CN108200339A - Target tracking localization method, system and photographic device - Google Patents
Target tracking localization method, system and photographic device Download PDFInfo
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- CN108200339A CN108200339A CN201711499225.6A CN201711499225A CN108200339A CN 108200339 A CN108200339 A CN 108200339A CN 201711499225 A CN201711499225 A CN 201711499225A CN 108200339 A CN108200339 A CN 108200339A
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- 238000000034 method Methods 0.000 title claims abstract description 42
- 230000004807 localization Effects 0.000 title claims abstract description 27
- 239000000571 coke Substances 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 3
- 241000251468 Actinopterygii Species 0.000 description 6
- 230000008901 benefit Effects 0.000 description 4
- 238000004590 computer program Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/67—Focus control based on electronic image sensor signals
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
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- General Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Automation & Control Theory (AREA)
- Studio Devices (AREA)
Abstract
The present invention provides target tracking localization method, system and photographic devices, are related to camera technology field, and method is applied to the photographic device equipped with the first camera and second camera, wherein, second camera is varifocal camera, including：Shooting is tracked object using the first camera, obtains the location information of object；The shooting angle and focal length of second camera are adjusted according to the location information of object；Shooting is amplified object using the second camera after adjustment, obtains object image.The present invention takes the photograph scheme using double, can carry out high dynamic shooting or video recording to it while to target object tracing and positioning.
Description
Technical field
The present invention relates to camera technology fields, especially target tracking localization method, system and photographic device.
Background technology
Underwater camera product is increasingly liked and is favored by user.Underwater camera product is not only it is observed that fish is stung
The situation of hook, moreover it is possible to the beautiful picture of some underwater is taken, and these all be unable to do without camera function.Underwater camera product at present
While being difficult to realize to target object tracing and positioning, high dynamic shooting or video recording are carried out to it.
Invention content
In view of this, the purpose of the present invention is to provide target tracking localization method, system and photographic device, underwater cameras
While product is difficult to realize to target object tracing and positioning, high dynamic shooting or video recording are carried out to it.
In a first aspect, an embodiment of the present invention provides a kind of target tracking localization method, the method is applied to be equipped with the
The photographic device of one camera and second camera, wherein, the second camera is varifocal camera, including：
Shooting is tracked object using first camera, obtains the location information of the object；
The shooting angle and focal length of the second camera are adjusted according to the location information of the object；
The object is shot using the second camera after adjustment, obtains object image.
With reference to first aspect, an embodiment of the present invention provides the first possible embodiment of first aspect, wherein, it obtains
The location information of the object is taken to include：
It obtains first camera and the tracking box of shooting is tracked to the object, and calculate imago in tracking box
Plain coordinate information and tracking box catercorner length.
The possible embodiment of with reference to first aspect the first, an embodiment of the present invention provides second of first aspect
Possible embodiment, wherein, before being tracked shooting to object using first camera, including：
First camera is demarcated, obtains calibrating parameters.
Second of possible embodiment with reference to first aspect, an embodiment of the present invention provides the third of first aspect
Possible embodiment, wherein, according to the location information of the object adjust the second camera shooting angle and
Focal length includes：
The object correspondence is calculated described the using the calibrating parameters and the tracking box center pixel coordinate
Observation angle under one camera coordinate system；
The shooting angle of the second camera is adjusted according to the observation angle, and according to the tracking box diagonal line length
Degree adjusts the focal length of the second camera.
With reference to first aspect, an embodiment of the present invention provides the 4th kind of possible embodiment of first aspect, wherein, institute
The first camera is stated using the big wide-angle lens of short focus, the second camera uses the small wide-angle lens of focal length.
Second aspect, an embodiment of the present invention provides target tracking alignment system, the system is applied to take the photograph equipped with first
As head and the photographic device of second camera, wherein, the second camera is varifocal camera, the system comprises：
Taking module is tracked, for being tracked shooting to object using first camera, obtains the target
The location information of object；
Adjust module, for adjusted according to the location information of the object shooting angle of the second camera and
Focal length；
Taking module is positioned, for being shot using the second camera after adjusting to the object, is obtained
Object image.
With reference to second aspect, an embodiment of the present invention provides the first possible embodiment of second aspect, wherein, institute
Tracking taking module is stated to include：
Tracking box computing unit, for obtaining the tracking that first camera is tracked the object shooting
Frame, and calculate tracking box center pixel coordinate information and tracking box catercorner length.
With reference to the first possible embodiment of second aspect, an embodiment of the present invention provides second of second aspect
Possible embodiment, wherein, the system also includes demarcating modules；
The demarcating module for being demarcated to first camera, obtains calibrating parameters.
