CN107564039A - Multi-object tracking method and panorama camera applied to panoramic video - Google Patents

Abstract

The invention discloses a kind of multi-object tracking method and panorama camera applied to panoramic video, certain the frame panoramic picture chosen in panoramic video is initial frame panoramic picture, N number of projected image is chosen in every frame panoramic picture from the initial frame panoramic picture and afterwards, M tracking target is chosen in all projected images corresponding to adjacent H frames panoramic picture from the initial frame panoramic picture and its afterwards；Using the initial frame panoramic picture as the 1st frame panoramic picture, the every frame panoramic picture execution following steps being directed to successively after the 1st frame panoramic picture, it is tracked using each tracking target in N number of projected image in the i-th frame panoramic picture, obtains tracking successfully at least one tracking target in N number of projected image in (i+1) frame panoramic picture.Multi-object tracking method and panorama camera provided by the invention applied to panoramic video, multiple tracking targets effectively can be accurately tracked, and the real-time for tracking multiple tracking targets can be improved.

Description

Multi-object tracking method and panorama camera applied to panoramic video

Technical field

The present invention relates to panoramic video technical field, more particularly to a kind of multi-object tracking method applied to panoramic video And panorama camera.

Background technology

Panoramic video is made up of the panoramic image sequence associated with some having times, can be obtained from video true Panorama scene, and positioning video frame can be carried out with passage time.Shoot the global fortune of the cube panoramic video of static scene Move generally based on horizontal movement, cover 360 degree of scene domains, for the panoramic picture of continuous multiple frames, target object Adjacent surface can be moved to from a face of cube panorama.Because it has dynamic background, be not suitable for the method using background subtraction Carry out the detect and track of dynamic object, it is therefore desirable to design the target following in a kind of cube panoramic video rapidly and efficiently Method.

The method that prior art tracks object in panoramic video, generally according to user viewing angle by panoramic video figure As projecting into projection view, and as the input picture of target following.The model of target object is established during tracking, and The probability for tracking target and appearing in different zones is established according to front and rear frame, the new position of target is used as using the position of greater probability； It is not in missing inspection that premise using the above method, which is, and its direction of interest is going out necessarily comprising the target for needing to track In the case of existing missing inspection, the accuracy that it is tracked is extremely low, and when needing to track multiple targets, there is significantly carrying for missing inspection in it Height, the problem of multiple target accuracys of panoramic video tracking are relatively low be present so as to cause to occur existing method.

And use the above method, it is necessary first to first obtain full-view video image and projected to obtain the throwing of preset field of view again Shadow image, then carry out the probability that front and rear frame tracking target appears in different zones, determine to track target with the size of probability New position, its calculation procedure is more and amount of calculation is larger, and when carrying out multiple target tracking, its amount of calculation can be multiplied, Consequently leads to panoramic video tracking it is less efficient the problem of.

The content of the invention

, can be effectively accurate the invention provides a kind of multi-object tracking method and panorama camera applied to panoramic video Multiple tracking targets are tracked, and the real-time for tracking multiple tracking targets can be improved.

The application first aspect provides a kind of multi-object tracking method applied to panoramic video, including：Choose panorama Certain frame panoramic picture in video is initial frame panoramic picture, every frame panoramic picture from the initial frame panoramic picture and afterwards It is middle to choose N number of projected image；All projections corresponding to adjacent H frames panoramic picture from the initial frame panoramic picture and its afterwards M tracking target is chosen in image, wherein M is the integer not less than 2 and H is the integer not less than 1；With the initial frame panorama Image is the 1st frame panoramic picture, performs following steps for every frame panoramic picture after the 1st frame panoramic picture successively, wherein, I gets s from 1 successively, and s is the integer more than 1：According to the tracking mesh chosen from N number of projected image in the i-th frame panoramic picture Mark and/or obtained all tracking targets are tracked from N number of projected image in the i-th frame panorama, obtain in the i-th frame panoramic picture N number of projected image in all tracking targets；Utilize each tracking mesh in N number of projected image in the i-th frame panoramic picture Mark is tracked, and obtains tracking successfully at least one tracking target in N number of projected image in (i+1) frame panoramic picture.

It is described from the initial frame panorama with reference in a first aspect, in the first possible embodiment of first aspect M is chosen in all projected images corresponding to image and its adjacent H frames panoramic picture afterwards and tracks target, is specifically included：Root According to the corresponding relation between panoramic picture and the pixel of projected image, from the initial frame panoramic picture and adjacent H frames panorama M tracking target is chosen in all projected images corresponding to image.

It is described from the initial frame panorama with reference in a first aspect, in second of possible embodiment of first aspect M is chosen in all projected images corresponding to image and its adjacent H frames panoramic picture afterwards and tracks target, is specifically included：Root According to preparatory condition, per the different perspective views in frame panoramic picture from the initial frame panoramic picture and adjacent H frames panoramic picture Tracking target is chosen as in；All tracking targets that will be chosen from the initial frame panoramic picture and adjacent H frames panoramic picture As M tracking target.

With reference in a first aspect, in the third possible embodiment of first aspect, the basis is from the i-th frame panorama sketch The tracking target chosen and/or track what is obtained from N number of projected image in the i-th frame panorama in N number of projected image as in All tracking targets, all tracking targets in N number of projected image in the i-th frame panoramic picture are obtained, are specifically included：If i= 1, then according to the tracking target chosen from N number of projected image in the i-th frame panoramic picture as the N in the i-th frame panoramic picture All tracking targets in individual projected image；If i, which is more than, 1 and be not more than (H+1), basis is from N number of in the i-th frame panoramic picture The tracking target chosen in projected image and obtained all tracking targets are tracked from N number of projected image in the i-th frame panorama, Obtain all tracking targets in N number of projected image in the i-th frame panoramic picture；, will be from the i-th frame panorama if i is more than (H+1) In N number of projected image in all tracking targets for tracking to obtain as the institute in N number of projected image in the i-th frame panoramic picture There is tracking target.

With reference to the possible embodiment of the third of first aspect or first aspect, the 4th kind in first aspect is possible In embodiment, each tracking target in N number of projected image using in the i-th frame panoramic picture is tracked, specifically Including：Create with per frame panoramic picture in N number of projected image N number of tracker correspondingly；According to tracking target and projection The corresponding relation of image, each tracking target in the i-th frame panoramic picture is added to corresponding tracking in N number of tracker It is tracked in device.

With reference to the possible embodiment of the third of first aspect or first aspect, the 5th kind in first aspect is possible In embodiment, each tracking target in N number of subgraph using in the i-th frame panoramic picture is tracked, specific bag Include：It is the integer not less than 0 to create with the one-to-one P tracker of all tracking targets in every frame panoramic picture, P；Will Each tracking target in i-th frame panoramic picture is added in the P tracker to be tracked in corresponding tracker.

With reference in a first aspect, in the 6th kind of possible embodiment of first aspect, from the initial frame panorama sketch As and its adjacent H frames panoramic picture afterwards corresponding to choose in all projected images M track target after, methods described is also Comprise the following steps：Using the initial frame panoramic picture as starting point, at interval of k frames panoramic picture from respective frame panoramic picture and phase At least one tracking target is chosen in all projected images corresponding to adjacent H frames panoramic picture, wherein, k is whole more than (H+1) Number；Within the cycle of each interval k frame panoramic pictures, using respective frame panoramic picture as the 1st frame panoramic picture, successively for Every frame panoramic picture after 1 frame panoramic picture performs following steps, wherein, i gets k+1 from 1 successively；According to complete from the i-th frame The tracking target chosen in N number of projected image in scape image and/or tracked from N number of projected image in the i-th frame panorama All tracking targets arrived, obtain all tracking targets in N number of projected image in the i-th frame panoramic picture；It is complete using the i-th frame Each tracking target in N number of projected image in scape image is tracked, and obtains N number of throwing in (i+1) frame panoramic picture Successfully at least one tracking target is tracked in shadow image.

It is possible with reference to first aspect or the 6th kind of possible embodiment of first aspect, the 7th kind in first aspect In embodiment, successfully at least one tracking target is tracked in N number of projected image in obtaining (i+1) frame panoramic picture Afterwards, methods described also includes：Will in N number of projected image in (i+1) frame panoramic picture track successfully it is at least one with Track target is shown in (i+1) frame panoramic picture or (i+2) frame panoramic picture.

It is possible with reference to first aspect or the 6th kind of possible embodiment of first aspect, the 8th kind in first aspect In embodiment, successfully at least one tracking target is tracked in N number of projected image in obtaining (i+1) frame panoramic picture When, methods described is further comprising the steps of：Detect each tracking mesh in N number of projected image in (i+1) frame panoramic picture Whether mark tracks successfully；In a tracking target following failure in often detecting (i+1) frame panoramic picture, according to throwing Syntople between shadow image, obtain the adjacent projections figure with the projected image adjoining where the tracking target of tracking failure Picture；Using target detection is carried out in neighboring projection images of the tracking target of tracking failure in (i+2) frame panoramic picture, obtain To testing result corresponding to the tracking target of tracking failure；Obtained in testing result corresponding to tracking target from all tracking failures Testing result is taken to characterize detection successfully each tracking target, successfully each tracking target and tracking obtain at least by detection One tracking target is as all tracking targets in N number of projected image in (i+2) frame panoramic picture.

With reference to the 8th kind of possible embodiment of first aspect, in the 9th kind of possible embodiment of first aspect In, overlapping region be present in each projected image and at least one projected image, and often detect in (i+1) frame panoramic picture One tracking target following failure when, methods described is further comprising the steps of：Whether detect the tracking target of the tracking unsuccessfully In overlapping region between two projected images；If detecting, the tracking target of tracking failure is not located at two perspective views In overlapping region as between, then the tracking target of tracking failure is abandoned；If detect the tracking target position of tracking failure In overlapping region between two projected images, then obtain has with the projected image where the tracking target of tracking failure The specific projection image of overlapping region；Tracking target using tracking failure is described specific in (i+2) frame panoramic picture Target detection is carried out in projected image, obtains testing result corresponding to the tracking target of tracking failure；From all tracking failures Track and testing result sign detection successfully each tracking target is obtained in testing result corresponding to target, it is successfully every by detecting At least one tracking target that individual tracking target and tracking obtain is as in N number of projected image in (i+2) frame panoramic picture All tracking targets.

