limited to mobile phone, notebook computer, camera, PDA, PAD, PMP, guider etc..The mobile terminal can connect
Internet is connected to, wherein, the mode of the connection can be that the mobile internet provided by operator is attached, and may be used also
To be to carry out network connection by accessing WAP.
Here, if mobile terminal has operating system, the operating system can be UNIX, Linux, Windows, Android
(Android), Windows Phone etc..
It should be noted that species, shape, size to the display screen on mobile terminal etc. is not limited, it is exemplary
, the display screen on mobile terminal can be LCDs etc..
The structure light of above-mentioned record can be understood as will be photo-structuring, and structure light can be structure light, line-structured light with
And simple area-structure light etc.；Encoding for optical design can also be embodied；Project structured light is to be measured behind determinand surface
The high modulation of thing, the received device collection of structure light modulated, measured object can be drawn after calculating by being sent to analysis in computer
3 d shape data；
Here modulation system can be divided into time-modulation and the major class of spatial modulation two；In time-modulation method most commonly
Time-of-flight method, this method have recorded flight time of the light pulse in space, and the face shape that determinand is resolved by the flight time is believed
Breath；Modulating method is that the properties such as the phase of light field, light intensity can all be produced change, root after the high modulation of determinand
The face shape information of determinand can be drawn according to the change for reading these properties.
Fig. 3 is the flow chart of method for tracking target of the embodiment of the present invention based on structure light, as shown in figure 3, the flow can
With including：
Step 301：To objective emission structure optical signal, the optical signal that real-time reception is reflected by target；
Here, target can be any one object under test, in the embodiment of the present invention not to the species of target, shape,
Size is limited；
For example, target can be rigid body or non-rigid, rigid body refers to after being acted on during exercise with stress, shape
It is constant with size, and the constant object of relative position of interior point.
The shape of target can be cuboid, spheroid or other irregular shapes.
When actually implementing, the transmitter of emitting structural light can be provided in terminal and for receiving structure light
Receiver, using transmitter to objective emission structure optical signal, and the optical signal reflected using receiver real-time reception by target.
Exemplarily, also set up in terminal by processor, can be from processor control transmitter to objective emission structure light
Signal, and the optical signal for controlling receiver real-time reception to be reflected by target.
In an optional example, the time to objective emission structure optical signal can be recorded, can also be recorded correspondingly
Reception reflection optical signal time.
Step 302：According to the three-dimensional for the structure optical signal of objective emission and the optical signal of real-time reception, drawing target
Model；
, can be equal in the multiple terminals of different directions arrangement around target, each terminal in an optional example
It can launch according to step 301 and receive optical signal, afterwards, by the structure optical signal of each terminal transmission and the knot of real-time reception
Structure optical signal is sent to the processor of a terminal, because different terminals from the relative bearing of target are different, according to wherein
The threedimensional model that the optical signal of one terminal transmitting-receiving is drawn can embody a viewing angle of target, then according to each difference
The threedimensional model that the optical signal of terminal transmitting-receiving is drawn can embody the overall appearance feature of target, so as to which processor can basis
The signal of reception, draw the threedimensional model of target.
, can be different to objective emission different at the time of it is understood that when to objective emission structure optical signal
Structure optical signal, then, be also different in the optical signal received at different moments.
Optical signal for from any time to objective emission, can according to the moment to the optical signal of objective emission and
The optical signal reflected by target of corresponding reception, draws corresponding target three-dimensional；Specifically, if to objective emission
It is T1 at the time of structure optical signal, then, it can launch according to the T1 moment to the optical signal of objective emission and with the T1 moment
Reflected light signal corresponding to optical signal, draw the threedimensional model of T1 moment targets.
Especially, when the T1 moment is initial time, it can be deduced that the threedimensional model of the target of initial time；At the T1 moment
For current time when, it can be deduced that the threedimensional model of current target.
Here, the threedimensional model of target can be used to indicate that the shape facility and size characteristic of target, the shape spy of target
Sign can be used for the 3 d shape information for characterizing target, and the size characteristic of target can be used for the dimensional parameters for characterizing target.
For example, the shape facility of target can be target global shape or target selection area shape,
Here, selection area can be specified by user, for example, user can by the user input unit of terminal to terminal input whether
The configured information in selected target region, the selection area of target can also be inputted to terminal by the user input unit of terminal.
The size characteristic of target can be at least one of following：Whole height feature, the entire length of target of target are special
Sign, the overall width feature of target, the overall volume of target etc., it can also include at least one of following：The selection area of target
Altitude feature, the length characteristic of selection area of target, width characteristics of selection area of target etc..