According to the second aspect of the invention, there is provided a kind of panorama camera, including readable storage medium storing program for executing, the readable storage medium Had program stored therein in matter, following steps are realized when described program is executed by processor：Choose certain frame panorama sketch in panoramic video As being initial frame panoramic picture, N number of projected image is chosen in every frame panoramic picture from the initial frame panoramic picture and afterwards； M tracking is chosen in all projected images corresponding to adjacent H frames panoramic picture from the initial frame panoramic picture and its afterwards Target, wherein M are the integer not less than 1 for the integer not less than 2 and H；Using the initial frame panoramic picture as the 1st frame panorama sketch Picture, following steps are performed for every frame panoramic picture after the 1st frame panoramic picture successively, wherein, i gets s from 1 successively, and s is Integer more than 1：It is according to the tracking target chosen from N number of projected image in the i-th frame panoramic picture and/or complete from the i-th frame Obtained all tracking targets are tracked in N number of projected image in scape, are obtained in N number of projected image in the i-th frame panoramic picture All tracking targets；It is tracked, is obtained using each tracking target in N number of projected image in the i-th frame panoramic picture Successfully at least one tracking target is tracked in N number of projected image in (i+1) frame panoramic picture.

With reference to second aspect, in the first possible embodiment of second aspect, described program is executed by processor When all projected images corresponding to adjacent H frames panoramic picture from the initial frame panoramic picture and its afterwards in choose M with During the step of track target, following steps are specifically included：According to the corresponding relation between panoramic picture and the pixel of projected image, M tracking target is chosen from all projected images corresponding to the initial frame panoramic picture and adjacent H frames panoramic picture.

Because the embodiment of the present application is entered using each tracking target in N number of projected image in the i-th frame panoramic picture Line trace, obtain tracking successfully at least one tracking target in N number of projected image in (i+1) frame panoramic picture；So that Each tracking target is carrying out target following in corresponding projected image；The embodiment of the present invention is without N number of wide angle picture is turned Change panoramic picture into；And use track algorithm amount of calculation also will be significantly lower than prior art use track algorithm determine with The amount of calculation of the new position of track target.Therefore, compared with prior art, when carrying out multiple target tracking its calculation procedure reduce and Amount of calculation reduces, thus promotes multiple target tracking efficiency in panoramic video to improve, and effectively increases multiple mesh in panoramic video Mark the real-time of tracking.

Further, the projection of the parts of images in the panoramic picture corresponding to each projected image is so that projection The distortion of image is minimum or is not present；And distort it is minimum or in the absence of the projected image of distortion in carry out target following when, its The accuracy of tracking can greatly improve, so as to effectively improve the accuracy of tracking.

Brief description of the drawings

Fig. 1 is the first flow chart for the multi-object tracking method for being applied to panoramic video in the embodiment of the present invention；

Fig. 2 is the corresponding diagram of panoramic picture and projected image in the embodiment of the present invention.

Embodiment

, can be effectively accurate the invention provides a kind of multi-object tracking method and panorama camera applied to panoramic video Multiple tracking targets are tracked, and the real-time for tracking multiple tracking targets can be improved.

As shown in figure 1, providing a kind of multi-object tracking method applied to panoramic video in first aspect present invention, wrap Include following steps：

S101, certain the frame panoramic picture chosen in panoramic video are initial frame panoramic picture, from the initial frame panorama sketch N number of projected image is chosen in picture and every frame panoramic picture afterwards；

All projected images corresponding to S102, adjacent H frames panoramic picture from the initial frame panoramic picture and its afterwards Middle to choose M tracking target, wherein M is the integer not less than 2 and H is the integer not less than 1；

S103, using the initial frame panoramic picture as the 1st frame panoramic picture, successively for the 1st frame panoramic picture after Following steps are performed per frame panoramic picture, wherein, i gets s from 1 successively, and s is the integer more than 1：

S1031, according to the tracking target chosen from N number of projected image in the i-th frame panoramic picture and/or from the i-th frame Obtained all tracking targets are tracked in N number of projected image in panorama, obtain N number of projected image in the i-th frame panoramic picture In all tracking targets；

S1032, it is tracked using each tracking target in N number of projected image in the i-th frame panoramic picture, obtains (i+1) successfully at least one tracking target is tracked in N number of projected image in frame panoramic picture.

Wherein, in step S101, panoramic video can be recorded by multiple wide-angle lens.Passing through multiple wide-angle lens During recording panoramic video, multiple wide angle pictures are gathered using multiple wide-angle lens each moment, then can be real-time or non- Multiple wide angle pictures that each moment is gathered in real time are spliced into a frame panoramic picture；Finally sequentially in time to being spliced into All panoramic pictures be ranked up, obtain panoramic video.

In the embodiment of the present invention, the multiple wide-angle lens is arranged in a panorama camera or the multiple Wide-angle lens connects same main frame, and the application is not specifically limited.Lower mask body is arranged on one with the multiple wide-angle lens Illustrated exemplified by panorama camera.

In the embodiment of the present invention, the multiple wide-angle lens is by common wide-angle lens, bugeye lens and fish eye lens In one or more camera lenses composition, the application is not restricted.

In the embodiment of the present invention, it can be spliced into by multiple wide angle pictures that merging algorithm for images gathers each moment One frame panoramic picture.Described image stitching algorithm for example can be related to feature based based on the related stitching algorithm in region Joining method etc..If not specifying, the panoramic picture described in the present invention is cylinder panoramic image.

In specific implementation process, the initial frame panoramic picture is chosen first, then again from the initial frame panorama sketch N number of projected image is chosen in picture and every frame panoramic picture afterwards.When choosing N number of projected image from every frame panoramic picture, Can be according to the corresponding relation between panoramic picture and the pixel of projected image, from every frame panoramic picture in panoramic video Choose N number of projected image.

Specifically, can be according to throwing when obtaining the corresponding relation between panoramic picture and the pixel of projected image The division rule of shadow image, obtain the corresponding relation between panoramic picture and the pixel of projected image.The division rule can To be the division rule based on default longitude or default latitude or based on default longitude and latitude, drawing based on preset field of view can also be Then etc., the application is not specifically limited divider.

Specifically, when the division rule is the division rule based on preset field of view, the water of projected image can first be set Rink corner and the vertical angle of visual field are looked squarely, and calculates the subpoint of projection window；According to subpoint, horizontal field of view angle and the vertical angle of visual field Choose N number of projected image, wherein it is possible to control panoramic picture each pixel can with least one projected image Pixel is corresponding；It can also control most of pixel in panoramic picture can be with the pixel at least one projected image It is corresponding.

Specifically, panoramic picture is mapped to spherical diagram picture first, one or more throw then is chosen in spherical diagram picture Shadow point, then choose N number of projected image of projection from spherical diagram picture based on division rule again.In this way, according to each perspective view The corresponding relation of picture, spherical diagram picture and panoramic picture, can obtain each pixel and panoramic picture in each projected image In pixel corresponding relation；Then each pixel in each projected image and the pixel in panoramic picture Corresponding relation, obtain N number of projected image corresponding to every frame panoramic picture., can be with if N number of projected image is represented with ProjImg Determine that the corresponding relation between panoramic picture and the pixel of N number of projected image can use { ProjImg->PanoImg } represent.

For example, a pixels in panoramic picture are corresponding with the c pixels in b projected images, the a1 pixels in panoramic picture Point is corresponding with the c1 pixels in b1 projected images, then can determine { ProjImg->PanoImg } include corresponding relation (a-> (b, c)) and (a1->(b1, c1)).Usual such a mode, obtain in b and b1 projected images in each pixel and panoramic picture Pixel corresponding relation；According to obtained corresponding relation, the pixel value of the pixel of panoramic picture is filled in b and b1 In, and then obtain b and b1.

In actual applications, as shown in Fig. 2 panoramic picture is mapped to spherical diagram as 20, then selected in comprehensive image 20 Take subpoint 200, wherein, based on division rule from spherical diagram as 20 in choose projected image 30, projected image 30 and spherical diagram This four pixels of pixel 201, pixel 202, pixel 203 and pixel 204 are corresponding on picture 20；Based on choosing projection The same mode of image 30, remaining all projected images are chosen from panoramic picture 20.

Wherein, compared with spherical diagram spherical area as corresponding to aforementioned four pixel in 20, it distorts projected image 30 Smaller or be not present, making it, data are more accurate when projected image 30 is tracked, and promote the accuracy of target following to improve.

The present invention the first embodiment in, due to the embodiment of the present invention need carry out target following, therefore, it is necessary to Ensure that each projected image has overlapping region with least one projected image, tracking target occur from a perspective view to reduce As there is the probability of situation about disappearing when entering another projected image.If each projected image is not deposited with any one projected image In overlapping region, when tracking target and entering from a projected image in another projected image, due in the absence of overlapping region, So as to which the problem of tracking target disappears from projected image occur；And deposited in each projected image and at least one projected image In overlapping region so that there is very maximum probability to enter another projected image from a projected image by overlapping region in target. It so, it is possible effectively to reduce when target enters another projected image from a projected image and the probability of situation about disappearing occur, carry The accuracy of high target following.

Specifically, the Duplication between projected image adjacent two-by-two in N number of projected image within a preset range, example As the Duplication can be not less than the 1% of projected image size and not higher than the 30% of projected image, now, the default model Enclose for 1%-30%.Preferably, it is not less than perspective view between the Duplication between image adjacent two-by-two in N number of projected image 2% as size and 15% not higher than projected image, now, the preset range is 2%-15%.In the embodiment of the present invention, Due to having Duplication between projected image adjacent two-by-two, in this way, each projected image and other perspective views can also be recorded The syntople of picture.

For example, the N number of projected image chosen in panoramic picture is b projected images, b1 projected images, b2 projected images and b3 Projected image.If b projected images only have overlapping region with b1 projected images, the syntople of b projected images is (b-> b1)；If b1 projected images have overlapping region with b and b2 projected images, the syntople of b1 projected images is (b1->(b, b2))；If b2 projected images have overlapping region with b1 and b3 projected images, the syntople of b2 projected images is (b2-> (b1, b3))；If b3 projected images have overlapping region with b2 projected images, the syntople of b3 projected images is (b3-> b2)。

In an alternative embodiment of the invention, panorama camera uses the visual angle relatively uniform with human eye, in most cases, The probability that north and south the two poles of the earth image in panoramic picture includes tracking target is smaller, and the distortion of north and south the two poles of the earth image causes compared with conference The problem of accuracy that appearance tracks is poor.In this way, for boosting algorithm speed and the accuracy of tracking, can be from every frame panorama North and south the two poles of the earth image in image remove after remaining panoramic picture in choose N number of projected image, with improve tracking efficiency And accuracy.

More preferably, the loop graph picture of equator one that can only retain panoramic picture carries out target following, the equator side of panoramic picture To totally 360 degree, it is assumed that equator content is split into n projected image, then the longitude range that each projected image includes is 360/n+2d, d are the part that adjacent two images overlap, generally, 5≤d≤360*0.25/n, neighboring projection images Center latitude interval 360/n, the latitude span of each projected image is-e~+e；Wherein, e is latitude value, its value Scope is 35~45.

Next step S102 is performed, in this step, is extracted by step S101 in the initial frame panoramic picture N number of projected image after, can be corresponding from the initial frame panoramic picture and adjacent H frames panoramic picture according to preparatory condition All projected images in choose M track target.Wherein M is the integer not less than 2 and H is the integer not less than 1；For example, M Can be 2,3,4 etc..

, can be complete from the initial frame panoramic picture and adjacent H frames according to the preparatory condition in specific implementation process Tracking target is chosen in different projected images in scape image in every frame panoramic picture；Will be from the initial frame panoramic picture and phase All tracking targets chosen in adjacent H frames panoramic picture are as M tracking target.

Specifically, can be from every frame when choosing tracking target from the different projected images in every frame panoramic picture The quantity for the tracking target chosen in different projected images in panoramic picture can be 0 or 1 or the integer not less than 1, this Application is not specifically limited.

Such as include 4 projected images per frame panoramic picture, can be first in the 1st frame panoramic picture if H=3 Tracking target is chosen in projected image；And tracking target is chosen in second projected image in the 2nd frame panoramic picture； Tracking target is chosen in 3 frame panoramic pictures in 3rd projected image；And the 4th projected image in the 4th frame panoramic picture It is middle to choose tracking target；Wherein, using all tracking targets chosen in the projected image in the 1st to the 4th frame panoramic picture as M Individual tracking target.

Certainly, if H=1, can be selected in the 1st frame panoramic picture in first projected image and second projected image Tracking target is taken, and tracking target is chosen in the 3rd projected image and the 4th projected image in the 2nd frame panoramic picture； Then using all tracking targets of selection as M tracking target.

In the embodiment of the present invention, the preparatory condition can be that user voluntarily chooses or pass through target detection What method detected.The object detection method can be method for detecting human face, the deep learning based on Region Proposal Algorithm of target detection and biometric discrimination method etc., the application is not specifically limited.

Specifically, tracking target is being chosen from N number of projected image in every frame panoramic picture by object detection method When, each projected image in N number of projected image in every frame panoramic picture is detected by object detection method, obtained Per at least one retrieval result in N number of projected image in frame panoramic picture；By all projections in all frame panoramic pictures Detection obtains all testing results as described M tracking target in image；And record the M tracking target and described N number of The corresponding relation of projected image.

Specifically, can be by building when recording the corresponding relation of the M tracking target and N number of projected image Vertical index marker marks each projected image, and the corresponding relation that then can record each tracking target and index marker is remembered The corresponding relation of each tracking target of record and N number of projected image.

In the embodiment of the present invention, the index marker of each projected image is unique, is prevented because index marker is not unique Cause the incorrect problem of corresponding relation for tracking target and projected image occur.

If for example, N=4 and H=1, the first projected image in 4 projected images in the 1st frame panoramic picture, second are thrown The index marker that shadow image, the 3rd projected image and the 4th projected image are corresponding in turn to is T1, T2, T3 and T4；And second frame 4 projected images in panoramic picture are respectively T11, T21, T31 and T41；4 projections in the 1st frame panoramic picture is obtained During image, Face datection is carried out to T1 and T2 by method for detecting human face, detects the F2 targets in F1 the targets H and T2 in T1 With F3 targets.

Wherein, in 4 projected images in obtaining the 1st frame panoramic picture, it is tracked and utilizes in T11 using F1 F2 and F3 are tracked in T21；And Face datection is carried out to T31 and T41 by method for detecting human face, detection is obtained in T41 F41 targets；In this way, F1, F2, F3 and F41 that detection obtains are as M tracking target；And pair of projected image and tracking target It should be related to including { (F1->T1), ((F2, F3)->) and (F41- T2>T41)}.

In an alternative embodiment of the invention, the degree of accuracy of tracking target is obtained in order to improve, according to the preparatory condition, All tracking targets chosen from all projected images corresponding to the initial frame panoramic picture and adjacent H frames panoramic picture it Afterwards, all tracking targets of selection can be transformed into the same coordinate system, obtain has overlapping region in the same coordinate system Tracking target to collection；A tracking target of each tracking target centering is got rid of from all tracking targets, by more than Under whole tracking targets track target as described M.

Specifically, when obtaining the tracking target to collection, can be transformed into together by all tracking targets of selection After one coordinate system, it will transition to each two tracking target in all tracking targets in the same coordinate system and contrasted；Contrast Go out all tracking targets that overlapping region be present to forming the tracking target to collection.

It is of course also possible to according to the syntople and track target of each projected image of record and other projected images with throwing The corresponding relation of shadow image, the coordinate of the tracking target in the projected image adjacent two-by-two after conversion is compared；Contrast Go out in all adjacent projected images two-by-two to exist the tracking target of overlapping region to forming the tracking target to collection.In this way, Compared with it will transition in all tracking targets in the same coordinate system each two tracking target and carry out contrast, what it was contrasted The quantity of each two tracking target tails off, and can reduce amount of calculation, improve computational efficiency.

Specifically, in a tracking target during each tracking target pair is got rid of from all tracking targets, The tracking target that each tracking target centering is got rid of from all tracking targets can be randomly choosed, obtains remainder Whole tracking targets and track target as described M.

Certainly, in order to improve the degree of accuracy of the tracking target in the M tracking target, each tracking mesh can also be obtained Mark centering each tracks the confidence level of target；The small tracking target of each tracking target centering confidence level is got rid of, obtains remainder Whole tracking targets and track target as described M.So so that remained in the M tracking target each The big tracking target of target centering confidence level is tracked, and then the accurate of the tracking target in the M tracking target can be improved Degree.

Specifically, if obtain track target when obtained it is each tracking target confidence level, get rid of it is each with During the small tracking target of track target centering confidence level, it can be carried out according to two confidence levels of each tracking target pair obtained Comparison.For example, when obtaining each tracking target by object detection method and/or method for tracking target, target inspection Survey method and/or method for tracking target can calculate the confidence level of each tracking target automatically.In this way, getting rid of each tracking During the small tracking target of target centering confidence level, it can be compared according to two confidence levels of each tracking target pair obtained To.

Further, it is each getting rid of if not obtaining the confidence level of each tracking target when obtaining and tracking target Before tracking the small tracking target of target centering confidence level, the confidence of each tracking target can be obtained according to certainty factor algebra Degree, is then compared according to two confidence levels of each tracking target pair of acquisition.Wherein, the certainty factor algebra for example may be used To be confidential interval computational methods, normal distribution method etc..

Further, during according to certainty factor algebra obtaining the confidence level of tracking target, can also be calculated according only to confidence level Method obtains the confidence level that all trace point centerings each track target, without obtaining the confidence level of each tracking target, with Amount of calculation is reduced, and then improves and calculates effect.

For example, if N=4 and H=1, face inspection is carried out by method for detecting human face to the T1 in the 1st frame panoramic picture and T2 Survey, detect the human face target R3 and R4 in human face target R1 and R2, T2 in T1；And by method for detecting human face to the 2nd T31 and T41 in frame panoramic picture carry out Face datection, and detection obtains human face target R5 in T31；It is complete to obtain the initial frame All tracking targets in scape image and adjacent H frames panoramic picture are R1, R2, R3, R4 and R5, wherein 4 projected images with The corresponding relation of track target include ((R1, R2)->T1), ((R3, R4)->) and (R5- T2>T31)}.

Wherein, if for example, T1, T2, T3 and T4 syntople are { (T1->T2), (T2->(T1, T3)), (T3->(T2, T4)), (T4->T3) }, after all tracking target R1, R2, R3, R4 and R5 are obtained；According to the syntople, by R3 and R4 is compared with R1, R2 and R5 successively；If R3 and R2 have overlapping region, and R4 and R5 has overlapping region, it is determined that The tracking target is { (R2, R3), (R4, R5) } to collection.

Further, after { (R2, R3), (R4, R5) } is got, if confidence level corresponding to R2 is corresponding for 0.72, R3 Confidence level be that confidence level corresponding to 0.85, R4 is that confidence level corresponding to 0.78, R5 is 0.75, due to 0.72<0.85 and 0.78> 0.75, then the small R2 of confidence level is got rid of from R2 and R3 and the small R5 of confidence level is got rid of from R4 and R5, is obtained remaining All tracking target is R1, R3 and R4, i.e. R1, R3 and R4 is described M tracking target, now M=3.