When actually implementing, terminal can show on a display screen after the threedimensional model of initial time target is drawn
Show the threedimensional model of target, Fig. 4 is a signal of the target three-dimensional that the embodiment of the present invention is shown on terminal display screen
Figure.
Further, terminal is after the threedimensional model of initial time target is drawn, can also display reminding on a display screen
Information, to prompt the user whether selection target region；Fig. 5 is the signal that the embodiment of the present invention prompts the user with selection target region
Figure, as shown in figure 5, display " whether selection target region " on a display screen, when receiving the selection of user and be "Yes", show
The threedimensional model of target, in order to user's selection target region, now, the target area of user's selection for target selected area
Domain.
Fig. 6 is the schematic diagram in user's selection target region in the embodiment of the present invention, as shown in fig. 6, target is an automobile,
The wheel portion that the selection area of user's selection is identified by rectangle frame in Fig. 6.
Step 303：Feature is extracted in the threedimensional model of initial time target, by by the feature of extraction and current time
The threedimensional model of target carries out characteristic matching, realizes the tracking to target.
Here, it can also show that target is worked as according to the structure optical signal of objective emission and the optical signal of real-time reception
The preceding and range information in structured light source；Structured light source be terminal on transmitter when, can with draw target work as
It is preceding to be shot with the range information of terminal, on this basis, terminal while target, can be true according to the image of terminal taking
Determine current goal and the position relation of terminal；And then can be according to the current range information and current goal with terminal of target
With the position relation of terminal, current location information of the target relative to terminal is determined.
, can be according to the optical signal of time of from the structure optical signal to objective emission and real-time reception when actually implementing
The time difference of time, current goal and the range information in structured light source
For this step, exemplarily, when target is a people, can be carried in the threedimensional model of initial time target
The whole height feature of target is taken, by the way that the threedimensional model of the whole height feature of the target of extraction and current target is entered
Row characteristic matching, and then the current location information according to target relative to terminal, realize the tracking to target.
As can be seen that using the method for tracking target based on structure light described in first embodiment of the invention, first to mesh
Mark emitting structural optical signal, the optical signal that real-time reception is reflected by target；Then, according to the structure optical signal to objective emission with
And the optical signal of real-time reception, draw the threedimensional model of target；Finally, extracted in the threedimensional model of initial time target special
Sign, by the way that the current threedimensional model of the feature of extraction and target is carried out into characteristic matching, realize the tracking to target；In this way, can
To realize the identification and tracking to target using structure optical signal, the application of terminal is improved.
Second embodiment
In order to more embody the purpose of the present invention, on the basis of first embodiment of the invention, carry out further
Illustrate.
In second embodiment of the invention, the flow of the method for tracking target based on structure light can include：
Step 401：The implementation of this step is identical with step 301, repeats no more here.
Step 402：According to the three-dimensional for the structure optical signal of objective emission and the optical signal of real-time reception, drawing target
Model；
In this step, after the threedimensional model of initial time target is drawn, target's feature-extraction mode is given.
Optionally, when it is determined that target is rigid body, target's feature-extraction mode is determined, the target's feature-extraction mode is used
In at least one following feature of expression extraction：The overall dimensions feature of target, the Global shape feature of target, at least the two of target
The relative position relation of individual part.
It is understood that for rigid body, after being acted on during exercise with stress due to rigid body, shapes and sizes are not
Become, and the constant object of relative position of interior point；It is possible to according to the overall dimensions feature of target, target it is whole
Shape feature, target at least two parts relative position relation, carry out characteristic matching, so as to realize target with
Track.
For example, when target is an automobile, can be using the overall dimensions feature or overall profile feature of automobile as mesh
Target extracts feature, extraction feature that can also be using the relative position relation of the front and rear two-wheeled of automobile as target.
Optionally, after the threedimensional model of initial time target is drawn, when it is determined that target is non-rigid, target is obtained
Selection area；Target's feature-extraction mode is determined, the target's feature-extraction mode is used to represent that at least one to be special below extraction
Sign：The shape facility of the selection area of target, the selection area of target at least two parts relative position relation.
For example, when target is the people of bicycle and cycling, motion and human body attitude due to bicycle pedal
Change, the target can be seen as non-rigid；, can be with this way, terminal is after the threedimensional model of initial time target is drawn
The prompt message of selection target selection area is issued the user with, after the region of user's selection is received, user can also be prompted
Two parts are selected in selection area, afterwards, the relative position relations of two parts that user is selected as
The feature of extraction；Here, in order to carry out follow-up characteristic matching and target following, when can select the change of non-rigid form generation
Two constant parts of relative position relation, for example, the front-wheel and handlebar of bicycle can be selected, afterwards, it can incite somebody to action oneself
The feature of the front-wheel of driving and the relative position relation of handlebar as extraction.
Step 403：Feature is extracted in the threedimensional model of initial time target, by by the feature of extraction and current time
The threedimensional model of target carries out characteristic matching, realizes the tracking to target.
In this step, exemplarily, it can be deduced that each feature and the spy of the extraction in the current threedimensional model of target
The matching degree of sign, when at least one matching degree drawn exceedes setting matching degree threshold value, sent out based on current goal and structure light
The range information in source is penetrated, realizes the tracking to target.
For example, the feature extracted is the whole height of target, if target is overall high in the current threedimensional model of target
When the ratio between degree feature and the feature extracted are less than setting value with 1 difference, it is believed that corresponding matching degree, which exceedes, to be set
With degree threshold value.
In another example, the feature extracted is the global shape of target, and now, the feature extracted can represent
For M characteristic point in target, M is more than 1；In this way, can according to M characteristic point of target in the current threedimensional model of target with
The matching degree for the M characteristic point extracted, corresponding characteristic matching degree is calculated, for example, Feature Points Matching number is more,
Then corresponding characteristic matching degree is higher；In this way, so may determine that whether corresponding characteristic matching degree exceedes setting matching degree threshold
Value.
3rd embodiment
Based on previous embodiment identical technical concept, third embodiment of the invention provides a kind of terminal, here, above-mentioned
The terminal of record can be mobile terminal or fixed terminal, the terminal of above-mentioned record include but is not limited to mobile phone,
Notebook computer, camera, PDA, PAD, PMP, guider etc..The mobile terminal can be connected to internet, wherein, institute
The mode for stating connection can be that the mobile internet provided by operator is attached, and can also be and wirelessly connect by access
Access point carries out network connection.
Here, the terminal of above-mentioned record can be mobile terminal or fixed terminal, and the terminal of above-mentioned record includes
But it is not limited to mobile phone, notebook computer, camera, PDA, PAD, PMP, guider etc..The mobile terminal can connect
Internet is connected to, wherein, the mode of the connection can be that the mobile internet provided by operator is attached, and may be used also
To be to carry out network connection by accessing WAP.
Here, if mobile terminal has operating system, the operating system can be UNIX, Linux, Windows, Android
(Android), Windows Phone etc..
It should be noted that species, shape, size to the display screen on mobile terminal etc. is not limited, it is exemplary
, the display screen on mobile terminal can be LCDs etc..
The structure light of above-mentioned record can be understood as will be photo-structuring, and structure light can be structure light, line-structured light with
And simple area-structure light etc.；Encoding for optical design can also be embodied；Project structured light is to be measured behind determinand surface
The high modulation of thing, the received device collection of structure light modulated, measured object can be drawn after calculating by being sent to analysis in computer
3 d shape data；
Here modulation system can be divided into time-modulation and the major class of spatial modulation two；In time-modulation method most commonly
Time-of-flight method, this method have recorded flight time of the light pulse in space, and the face shape that determinand is resolved by the flight time is believed
Breath；Modulating method is that the properties such as the phase of light field, light intensity can all be produced change, root after the high modulation of determinand
The face shape information of determinand can be drawn according to the change for reading these properties.
Referring to Fig. 7, it illustrates a kind of terminal 70 provided in an embodiment of the present invention, can include：Transmitter 701, receive
Device 702, memory 703, processor 704 and it is stored in the computer journey that can be run on the memory and on the processor
Sequence, following steps are realized when the computer program is by the computing device：
Control transmitter is believed to objective emission structure optical signal, and the light that control receiver real-time reception is reflected by target
Number；
According to the threedimensional model for the structure optical signal of objective emission and the optical signal of real-time reception, drawing target；
Feature is extracted in the threedimensional model of initial time target, passes through the three-dimensional mould by the feature of extraction and target currently
Type carries out characteristic matching, realizes the tracking to target.