Next step S103 is performed, performs step for every frame panoramic picture after the 1st frame panoramic picture successively S1031-S1032。

Wherein, in step S1031, according to the difference of i values, the i-th frame panoramic picture is obtained by different modes In N number of projected image in all tracking targets, it is specific as follows：

If i=1, according to the tracking target chosen from N number of projected image in the i-th frame panoramic picture as the i-th frame All tracking targets in N number of projected image in panoramic picture；

If i, which is more than, 1 and be not more than (H+1), basis chosen from N number of projected image in the i-th frame panoramic picture with Track target and obtained all tracking targets are tracked from N number of projected image in the i-th frame panorama, obtain the i-th frame panoramic picture In N number of projected image in all tracking targets；

If i is more than (H+1), all tracking targets for tracking to obtain from N number of projected image in the i-th frame panorama are made For all tracking targets in N number of projected image in the i-th frame panoramic picture.

In specific implementation process, in i=1, now the 1st frame panoramic picture is initial two field picture, in this way, according to described Preparatory condition, the tracking target chosen from N number of projected image in the i-th frame panoramic picture is as the N in the i-th frame panoramic picture All tracking targets in individual projected image.

Wherein, 1<During i≤(H+1), due to N number of projected image in the former frame panoramic picture of the i-th frame panoramic picture It is middle tracking target to be present, then it is tracked, is obtained using tracking target present in N number of projected image in former frame panoramic picture Take all tracking targets for tracking to obtain from N number of projected image in the i-th frame panorama；Now, can also be according to the default bar Part, tracking target is chosen from N number of projected image in the i-th frame panoramic picture.It follows that 1<During i≤(H+1), the i-th frame All tracking targets are by choosing from N number of projected image in the i-th frame panoramic picture in N number of projected image in panoramic picture Tracking target and all tracking targets for tracking to obtain from N number of projected image in the i-th frame panorama form.

Further, at i ＞ (H+1), will not now be chosen in N number of projected image in the i-th frame panoramic picture with Track target, therefore, it need to only utilize and be tracked present in N number of projected image in the former frame panoramic picture of the i-th frame panoramic picture Target is tracked, and is obtained all tracking targets for tracking to obtain from N number of projected image in the i-th frame panorama, will be tracked To all tracking targets as all tracking targets in N number of projected image in the i-th frame panoramic picture.

All tracking targets in N number of projected image during the i-th frame panoramic picture is got by step S1031 it Afterwards, step S1032 is performed.

Specifically, when being tracked using each tracking target in N number of projected image in the i-th frame panoramic picture, Corresponding projected image of each tracking target in (i+1) frame panoramic picture in i-th frame panoramic picture is tracked, from And obtain tracking successfully at least one tracking target in N number of projected image in (i+1) frame panoramic picture.

In the embodiment of the present invention, each tracking target in N number of projected image in using the i-th frame panoramic picture is carried out During tracking, it is tracked using method for tracking target, the method for tracking target can the tracking based on active profile, base Tracking in feature, the tracking based on region and tracking based on model etc..

In the embodiment of the present invention, because N number of projected image in every frame panoramic picture is selected according to the preparatory condition Take, and the preparatory condition all same is corresponded to per frame panoramic picture；It follows that per N number of perspective view in frame panoramic picture Visual field as corresponding to N number of projected image in other any one frame panoramic pictures is identical；Therefore, can cause previous It is tracked in corresponding projected image of each tracking target in next frame panoramic picture in frame panoramic picture.

If for example, N=4 and H=1, and 4 projected images in the 1st frame panoramic picture are followed successively by T1, T2, T3 and T4, 4 projected images in 2 frame panoramic pictures are followed successively by T11, T21, T31 and T41,4 projected images in the 3rd frame panoramic picture 4 projected images being followed successively by T12, T22, T32 and T42 and the 4th frame panoramic picture are followed successively by T13, T23, T33 and T43.

Wherein, due to the i=1 in the 1st frame panoramic picture, then by method for detecting human face in the 1st frame panoramic picture T1 and T2 carry out Face datection, detect the human face target R3 and R4 in human face target R1 and R2, T2 in T1, and except weight after It is R1, R3 and R4 to obtain tracking target.As tracking target R1, R3 and R4 after obtaining removing again, the 2nd frame can be now collected Panoramic picture, now, i=H+1, then it is tracked using T11s of the R1 in the 2nd frame panoramic picture, and is existed using R3 and R4 T21 in 2nd frame panoramic picture is tracked, obtain tracking in T11 successfully R1 represented and obtained with R11 T21 tracking into The R3 and R4 of work(are represented with R31 and R41 respectively；And Face datection is carried out from T31 and T41 by method for detecting human face, examine Measure the R51 in T31；It follows that all tracking targets in N number of projected image in the 2nd frame panoramic picture be R11, R31, R41 and R51.

Enter a ground, while R11, R31, R41 and R51 is obtained, the 3rd frame panoramic picture can be collected, now i>H+1, Then using being tracked in homolographic projection image in the 3rd frame panoramic picture of R11, R31, R41 and R51, obtain in T12 with Track success R11 is represented with R12, is obtained representing and obtain to use in the successful R51 of T32 tracking with R32 in the successful R31 of T22 tracking R52 is represented；It follows that all tracking targets in N number of projected image in the 3rd frame panoramic picture are R12, R32 and R52.

Correspondingly, while R12, R32 and R52 is obtained, the 4th frame panoramic picture can be collected, now 4>H+1, then it is sharp It is tracked with the homolographic projection image of R12, R32 and R52 in the 4th frame panoramic picture, obtains tracking successfully in T13 R12 is represented with R13, is obtained being represented and being obtained in the successful R52 R53 tables of T33 tracking with R32 in the successful R33 of T23 tracking Show；It follows that all tracking targets in N number of projected image in the 4th frame panoramic picture are R13, R33 and R53.

In another embodiment of the present invention, it can also create and the one-to-one N of N number of projected image in every frame panoramic picture Individual tracker；Further according to the corresponding relation of tracking target and projected image, each tracking target in the i-th frame panoramic picture is added It is added in N number of tracker and is tracked in corresponding tracker.

In the embodiment of the present invention, the tracker is the trace model calculated using target tracking algorism, such as root According to the parameter read-in trace model of a tracking clarification of objective point of some projected image in former frame panoramic picture, Ran Housuo State tracker and computing is carried out to be tracked to the parameter of write-in automatically.Wherein, the target tracking algorism includes being based on CamShift target tracking algorism, the target tracking algorism based on average drifting and Kalman filtering, based on SIFT feature mesh Mark track algorithm research and Dynamic Object Tracing Algorithm based on Kalman Prediction etc..

For example, it is T1, T2, T3 and T4 that if initial frame panoramic picture, which is N number of projected image in the 1st frame panoramic picture, G1 trackers, G2 trackers, G3 trackers and G4 trackers this four trackers are created, wherein, G1 is corresponding with T1, G2 and T2 pairs Should, G3 is corresponding with T3 and G4 and T4 is corresponding.And from T1 and T2 detection obtain and duplicate removal after M tracking target for R1, R3 and R4, because R1 is corresponding with T1, R3 is corresponding with T2 and R4 and T3 is corresponding, then is closed according to tracker is corresponding with projected image System, R1 is added in G1, R3 and R4 are added in G2；If the projected image in the 2nd frame panoramic picture is T11, T21, T31 And T41, wherein, T1 is corresponding with T11, T21 and T2 is corresponding, and T31 is corresponding with T3, and T41 is corresponding with T4；Then by G1 in T11 with Track R1, R3 and R4 is tracked in T21 by G2；Obtain tracking successful R1 use from the projected image in the 2nd frame panoramic picture R11 represents, tracks successful R3 and represents and track successful R4 with R31 and is represented with R41；It is right respectively while being tracked T31 and T41 carries out Face datection, is detected in T31 and obtains R51.It follows that N number of projected image in the 2nd frame panoramic picture In all tracking targets be R11, R31, R41 and R51.

Wherein, while R11, R31, R41 and R51 is obtained, the 3rd frame panoramic picture, the 3rd frame panoramic picture can be collected In projected image be T12, T22, T32 and T42；Now i>H+1, then R11 is being tracked in T12 by G1, by G2 in T22 Middle tracking R31 and R41, and R51 is tracked in T32 by G3, obtain tracking successfully R11 in T12 and represented, obtained with R12 Successful R31 is tracked in T22 to represent and obtain to be represented with R52 in the successful R51 of T32 tracking with R32；It follows that the 3rd frame is complete All tracking targets in 4 projected images in scape image are R12, R32 and R52.

Further, when i gets s from 4 successively, circulation performs step S1031-S302, the reference of its specific implementation process It is succinct for specification for the implementation steps of the 3rd frame panoramic picture, just repeat no more herein.

In another embodiment of the present invention, it can also create one-to-one with all tracking targets in every frame panoramic picture P tracker, P are the integer not less than 0；Each tracking target in i-th frame panoramic picture is added to the P tracker In be tracked in corresponding tracker.

In the embodiment of the present invention, the tracker is the trace model calculated using target tracking algorism, such as root According to the parameter read-in trace model of a tracking clarification of objective point of some projected image in former frame panoramic picture, Ran Housuo State tracker and computing is carried out to be tracked to the parameter of write-in automatically.Wherein, the target tracking algorism includes being based on CamShift target tracking algorism, the target tracking algorism based on average drifting and Kalman filtering, based on SIFT feature mesh Mark track algorithm research and Dynamic Object Tracing Algorithm based on Kalman Prediction etc..

Specifically, the quantity of all tracking targets in every frame panoramic picture is different, its P value also not phase Together；When the quantity of all tracking targets in certain frame panoramic picture is 0, P=0；All tracking in certain frame panoramic picture When the quantity of target is 2, P=2.

If for example, N number of subgraph in the 1st frame panoramic picture is to detect that M tracking target is in T1, T2, T3 and T4 R1, R3 and R4, then G1 trackers, G3 trackers and G4 trackers this 3 trackers are created, wherein, G1 is corresponding with R1, R3 and G3 Corresponding and R4 is corresponding with G4；Then R1 is added in G1, R3 is added in G3, and R4 is added in G4；If the 2nd frame Subgraph in panoramic picture is T11, T21, T31 and T41；R1 is then tracked in T11 by G1, tracked by G3 in T21 R3 and R4 is tracked in T21 by G4；Obtain tracking successful R1 from the subgraph in the 2nd frame panoramic picture and represented with R11 Represented with successful R3 is tracked with R31；Now, fail because R4 is tracked, then delete G4；And R1 and R3 are tracked successfully, then are protected Stay G1 and G3.