In actual applications, above-mentioned memory 703 can be volatile memory (volatile memory), such as with
Machine access memory (RAM, Random-Access Memory)；Or nonvolatile memory (non-volatile
Memory), such as read-only storage (ROM, Read-Only Memory), flash memory (flash memory), hard disk
(HDD, Hard Disk Drive) or solid state hard disc (SSD, Solid-State Drive)；Or the memory of mentioned kind
Combination, and provide instruction and data to processor 702.
Above-mentioned processor 704 can be application-specific IC (ASIC, Application Specific
Integrated Circuit), digital signal processor (DSP, Digital Signal Processor), Digital Signal Processing
Device (DSPD, Digital Signal Processing Device), programmable logic device (PLD, Programmable
Logic Device), field programmable gate array (FPGA, Field Programmable Gate Array), central processing unit
At least one of (CPU, Central Processing Unit), controller, microcontroller, microprocessor.It is appreciated that
Ground, for different equipment, for realizing that the electronic device of above-mentioned first processor function can also be other, the present invention is implemented
Example is not especially limited.
Here, target can be any one object under test, in the embodiment of the present invention not to the species of target, shape,
Size is limited；
For example, target can be rigid body or non-rigid, rigid body refers to after being acted on during exercise with stress, shape
It is constant with size, and the constant object of relative position of interior point.
The shape of target can be cuboid, spheroid or other irregular shapes.
When actually implementing, transmitter is used for emitting structural light, and receiver is used to receive structure light, i.e. utilizes transmitter
To objective emission structure optical signal, and the optical signal reflected using receiver real-time reception by target.
Exemplarily, also set up in terminal by processor, can be from processor control transmitter to objective emission structure light
Signal, and the optical signal for controlling receiver real-time reception to be reflected by target.
In an optional example, the time to objective emission structure optical signal can be recorded, can also be recorded correspondingly
Reception reflection optical signal time.
, can be equal in the multiple terminals of different directions arrangement around target, each terminal in an optional example
It can launch according to step 301 and receive optical signal, afterwards, by the structure optical signal of each terminal transmission and the knot of real-time reception
Structure optical signal is sent to the processor of a terminal, because different terminals from the relative bearing of target are different, according to wherein
The threedimensional model that the optical signal of one terminal transmitting-receiving is drawn can embody a viewing angle of target, then according to each difference
The threedimensional model that the optical signal of terminal transmitting-receiving is drawn can embody the overall appearance feature of target, so as to which processor can basis
The signal of reception, draw the threedimensional model of target.
, can be different to objective emission different at the time of it is understood that when to objective emission structure optical signal
Structure optical signal, then, be also different in the optical signal received at different moments.
Optical signal for from any time to objective emission, can according to the moment to the optical signal of objective emission and
The optical signal reflected by target of corresponding reception, draws corresponding target three-dimensional；Specifically, if to objective emission
It is T1 at the time of structure optical signal, then, it can launch according to the T1 moment to the optical signal of objective emission and with the T1 moment
Reflected light signal corresponding to optical signal, draw the threedimensional model of T1 moment targets.
Especially, when the T1 moment is initial time, it can be deduced that the threedimensional model of the target of initial time；At the T1 moment
For current time when, it can be deduced that the threedimensional model of current target.
Here, the threedimensional model of target can be used to indicate that the shape facility and size characteristic of target, the shape spy of target
Sign can be used for the 3 d shape information for characterizing target, and the size characteristic of target can be used for the dimensional parameters for characterizing target.
For example, the shape facility of target can be target global shape or target selection area shape,
Here, selection area can be specified by user, for example, user can by the user input unit of terminal to terminal input whether
The configured information in selected target region, the selection area of target can also be inputted to terminal by the user input unit of terminal.
The size characteristic of target can be at least one of following：Whole height feature, the entire length of target of target are special
Sign, the overall width feature of target, the overall volume of target etc., it can also include at least one of following：The selection area of target
Altitude feature, the length characteristic of selection area of target, width characteristics of selection area of target etc..
When actually implementing, terminal can show on a display screen after the threedimensional model of initial time target is drawn
Show the threedimensional model of target, Fig. 4 is a signal of the target three-dimensional that the embodiment of the present invention is shown on terminal display screen
Figure.
Further, terminal is after the threedimensional model of initial time target is drawn, can also display reminding on a display screen
Information, to prompt the user whether selection target region；As shown in figure 5, display " whether selection target region " on a display screen,
When the selection for receiving user is "Yes", the threedimensional model of display target, in order to user's selection target region, now, user
The target area of selection for target selection area.
In Fig. 6, target is an automobile, the wheel portion that the selection area of user's selection is identified by rectangle frame in Fig. 6.