If the subgraph in the 3rd frame panoramic picture is T12, T22, T32 and T42, entered using R11 by G1 in T12 Line trace and it is tracked using R31 by G3 in T22, obtains tracking successfully from the subgraph in the 3rd frame panoramic picture R11 represent and track successful R31 with R12 and represented with R32, now R11 and R31 tracks success, then retains G1 and G3.

, then can be multiple with Parallel Tracking when the tracking target in the i-th frame panoramic picture is multiple in the embodiment of the present invention Target is tracked, to shorten the tracking spent time；It is of course also possible to serially track multiple tracking targets, the application does not make to have Body limits.

In another embodiment of the present invention, each tracking mesh in N number of projected image during i utilizes the i-th frame panoramic picture Mark is when being tracked, if (i+1) be more than in N number of projected image in (H+1) and (i+1) frame panoramic picture be not present tracking into The tracking target of work(, then choose at least one tracking target from N number of projected image in (i+1) frame panoramic picture.Certainly, At least one tracking target can also be chosen from N number of projected image in (i+2) frame panoramic picture.Wherein, from (i+ 1), can be according to the default bar when or in N number of projected image in (i+2) frame panoramic picture choosing at least one tracking target Part, at least one tracking target is chosen from N number of projected image in (i+1) or (i+2) frame panoramic picture.It is chosen at least The narration for step S101 is may be referred in the specific implementation process of one tracking target, it is succinct for specification, herein Just repeat no more.

If for example, H=1, and all tracking targets in the projected image in the 2nd frame panoramic picture are R11, R31, R41 And R51, and the projected image in the 3rd frame panoramic picture is T12, T22, T32 and T42, then R11 is being tracked in T12 by G1, R31 and R41 is tracked in T22 by G2, and R51 is tracked in T32 by G3；If R11, R31, R41 and R51, not with Track success, now 3 ＞ H+1, then according to the preparatory condition, choose at least one tracking mesh from T12, T22, T32 and T42 Mark.It is T13, T23, T33 and T43 from the projected image in the 4th frame panoramic picture it is of course also possible to according to the preparatory condition It is middle to choose at least one tracking target.

In another embodiment of the present invention, in adjacent H frames panoramic picture pair from the initial frame panoramic picture and its afterwards After M tracking target is chosen in all projected images answered, methods described is further comprising the steps of：

S301, using the initial frame panoramic picture as starting point, at interval of k frames panoramic picture from respective frame panoramic picture and phase At least one tracking target is chosen in all projected images corresponding to adjacent H frames panoramic picture, wherein, k is whole more than (H+1) Number；

S302, within the cycle of each interval k frame panoramic pictures, using respective frame panoramic picture as the 1st frame panoramic picture, The every frame panoramic picture execution following steps being directed to successively after the 1st frame panoramic picture, wherein, i gets k+1 from 1 successively：

S3021, according to the tracking target chosen from N number of projected image in the i-th frame panoramic picture and/or from the i-th frame Obtained all tracking targets are tracked in N number of projected image in panorama, obtain N number of projected image in the i-th frame panoramic picture In all tracking targets；

S3022, it is tracked using each tracking target in N number of projected image in the i-th frame panoramic picture, obtains (i+1) successfully at least one tracking target is tracked in N number of projected image in frame panoramic picture.

Wherein, in step S301, it is determined that during respective frame panoramic picture, successively to each interval k frame panoramic pictures Multiframe panoramic picture in cycle carries out target detection, and certain the frame panoramic picture for detecting at least one tracking target first is made For respective frame panoramic picture.So so that respective frame panoramic picture can be opening in the cycle of some interval k frame panoramic pictures Beginning frame panoramic picture or panoramic picture afterwards.

If k=4 so that the panoramic picture that the cycle of first 4 frame panoramic picture of interval includes is the 1st, 2,3,4 and 5 frames Panoramic picture, wherein the start frame panoramic picture in the cycle of first 4 frame panoramic picture of interval is the 1st frame panoramic picture, then Successively target detection is carried out for the 1st, 2,3,4 and 5 frame panoramic pictures；If from N number of projected image corresponding to the 1st frame panoramic picture In detect at least one tracking target, it is determined that the 1st frame panoramic picture is respective frame panoramic picture, now, in interval k Respective frame panoramic picture in the cycle of frame panoramic picture is initial frame panoramic picture；Accordingly, second 4 frame panorama sketch of interval The panoramic picture that the cycle of picture includes is the 6th, 7,8,9 and 10 frame panoramic pictures, wherein the week of second 4 frame panoramic picture of interval Start frame panoramic picture in phase is the 6th frame panoramic picture, then carries out target for the 6th, 7,8,9 and 10 frame panoramic pictures successively Detection；If not detecting tracking target from the 6th frame panoramic picture, target is carried out to the 7th frame panoramic picture；If from the 7th frame panorama Image has detected at least one tracking target, it is determined that the 7th frame panoramic picture is respective frame panoramic picture, now, in interval k Respective frame panoramic picture in the cycle of frame panoramic picture is 1 frame panoramic picture after initial frame panoramic picture.

In the embodiment of the present invention, step S301 embodiment can be step S102 any one embodiment party Formula, it is succinct for specification, just repeat no more herein.

After step S301 is performed, within the cycle of each interval k frame panoramic pictures, to choose at least one tracking mesh Target respective frame panoramic picture is the 1st frame panoramic picture, then successively for every after the 1st frame panoramic picture in the cycle Frame panoramic picture performs step S3021-S3022, and wherein step S3021-S3022 specific implementation process may be referred to step S1031-S1032 implementation process.

For example, if the panoramic picture that the cycle of second 4 frame panoramic picture of interval includes is the 6th, 7,8,9 and 10 frame panoramas Image, first the start frame panoramic picture out of second 4 frame panoramic picture of interval cycle are the throwing in the 6th frame panoramic picture Shadow image is T15, T25, T35 and T45；If H=1, Face datection is carried out in T15 and T25, the tracking mesh detected Mark.

Wherein, after T15 and T25 detect tracking target, now, can gather comprising projected image T16, T26, T36 With the projected image in T46 the 7th frame panoramic picture, T15 and T25 are detected that tracking target is tracked in T16 and T26, And Face datection is carried out in T36 and T46, the tracking target detected.

Further, the projection in the 8th frame panoramic picture comprising projected image T17, T27, T37 and T47 is collected During image, using the tracking target that T16 and T26 are tracked obtained tracking target and are detected in T36 and T46 carry out with Track；Obtain tracking successfully at least one tracking target；And when i takes 9 and 10 successively, perform step S3021-S3022.

Due in the present embodiment at interval of k frames panoramic picture just from respective frame panoramic picture and adjacent H frames panoramic picture pair At least one tracking target is chosen in all projected images answered so that have new tracking target in scene corresponding to panoramic picture Entering fashionable can detect and be tracked immediately.It so, it is possible to improve the promptness and accuracy for detecting tracking target, make The accuracy and promptness that must be tracked can also improve therewith.

In another embodiment of the present invention, tracked in N number of projected image in obtaining (i+1) frame panoramic picture successful After at least one tracking target, successful at least one can will be tracked in N number of projected image in (i+1) frame panoramic picture Individual tracking target is shown in (i+1) frame panoramic picture or (i+2) frame panoramic picture.

Specifically, successfully at least one tracking will be being tracked in N number of projected image in (i+1) frame panoramic picture When target is shown in (i+1) frame panoramic picture or (i+2) frame panoramic picture, it is necessary first to by (i+1) frame panoramic picture Successfully at least one each tracking target tracked in target carries out Coordinate Conversion for middle tracking, then will be every after Coordinate Conversion Individual target following is shown in (i+1) frame panoramic picture or (i+2) frame panoramic picture.

Specifically, when carrying out Coordinate Conversion, can according to the pixel point correspondence in projected image and panoramic picture, Tracking is successfully each tracked into target and carries out Coordinate Conversion, so as to the Coordinate Conversion by each tracking target in projected image For the coordinate in panoramic picture；In this way, each target following after Coordinate Conversion is included in (i+1) frame panoramic picture or the (i+2) when in frame panoramic picture, its accuracy shown improves.

If for example, the projected image in the 2nd frame panoramic picture is T11, T21, T31 and T41, by G1 in T11 with Track R1, R3 and R4 is tracked in T21 by G2；Obtain tracking successful R1 use from the projected image in the 2nd frame panoramic picture R11 represents and tracks successful R3 and represented with R31, then will R11 and R31 carry out Coordinate Conversion after include in the 2nd frame panorama sketch In picture or the 3rd frame panoramic picture.

In the embodiment of the present invention, successful at least one will be being tracked in N number of projected image in (i+1) frame panoramic picture Individual tracking target is when being shown in (i+1) frame panoramic picture, by N number of projected image in the 1st frame panoramic picture at least One tracking target is shown in the 1st frame panoramic picture；It will tracked in N number of projected image in (i+1) frame panoramic picture When successfully at least one tracking target is shown in (i+2) frame panoramic picture, by N number of projection in the 1st frame panoramic picture At least one tracking target in image is shown in the 2nd frame panoramic picture；By the above-mentioned means, to prevent the 1st and 2 frames The problem of at least one tracking target in N number of projected image in panoramic picture is simultaneously displayed in the 2nd frame panoramic picture, drop It is low the problem of tracking target overlaps display occur.

In another embodiment of the present invention, tracked in N number of projected image in obtaining (i+1) frame panoramic picture successful During at least one tracking target, methods described is further comprising the steps of：

Whether each tracking target in N number of projected image in S401, detection (i+1) frame panoramic picture tracks into Work(；

S402, in one in often detecting (i+1) frame panoramic picture tracking target following failure, according to perspective view Syntople as between, obtain the neighboring projection images with the projected image adjoining where the tracking target of tracking failure；

S403, the tracking target to be failed using tracking are carried out in the neighboring projection images in (i+2) frame panoramic picture Target detection, obtain testing result corresponding to the tracking target of tracking failure；

Testing result sign is obtained in testing result corresponding to S404, the tracking target from all tracking failures to detect successfully Each tracking target, at least one tracking target that successfully each tracking target and tracking obtain will be detected as (i+ 2) all tracking targets in N number of projected image in frame panoramic picture.

Wherein, in step S401, each tracking target in N number of projected image in using the i-th frame panoramic picture When being tracked, whether each tracking target detected in the i-th frame panoramic picture tracks success；If each tracking target tracks Success, then can determine that all tracking targets in N number of projected image in (i+1) frame panoramic picture track success；With And a tracking target following failure is often being detected, perform step S402.

If for example, the projected image in the 2nd frame panoramic picture is T11, T21, T31 and T41, by G1 in T11 with Track R1, R3 and R4 is tracked in T21 by G2；Detect that R1 is tracked successfully to obtain R11 and R3 and track successfully to obtain R31, and R4 tracking failures are detected, now, perform step S402.

When often detecting a tracking target following failure, step S402 is performed, due in tracking target following failure When, tracking the tracking target of failure has projected image of the larger probability where it to be moved in the neighboring projection images； Therefore, the neighboring projection images are got by step S402, then by step S403 in (i+2) frame panoramic picture The tracking target of tracking failure is detected in neighboring projection images, obtains testing result；In this way, part tracking can be lost The tracking target lost detects again to be tracked again, and then can realize and tracking target is more accurately tracked, and is dropped The probability that low tracking target is lost.

If for example, the projected image in the 2nd frame panoramic picture is T11, T21, T31 and T41, by G1 in T11 with Track R1, R3 and R4 is tracked in T21 by G2；Detect that R1 is tracked successfully to obtain R11 and R3 and track successfully to obtain R31, and R4 tracking failures are detected, then according to syntople { (T1->T2), (T2->(T1, T3)), (T3->(T2, T4)), (T4-> T3) }, it is determined that being T1 and T3 with the neighboring projection images abutted of the T2 where R4；Then the projection in the 3rd frame panoramic picture is obtained Image is T12, T22, T32 and T42, and projected image corresponding with T1 and T3 is T12 and T32 in the 3rd frame panoramic picture, then utilizes R4 carries out target detection in T12 and T32, obtains testing result.

Wherein, if the testing result, which is characterized in T32, detects that R4 is represented with R42, and utilize R11 by G1 in T12 In be tracked and be tracked using R31 by G2 in T22, obtain from the projected image in the 3rd frame panoramic picture with The successful R11 of track represents and tracked successful R31 with R12 and represented with R32, it is determined that 4 perspective views in the 3rd frame panoramic picture All tracking targets as in are R12, R32 and R42.

Further, if the projected image in the 4th frame panoramic picture is T13, T23, T33 and T43, passed through using R12 G1 is tracked in T13, is tracked in T23 by G2 using R32 and is tracked using R42 by G3 in T33, Obtain tracking successful R12 from the projected image in the 3rd frame panoramic picture and represented with R13, track successful R32 R33 tables Show and track successfully R42 and represented with R43.In this way, the tracking target that part can be tracked to failure is detected and carried out again again Tracking, and then can realize and tracking target is more accurately tracked, reduce the probability that tracking target is lost.

When in the embodiment of the present invention due to (i+1)≤(H+1), it is also necessary to complete from (i+1) frame according to the preparatory condition Tracking target is chosen in N number of projected image in scape image, so so that N number of projected image in (i+1) frame panoramic picture In tracking target quantity have greater probability be 0.So, it is preferable that can be in (i+1) ＞ (H+1), then perform step S401~S404.

In another embodiment of the invention, overlapping region be present in each projected image and at least one projected image, And when often detecting one in (i+1) frame panoramic picture tracking target following failure, methods described is further comprising the steps of：

S501, detect whether the tracking target that the tracking fails is located in the overlapping region between two projected images；

If S502, detecting that the tracking target of tracking failure is not located in the overlapping region between two projected images, Then abandon the tracking target of tracking failure；

In the embodiment of the present invention, if detecting, the tracking target of tracking failure is not located at the weight between two projected images In folded region, step S402~S404 can also be performed successively.

If S503, detecting the tracking target of tracking failure in the overlapping region between two projected images, Obtain the specific projection image that there is overlapping region with the projected image where the tracking target of tracking failure；

In the specific projection image of S504, the tracking target to be failed using tracking in (i+2) frame panoramic picture Target detection is carried out, obtains testing result corresponding to the tracking target of tracking failure；

Testing result sign is obtained in testing result corresponding to S505, the tracking target from all tracking failures to detect successfully Each tracking target, at least one tracking target that successfully each tracking target and tracking obtain will be detected as (i+ 2) all tracking targets in N number of projected image in frame panoramic picture.

Wherein, in step S501, tracking failure can be detected according to the coordinate of the tracking target of tracking failure Track whether target is located in the overlapping region between two projected images.Certainly, in order to quickly detect the tracking fail Tracking target whether in the overlapping region between two projected images, can also be according to the tracking target of tracking failure Coordinate and projected image between syntople, detect tracking failure tracking target whether positioned at two projected images it Between overlapping region in.

Specifically, first by the tracking failure tracking target coordinate carry out Coordinate Conversion, by the tracking unsuccessfully with The Coordinate Conversion of track target is into the latitude and longitude coordinates in panoramic picture；Then the latitude and longitude coordinates that will convert into again and each projection Latitude and longitude coordinates in panoramic picture corresponding to image are compared；If the latitude and longitude coordinates being converted into and two projected images pair There is same section in the latitude and longitude coordinates answered, then can be determined that the tracking target of tracking failure between two projected images Overlapping region in, then perform step S503~S505；If the latitude and longitude coordinates being converted into are only corresponding with a projected image There is same section in latitude and longitude coordinates, then can be determined that the tracking target step of tracking failure between two projected images In overlapping region, then step S502 is performed.

Specifically, after the coordinate of tracking target of tracking failure is obtained, according to the adjacent pass between projected image System, it is determined that the projected image adjacent with projected image where the tracking target of tracking failure；Then by the tracking failure with The Coordinate Conversion of track target is into the latitude and longitude coordinates in panoramic picture, and the latitude and longitude coordinates and neighboring projection images that will convert into Latitude and longitude coordinates in corresponding panoramic picture are compared；If the latitude and longitude coordinates being converted into are corresponding with neighboring projection images There is same section in latitude and longitude coordinates, then can be determined that weight of the tracking target of tracking failure between two projected images In folded region, then step S503~S505 is performed；If the latitude and longitude coordinates being converted into longitude and latitude corresponding with neighboring projection images Same section is not present in coordinate, then can be determined that the tracking target step of tracking failure is overlapping between two projected images In region, then step S502 is performed.

Now, the latitude and longitude coordinates being converted into only need the latitude and longitude coordinates in panoramic picture corresponding with neighboring projection images It is compared, without being compared with the latitude and longitude coordinates in the panoramic picture of each projected image, its quantity contrasted subtracts It is few, promote its amount of calculation also to reduce therewith, detection efficiency is improved so as to shorten detection time.

If detecting, the tracking target of tracking failure in the overlapping region between two projected images, performs step S503, at this point it is possible to two projected images where obtaining the tracking target of tracking failure corresponding to overlapping region, place weight Two projected images one corresponding to folded region are the projected image where the tracking target of tracking failure, and another is institute Specific projection image is stated, the specific projection image can be got by such a mode.

In the embodiment of the present invention, step S504~S505 specific implementation process may be referred to step S403~S404 reality Process is applied, it is succinct for specification, just repeat no more herein.

If for example, the projected image in the 2nd frame panoramic picture is T11, T21, T31 and T41, by G1 in T11 with Track R1, R3 and R4 is tracked in T21 by G2；Detect that R1 is tracked successfully to obtain R11 and R3 and track successfully to obtain R31, and R4 tracking failures are detected, detection R4 is whether in the no overlapping region being located between two projected images.

Because R4 is located in projected image T2, and according to syntople { (T1->T2), (T2->(T1, T3)), (T3-> (T2, T4)), (T4->T3) }, it is determined that being T1 and T3 with the neighboring projection images abutted of the T2 where R4；Then by R4 coordinate Be converted into latitude and longitude coordinates, then the latitude and longitude coordinates that will convert into respectively with T1 and T3 corresponding to latitude and longitude coordinates be compared. If the latitude and longitude coordinates that R4 is converted into latitude and longitude coordinates corresponding with T3 have same section, it can determine that R4 is located at T2 and T3 Between overlapping region, and because the projected image where R4 is T2, it follows that specific projection image corresponding to R4 is T3.

Wherein, it is determined that specific projection image corresponding to R4 be T3 after, if the projected image in the 3rd frame panoramic picture is T12, T22, T32 and T42, projected image corresponding with T3 is T32 in the 3rd frame panoramic picture, then mesh is carried out in T32 using R4 Mark detection, obtains testing result.

Secondly, if the testing result, which is characterized in T32, detects that R4 is represented with R42, and utilize R11 by G1 in T12 In be tracked and be tracked using R31 by G2 in T22, obtain from the projected image in the 3rd frame panoramic picture with The successful R11 of track represents and tracked successful R31 with R12 and represented with R32, it is determined that 4 perspective views in the 3rd frame panoramic picture All tracking targets as in are R12, R32 and R42.

Further, if the projected image in the 4th frame panoramic picture is T13, T23, T33 and T43, passed through using R12 G1 is tracked in T13, is tracked in T23 by G2 using R32 and is tracked using R42 by G3 in T33, Obtain tracking successful R12 from the projected image in the 3rd frame panoramic picture and represented with R13, track successful R32 R33 tables Show and track successfully R42 and represented with R43.In this way, the tracking target that part can be tracked to failure is detected and carried out again again Tracking, and then can realize and tracking target is more accurately tracked, reduce the probability that tracking target is lost.