Here, the computer program by the computing device when also realize following steps：
According to the structure optical signal of objective emission and the optical signal of real-time reception, show that current goal is sent out with structure light
Penetrate the range information in source.
Structured light source be terminal on transmitter when, can to draw range information of the target currently with terminal,
On this basis, target is shot terminal simultaneously, according to the image of terminal taking, it may be determined that the side of current goal and terminal
Position relation；And then can according to target currently with the range information and current goal of terminal and the position relation of terminal, it is determined that
Target relative to terminal current location information.
, can be according to the optical signal of time of from the structure optical signal to objective emission and real-time reception when actually implementing
The time difference of time, current goal and the range information in structured light source
For this step, exemplarily, when target is a people, can be carried in the threedimensional model of initial time target
The whole height feature of target is taken, by the way that the threedimensional model of the whole height feature of the target of extraction and current target is entered
Row characteristic matching, and then the current location information according to target relative to terminal, realize the tracking to target.
Fourth embodiment
Based on previous embodiment identical technical concept, third embodiment of the invention provides a kind of computer-readable Jie
Matter, part that the technical scheme of previous embodiment substantially contributes to prior art in other words or the technical scheme it is complete
Portion or part can be embodied in the form of software product, and the computer software product is stored in a computer-readable storage
In medium, including some instructions are make it that a computer equipment (can be that personal computer, server, or network are set
It is standby etc.) or processor (processor) perform all or part of step of the present embodiment methods described.And foregoing storage medium
Including：USB flash disk, mobile hard disk, read-only storage (ROM, Read Only Memory), random access memory (RAM, Random
Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.
Specifically, computer program instructions corresponding to a kind of method for tracking target based on structure light in the present embodiment
Can be stored in the storage mediums such as CD, hard disk, USB flash disk, when in storage medium with it is a kind of based on the target of structure light with
When computer program instructions are read or are performed by an electronic equipment corresponding to track method, comprise the following steps：
To objective emission structure optical signal, the optical signal that real-time reception is reflected by target；
According to the threedimensional model for the structure optical signal of objective emission and the optical signal of real-time reception, drawing target；
Feature is extracted in the threedimensional model of initial time target, passes through the three-dimensional mould by the feature of extraction and target currently
Type carries out characteristic matching, realizes the tracking to target.
Optionally, the computer program instructions corresponding with a kind of method for tracking target based on structure light in storage medium
When being read or be performed by an electronic equipment, also comprise the following steps：
After the threedimensional model of initial time target is drawn, when it is determined that target is rigid body, target's feature-extraction side is determined
Formula, the target's feature-extraction mode are used to represent at least one following feature of extraction：The overall dimensions feature of target, target
Global shape feature, target at least two parts relative position relation；
After the threedimensional model of initial time target is drawn, when it is determined that target is non-rigid, the selected area of target is obtained
Domain；Target's feature-extraction mode is determined, the target's feature-extraction mode is used to represent at least one following feature of extraction：Target
The shape facility of selection area, target selection area at least two parts relative position relation.
Optionally, the computer program instructions corresponding with a kind of method for tracking target based on structure light in storage medium
When being read or be performed by an electronic equipment, also comprise the following steps：
According to the structure optical signal of objective emission and the optical signal of real-time reception, show that current goal is sent out with structure light
Penetrate the range information in source；
The matching degree of each feature and the feature of the extraction in the current threedimensional model of target is drawn, is being drawn at least
When one matching degree exceedes setting matching degree threshold value, the range information based on current goal Yu structured light source, realize to mesh
Target tracks.
Optionally, the computer program instructions corresponding with a kind of method for tracking target based on structure light in storage medium
When being read or be performed by an electronic equipment, also comprise the following steps：
According to the time of the structure optical signal to objective emission and the time difference of the time of the optical signal of real-time reception, currently
Target and the range information in structured light source.
The embodiments of the present invention are for illustration only, do not represent the quality of embodiment.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can add the mode of required general hardware platform to realize by software, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on such understanding, technical scheme is substantially done to prior art in other words
Going out the part of contribution can be embodied in the form of software product, and the computer software product is stored in a storage medium
In (such as ROM/RAM, magnetic disc, CD), including some instructions to cause a station terminal (can be mobile phone, computer, service
Device, air conditioner, or network equipment etc.) perform method described in each embodiment of the present invention.