In the embodiment of the present invention, by detecting the tracking target of tracking failure whether between two projected images Testing result in overlapping region alternatively condition, the tracking mesh of tracking failure of target detection need not be carried out by removing part Mark, the tracking target without all tracking failures will carry out target detection, be improved so as to effectively reduce amount of calculation The efficiency of tracking.Moreover, the less probability of tracking target that the part removed need not carry out the tracking failure of target detection occurs In subsequent frame panoramic picture, the accuracy for the tracking target for needing the tracking failure for carrying out target detection is improved.

Based on the method identical technical concept provided with first aspect present invention, second aspect of the present invention additionally provides one Panorama camera, including readable storage medium storing program for executing are planted, is had program stored therein on the readable storage medium storing program for executing, described program is executed by processor Shi Shixian following steps：Certain the frame panoramic picture chosen in panoramic video is initial frame panoramic picture, from the initial frame panorama N number of projected image is chosen in image and every frame panoramic picture afterwards, wherein, each projected image is in corresponding panoramic picture Parts of images projection, N is integer not less than 2；Adjacent H frames panorama sketch from the initial frame panoramic picture and its afterwards M tracking target is chosen in all projected images as corresponding to, wherein M is the integer not less than 2 and H is the integer not less than 1； Using the initial frame panoramic picture as the 1st frame panoramic picture, held successively for every frame panoramic picture after the 1st frame panoramic picture Row following steps, wherein, i gets s from 1 successively, and s is the integer more than 1：According to from N number of perspective view in the i-th frame panoramic picture The tracking target chosen and/or obtained all tracking targets are tracked from N number of projected image in the i-th frame panorama as in, obtained Take all tracking targets in N number of projected image in the i-th frame panoramic picture；Utilize N number of perspective view in the i-th frame panoramic picture Each tracking target as in is tracked, and obtains tracking successfully extremely in N number of projected image in (i+1) frame panoramic picture Few tracking target.

Preferably, adjacent H frames when described program is executed by processor from the initial frame panoramic picture and its afterwards are complete When the M step for tracking target is chosen in all projected images corresponding to scape image, following steps are specifically included：According to panorama sketch Corresponding relation between picture and the pixel of projected image, it is corresponding from the initial frame panoramic picture and adjacent H frames panoramic picture All projected images in choose M track target.

Preferably, adjacent H frames when described program is executed by processor from the initial frame panoramic picture and its afterwards are complete When the M step for tracking target is chosen in all projected images corresponding to scape image, following steps are specifically included：According to default bar Part, from the initial frame panoramic picture and adjacent H frames panoramic picture per frame panoramic picture in different projected images in choose Track target；Using all tracking targets chosen from the initial frame panoramic picture and adjacent H frames panoramic picture as M with Track target.

Preferably, chosen when described program is executed by processor according to from N number of projected image in the i-th frame panoramic picture Tracking target and/or obtained all tracking targets are tracked from N number of projected image in the i-th frame panorama, obtain the i-th frame it is complete During the step of all tracking targets in N number of projected image in scape image, following steps are specifically included：If i=1, basis The tracking target chosen from N number of projected image in the i-th frame panoramic picture is as N number of perspective view in the i-th frame panoramic picture All tracking targets as in；If i, which is more than, 1 and be not more than (H+1), basis is from N number of projected image in the i-th frame panoramic picture The tracking target of middle selection and obtained all tracking targets are tracked from N number of projected image in the i-th frame panorama, obtain i-th All tracking targets in N number of projected image in frame panoramic picture；If i is more than (H+1), by from N number of in the i-th frame panorama All tracking targets for tracking to obtain in projected image are as all tracking in N number of projected image in the i-th frame panoramic picture Target.

Preferably, using each in N number of projected image in the i-th frame panoramic picture when described program is executed by processor During the step that tracking target is tracked, following steps are specifically included：Create and N number of projected image one in every frame panoramic picture N number of tracker corresponding to one；According to tracking target and projected image corresponding relation, by the i-th frame panoramic picture it is each with Track target is added in N number of tracker to be tracked in corresponding tracker.

Preferably, when described program is executed by processor using in N number of subgraph in the i-th frame panoramic picture it is each with During the step that track target is tracked, following steps are specifically included：Create and all tracking targets one in every frame panoramic picture P tracker corresponding to one, P are the integer not less than 0；Each tracking target in i-th frame panoramic picture is added to the P It is tracked in individual tracker in corresponding tracker.

Preferably, it is every in N number of projected image in using the i-th frame panoramic picture when described program is executed by processor During the step that individual tracking target is tracked, following steps are also realized：(if i+1) is more than (H+1) and (i+1) frame panoramic picture In N number of projected image in be not present tracking successfully tracking target, then from N number of perspective view in (i+1) frame panoramic picture At least one tracking target is chosen as in.

Preferably, described program is executed by processor initial frame panoramic picture described in Shi Cong and its adjacent H frames afterwards In all projected images corresponding to panoramic picture choose M track target after step when, also realize following steps：With described Initial frame panoramic picture is starting point, at interval of corresponding to k frames panoramic picture from respective frame panoramic picture and adjacent H frames panoramic picture At least one tracking target is chosen in all projected images, wherein, k is the integer more than (H+1)；In each interval k frame panoramas In the cycle of image, using respective frame panoramic picture as the 1st frame panoramic picture, successively for every after the 1st frame panoramic picture Frame panoramic picture performs following steps, wherein, i gets k+1 from 1 successively；According to from N number of perspective view in the i-th frame panoramic picture The tracking target chosen and/or obtained all tracking targets are tracked from N number of projected image in the i-th frame panorama as in, obtained Take all tracking targets in N number of projected image in the i-th frame panoramic picture；Utilize N number of perspective view in the i-th frame panoramic picture Each tracking target as in is tracked, and obtains tracking successfully extremely in N number of projected image in (i+1) frame panoramic picture Few tracking target.

Preferably, when described program is executed by processor in N number of projected image in obtaining (i+1) frame panoramic picture Tracking successfully it is at least one tracking target after step when, also realize following steps：By in (i+1) frame panoramic picture Successfully at least one tracking target is tracked in N number of projected image and is shown in (i+1) frame panoramic picture or (i+2) frame panorama In image.

Preferably, when described program is executed by processor in N number of projected image in obtaining (i+1) frame panoramic picture During the step of the successful at least one tracking target of tracking, following steps are also realized：Detect the N in (i+1) frame panoramic picture Whether each tracking target in individual projected image tracks successfully；One in (i+1) frame panoramic picture is often detected When tracking target following failure, where the tracking target to be failed according to the syntople between projected image, acquisition with the tracking Projected image adjoining neighboring projection images；Utilize phase of the tracking target of tracking failure in (i+2) frame panoramic picture Target detection is carried out in adjacent projected image, obtains testing result corresponding to the tracking target of tracking failure；From all tracking failures Tracking target corresponding to testing result obtained in testing result characterize detection successfully each tracking target, will detection it is successful At least one tracking target that each tracking target and tracking obtain is as N number of projected image in (i+2) frame panoramic picture In all tracking targets.

Preferably, exist when described program is executed by processor with least one projected image in each projected image overlapping Region, and when often detecting the step of one in (i+1) frame panoramic picture tracking target following failure, also realize following walk Suddenly：Whether the tracking target for detecting tracking failure is located in the overlapping region between two projected images；If detect this with The tracking target of track failure in the overlapping region between two projected images, does not then abandon the tracking mesh of tracking failure Mark；If detecting the tracking target of tracking failure in the overlapping region between two projected images, obtain be somebody's turn to do with Projected image where the tracking target of track failure has the specific projection image of overlapping region；Utilize the tracking mesh of tracking failure It is marked in the specific projection image in (i+2) frame panoramic picture and carries out target detection, obtains the tracking mesh of tracking failure Testing result corresponding to mark；Testing result, which is obtained, in testing result corresponding to tracking target from all tracking failures characterizes detection Successfully each tracking target, at least one tracking target that successfully each tracking target and tracking obtain will be detected and be used as the (i+2) all tracking targets in N number of projected image in frame panoramic picture.

Because the embodiment of the present application is entered using each tracking target in N number of projected image in the i-th frame panoramic picture Line trace, obtain tracking successfully at least one tracking target in N number of projected image in (i+1) frame panoramic picture；So that Each tracking target is carrying out target following in corresponding projected image；The embodiment of the present invention is without N number of wide angle picture is turned Change panoramic picture into；And use track algorithm amount of calculation also will be significantly lower than prior art use track algorithm determine with The amount of calculation of the new position of track target.Therefore, compared with prior art, when carrying out multiple target tracking its calculation procedure reduce and Amount of calculation reduces, thus promotes multiple target tracking efficiency in panoramic video to improve, and effectively increases multiple mesh in panoramic video Mark the real-time of tracking.

All features disclosed in this specification, or disclosed all methods or during the step of, except mutually exclusive Feature and/or step beyond, can combine in any way.

Any feature disclosed in this specification (including any accessory claim, summary and accompanying drawing), except non-specifically chatting State, can alternative features equivalent by other or with similar purpose replaced.I.e., unless specifically stated otherwise, each feature It is an example in a series of equivalent or similar characteristics.

The invention is not limited in foregoing embodiment.The present invention, which expands to, any in this manual to be disclosed New feature or any new combination, and disclose any new method or process the step of or any new combination.

Claims (13)

1. A kind of 1. multi-object tracking method applied to panoramic video, it is characterised in that including：

   Certain the frame panoramic picture chosen in panoramic video is initial frame panoramic picture, by the initial frame panoramic picture and afterwards It is divided into N number of subgraph per frame panoramic picture, wherein, each projected image is the throwing of the parts of images in corresponding panoramic picture Shadow, N are the integer not less than 2；

   M are chosen in all projected images corresponding to adjacent H frames panoramic picture from the initial frame panoramic picture and its afterwards Target is tracked, wherein M is the integer not less than 2 and H is the integer not less than 1；

   Using the initial frame panoramic picture as the 1st frame panoramic picture, successively for every frame panorama sketch after the 1st frame panoramic picture As performing following steps, wherein, i gets s from 1 successively, and s is the integer more than 1：

   According to the tracking target chosen from N number of projected image in the i-th frame panoramic picture and/or from N number of in the i-th frame panorama Obtained all tracking targets are tracked in projected image, obtain all tracking in N number of projected image in the i-th frame panoramic picture Target；

   It is tracked using each tracking target in N number of projected image in the i-th frame panoramic picture, it is complete obtains (i+1) frame Successfully at least one tracking target is tracked in N number of projected image in scape image.
2. 2. the method as described in claim 1, it is characterised in that from the initial frame panoramic picture and its afterwards adjacent M tracking target is chosen in all projected images corresponding to H frame panoramic pictures, is specifically included：

   According to the corresponding relation between panoramic picture and the pixel of projected image, from the initial frame panoramic picture and adjacent H M tracking target is chosen in all projected images corresponding to frame panoramic picture.
3. 3. the method as described in claim 1, it is characterised in that from the initial frame panoramic picture and its afterwards adjacent M tracking target is chosen in all projected images corresponding to H frame panoramic pictures, is specifically included：

   According to preparatory condition, per the difference in frame panoramic picture from the initial frame panoramic picture and adjacent H frames panoramic picture Tracking target is chosen in projected image；

   Using all tracking targets chosen from the initial frame panoramic picture and adjacent H frames panoramic picture as M tracking mesh Mark.
4. 4. the method as described in claim 1, it is characterised in that the basis is from N number of projected image in the i-th frame panoramic picture The tracking target of middle selection and/or obtained all tracking targets are tracked from N number of projected image in the i-th frame panorama, obtained All tracking targets in N number of projected image in i-th frame panoramic picture, are specifically included：

   If i=1, according to the tracking target chosen from N number of projected image in the i-th frame panoramic picture as the i-th frame panorama All tracking targets in N number of projected image in image；

   If i is more than 1 and is not more than (H+1), according to the tracking mesh chosen from N number of projected image in the i-th frame panoramic picture Mark and obtained all tracking targets are tracked from N number of projected image in the i-th frame panorama, obtain the N in the i-th frame panoramic picture All tracking targets in individual projected image；

   If i is more than (H+1), using all tracking targets for tracking to obtain from N number of projected image in the i-th frame panorama as All tracking targets in N number of projected image in i frame panoramic pictures.
5. 5. the method as described in claim 1 or 4, it is characterised in that N number of perspective view using in the i-th frame panoramic picture Each tracking target as in is tracked, and is specifically included：

   Create with per frame panoramic picture in N number of projected image N number of tracker correspondingly；

   According to the corresponding relation of tracking target and projected image, each tracking target in the i-th frame panoramic picture is added to institute State in N number of tracker and be tracked in corresponding tracker.
6. 6. the method as described in claim 1 or 4, it is characterised in that N number of subgraph using in the i-th frame panoramic picture In each tracking target be tracked, specifically include：

   It is the integer not less than 0 to create with the one-to-one P tracker of all tracking targets in every frame panoramic picture, P；

   Each tracking target in i-th frame panoramic picture is added in the P tracker in corresponding tracker carry out with Track.
7. 7. the method as described in claim 1, it is characterised in that in adjacent H from the initial frame panoramic picture and its afterwards After M tracking target is chosen in all projected images corresponding to frame panoramic picture, methods described is further comprising the steps of：

   Using the initial frame panoramic picture as starting point, at interval of k frames panoramic picture from respective frame panoramic picture and adjacent H frames panorama At least one tracking target is chosen in all projected images corresponding to image, wherein, k is the integer more than (H+1)；

   Within the cycle of each interval k frame panoramic pictures, using respective frame panoramic picture as the 1st frame panoramic picture, it is directed to successively Every frame panoramic picture after 1st frame panoramic picture performs following steps, wherein, i gets k+1 from 1 successively；

   According to the tracking target chosen from N number of projected image in the i-th frame panoramic picture and/or from N number of in the i-th frame panorama Obtained all tracking targets are tracked in projected image, obtain all tracking in N number of projected image in the i-th frame panoramic picture Target；

   It is tracked using each tracking target in N number of projected image in the i-th frame panoramic picture, it is complete obtains (i+1) frame Successfully at least one tracking target is tracked in N number of projected image in scape image.
8. 8. the method as described in claim 1 or 7, it is characterised in that N number of projection in (i+1) frame panoramic picture is obtained After successfully at least one tracking target is tracked in image, methods described also includes：

   Successfully at least one tracking target will be tracked in N number of projected image in (i+1) frame panoramic picture and is shown in (i+ 1) in frame panoramic picture or (i+2) frame panoramic picture.
9. 9. the method as described in claim 1 or 7, it is characterised in that N number of projection in (i+1) frame panoramic picture is obtained When successfully at least one tracking target is tracked in image, methods described is further comprising the steps of：

   Whether each tracking target in N number of projected image in detection (i+1) frame panoramic picture tracks successfully；

   In a tracking target following failure in often detecting (i+1) frame panoramic picture, according between projected image Syntople, obtain the neighboring projection images with the projected image adjoining where the tracking target of tracking failure；

   The tracking target to be failed using tracking carries out target detection in the neighboring projection images in (i+2) frame panoramic picture, Obtain testing result corresponding to the tracking target of tracking failure；

   Obtained corresponding to tracking targets from all tracking failures in testing result testing result characterize detection successfully each with Track target, at least one tracking target that tracking target obtains with tracking successful each will be detected as (i+2) frame panorama All tracking targets in N number of projected image in image.
10. 10. method as claimed in claim 9, it is characterised in that exist in each projected image and at least one projected image Overlapping region, and often detect one in (i+1) frame panoramic picture tracking target following failure when, methods described also includes Following steps：

    Whether the tracking target for detecting tracking failure is located in the overlapping region between two projected images；

    If detecting the tracking target of tracking failure in the overlapping region between two projected images, abandon this with The tracking target of track failure；

    If detecting the tracking target of tracking failure in the overlapping region between two projected images, obtain be somebody's turn to do with Projected image where the tracking target of track failure has the specific projection image of overlapping region；

    Utilize progress target inspection in the specific projection image of the tracking target of tracking failure in (i+2) frame panoramic picture Survey, obtain testing result corresponding to the tracking target of tracking failure；

    Obtained corresponding to tracking targets from all tracking failures in testing result testing result characterize detection successfully each with Track target, at least one tracking target that tracking target obtains with tracking successful each will be detected as (i+2) frame panorama All tracking targets in N number of projected image in image.
11. A kind of 11. panorama camera, it is characterised in that including readable storage medium storing program for executing, had program stored therein on the readable storage medium storing program for executing, Following steps are realized when described program is executed by processor：

    Certain the frame panoramic picture chosen in panoramic video is initial frame panoramic picture, from the initial frame panoramic picture and afterwards N number of projected image is chosen in per frame panoramic picture；

    M are chosen in all projected images corresponding to adjacent H frames panoramic picture from the initial frame panoramic picture and its afterwards Target is tracked, wherein M is the integer not less than 2 and H is the integer not less than 1；

    Using the initial frame panoramic picture as the 1st frame panoramic picture, successively for every frame panorama sketch after the 1st frame panoramic picture As performing following steps, wherein, i gets s from 1 successively, and s is the integer more than 1：

    According to the tracking target chosen from N number of projected image in the i-th frame panoramic picture and/or from N number of in the i-th frame panorama Obtained all tracking targets are tracked in projected image, obtain all tracking in N number of projected image in the i-th frame panoramic picture Target；

    It is tracked using each tracking target in N number of projected image in the i-th frame panoramic picture, it is complete obtains (i+1) frame Successfully at least one tracking target is tracked in N number of projected image in scape image.
12. 12. panorama camera as claimed in claim 11, it is characterised in that described program is executed by processor described in Shi Cong just Chosen in all projected images corresponding to beginning frame panoramic picture and its adjacent H frames panoramic picture afterwards M track target after, Also realize following steps：

    Using the initial frame panoramic picture as starting point, at interval of k frames panoramic picture from respective frame panoramic picture and adjacent H frames panorama At least one tracking target is chosen in all projected images corresponding to image, wherein, k is the integer more than (H+1)；

    Within the cycle of each interval k frame panoramic pictures, using respective frame panoramic picture as the 1st frame panoramic picture, it is directed to successively Every frame panoramic picture after 1st frame panoramic picture performs following steps, wherein, i gets k+1 from 1 successively；

    According to the tracking target chosen from N number of projected image in the i-th frame panoramic picture and/or from N number of in the i-th frame panorama Obtained all tracking targets are tracked in projected image, obtain all tracking in N number of projected image in the i-th frame panoramic picture Target；

    It is tracked using each tracking target in N number of projected image in the i-th frame panoramic picture, it is complete obtains (i+1) frame Successfully at least one tracking target is tracked in N number of projected image in scape image.
13. 13. the panorama camera as described in claim 11 or 12, it is characterised in that is obtained when described program is executed by processor (i+1) when the successfully step of at least one tracking target is tracked in N number of projected image in frame panoramic picture, also realize following Step：

    Whether each tracking target in N number of projected image in detection (i+1) frame panoramic picture tracks successfully；

    In a tracking target following failure in often detecting (i+1) frame panoramic picture, according between projected image Syntople, obtain the neighboring projection images with the projected image adjoining where the tracking target of tracking failure；

    The tracking target to be failed using tracking carries out target detection in the neighboring projection images in (i+2) frame panoramic picture, Obtain testing result corresponding to the tracking target of tracking failure；

    Obtained corresponding to tracking targets from all tracking failures in testing result testing result characterize detection successfully each with Track target, at least one tracking target that tracking target obtains with tracking successful each will be detected as (i+2) frame panorama All tracking targets in N number of projected image in image.