Embodiments of the invention are described above in conjunction with accompanying drawing, but the invention is not limited in above-mentioned specific
Embodiment, above-mentioned embodiment is only schematical, rather than restricted, one of ordinary skill in the art
Under the enlightenment of the present invention, in the case of present inventive concept and scope of the claimed protection is not departed from, it can also make a lot
Form, these are belonged within the protection of the present invention.
Claims (10)
1. a kind of method for tracking target based on structure light, it is characterised in that methods described includes：
To objective emission structure optical signal, the optical signal that real-time reception is reflected by target；
According to the threedimensional model for the structure optical signal of objective emission and the optical signal of real-time reception, drawing target；
Feature is extracted in the threedimensional model of initial time target, by by the three-dimensional mould of the feature of extraction and current target
Type carries out characteristic matching, realizes the tracking to target.
2. according to the method for claim 1, it is characterised in that described after the threedimensional model of initial time target is drawn
Method also includes：When it is determined that target is rigid body, target's feature-extraction mode is determined, the target's feature-extraction mode is used for table
Show at least one following feature of extraction：The overall dimensions feature of target, the Global shape feature of target, at least two groups of target
Into the relative position relation of part.
3. according to the method for claim 1, it is characterised in that described after the threedimensional model of initial time target is drawn
Method also includes：When it is determined that target is non-rigid, the selection area of target is obtained；Target's feature-extraction mode is determined, it is described
Target's feature-extraction mode is used to represent at least one following feature of extraction：The shape facility of the selection area of target, target
The relative position relation of at least two parts of selection area.
4. according to the method described in any one of claims 1 to 3, it is characterised in that methods described also includes：
According to the structure optical signal of objective emission and the optical signal of real-time reception, current goal and structured light source are drawn
Range information；
It is described by the way that the threedimensional model of the feature of extraction and current target is carried out into characteristic matching, realize to target with
Track, including：
The matching degree of each feature and the feature of the extraction in the current threedimensional model of target is drawn, it is at least one what is drawn
When matching degree exceedes setting matching degree threshold value, the range information based on current goal Yu structured light source, realize to target
Tracking.
5. according to the method for claim 4, it is characterised in that the structure optical signal and reality according to objective emission
When the optical signal that receives, draw the current range information of target, including：
According to the time of the structure optical signal to objective emission and the time difference of the time of the optical signal of real-time reception, draw current
Target and the range information in structured light source.
6. a kind of terminal, it is characterised in that the terminal includes transmitter, receiver, memory, processor and is stored in described
On memory and the computer program that can run on the processor, wherein,
Following steps are realized when the computer program is by the computing device：
Control transmitter is to objective emission structure optical signal, and the optical signal for controlling receiver real-time reception to be reflected by target；
According to the threedimensional model for the structure optical signal of objective emission and the optical signal of real-time reception, drawing target；
Feature is extracted in the threedimensional model of initial time target, by the way that the feature of the extraction threedimensional model current with target is entered
Row characteristic matching, realize the tracking to target.
7. terminal according to claim 6, it is characterised in that the computer program is gone back reality during the computing device
Existing following steps：
After the threedimensional model of initial time target is drawn, when it is determined that target is rigid body, target's feature-extraction mode, institute are determined
State target's feature-extraction mode be used for represent at least one following feature of extraction：Overall dimensions feature, the entirety of target of target
Shape facility, target at least two parts relative position relation.
8. terminal according to claim 6, it is characterised in that the computer program is gone back reality during the computing device
Existing following steps：
After the threedimensional model of initial time target is drawn, when it is determined that target is non-rigid, the selection area of target is obtained；Really
Set the goal feature extraction mode, and the target's feature-extraction mode is used to represent at least one following feature of extraction：The choosing of target
Determine the shape facility in region, target selection area at least two parts relative position relation.
9. according to the terminal described in any one of claim 6 to 8, it is characterised in that the computer program is by the processor
Following steps are also realized during execution：
According to the structure optical signal of objective emission and the optical signal of real-time reception, current goal and structured light source are drawn
Range information；
The matching degree of each feature and the feature of the extraction in the current threedimensional model of target is drawn, it is at least one what is drawn
When matching degree exceedes setting matching degree threshold value, the range information based on current goal Yu structured light source, realize to target
Tracking.
10. a kind of computer-readable recording medium, it is characterised in that be applied to objective emission structure optical signal and can
In the terminal for the optical signal that real-time reception is reflected by target, the computer-readable recording medium storage has target following program,
When the target following program is by least one computing device, cause at least one computing device right will
Seek the step described in 1 to 5 any one.
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