With reference to second of possible embodiment of second aspect, an embodiment of the present invention provides the third of second aspect
Possible embodiment, wherein, the adjustment module includes：
Observation angle computing unit, for calculating institute using the calibrating parameters and the tracking box center pixel coordinate
State observation angle of the object correspondence under the first camera coordinate system；
Adjustment unit, for adjusting the shooting angle of the second camera according to the observation angle, and according to described
Tracking box catercorner length adjusts the focal length of the second camera.
The third aspect, the embodiment of the present invention also provide photographic device, and the photographic device is taken the photograph including the first camera, second
As head and processor；
First camera and the second camera, for being shot to outer scene；
The processor, for performing target tracking localization method as described above, to be tracked positioning to object.
The embodiment of the present invention brings following advantageous effect：
An embodiment of the present invention provides target tracking localization method, system and photographic device, method is applied to be equipped with first
The photographic device of camera and second camera, wherein, second camera is varifocal camera, including：Using the first camera shooting
Head is tracked object shooting, obtains the location information of object；According to the second camera shooting of the location information of object adjustment
The shooting angle and focal length of head；Shooting is amplified object using the second camera after adjustment, obtains object shadow
Picture.Scheme is taken the photograph using double, high dynamic shooting or video recording can be carried out to it while to target object tracing and positioning.
Other features and advantages of the present invention will illustrate in the following description, also, partly become from specification
It obtains it is clear that being understood by implementing the present invention.The purpose of the present invention and other advantages are in specification, claims
And specifically noted structure is realized and is obtained in attached drawing.
For the above objects, features and advantages of the present invention is enable to be clearer and more comprehensible, preferred embodiment cited below particularly, and coordinate
Appended attached drawing, is described in detail below.
Description of the drawings
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution of the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in being described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is target tracking localization method flow chart provided in an embodiment of the present invention；
Fig. 2 is another flow chart of target tracking localization method provided in an embodiment of the present invention；
Fig. 3 is target tracking alignment system schematic diagram provided in an embodiment of the present invention；
Fig. 4 is photographic device schematic diagram provided in an embodiment of the present invention.
Icon：
10- tracks taking module；20- adjusts module；30- positions taking module；The first cameras of 100-；200- second takes the photograph
As head；300- processors.
Specific embodiment
Purpose, technical scheme and advantage to make the embodiment of the present invention are clearer, below in conjunction with attached drawing to the present invention
Technical solution be clearly and completely described, it is clear that described embodiment be part of the embodiment of the present invention rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Lower all other embodiments obtained, shall fall within the protection scope of the present invention.
While underwater camera product is difficult to realize to target object tracing and positioning at present, it is carried out high dynamic shooting or
Video recording, based on this, target tracking localization method provided in an embodiment of the present invention, system and photographic device can be to objects
While body tracing and positioning, high dynamic shooting or video recording are carried out to it.
For ease of understanding the present embodiment, first to the target tracking localization method disclosed in the embodiment of the present invention into
Row is discussed in detail.
Embodiment one：
Fig. 1 is target tracking localization method flow chart provided in an embodiment of the present invention.
Target tracking localization method is present embodiments provided, applied to the camera shooting equipped with the first camera and second camera
Device, wherein, second camera is varifocal camera, as shown in Figure 1, including the following steps：
Step S102 is tracked object shooting using the first camera, obtains the location information of object；
Step S104 adjusts the shooting angle and focal length of second camera according to the location information of object；
Step S106 shoots object using the second camera after adjustment, obtains object image.
Specifically, the big wide-angle lens of short focus may be used in the first camera, and convenient for lock onto target object, second camera can be with
Using the small wide-angle lens of focal length, convenient for object stable position.Fixed-focus or varifocal mirror may be used in first camera
Head, in addition, in order to preferably shoot the picture of high dynamic, the higher the better for the frame per second of second camera, at least wants more than 60 frames.
Target tracking localization method in the present embodiment can be applied to carry out object target tracking and object amplification positioning
Scene, for example, available for underwater high-resolution shooting fish or aquatic organism, being locked in advance by the first camera needs to clap
The probable ranges taken the photograph, the coordinate then reported according to the first camera regulate the focal length of second camera, are directly targeted to object
Body is amplified, so as to shoot or record a video to subtleer clearly picture and image, quickly to capture splendid moment.Than
If fish stings the scene of hook, second camera can be focused to the mouth of fish, so as to the more details that shoots and record a video
Picture.In addition the scene of the specific a certain fish of the track up in the shoal of fish is applied also for.Therefore, the present embodiment can be to target
While object tracking positions, high dynamic shooting or video recording are carried out to it, so as to obtain subtleer clearer picture and image.
Embodiment two：
The present embodiment provides another target tracking localization method on the basis of above-described embodiment one, as shown in Fig. 2,
Include the following steps：
Step S101 demarcates the first camera, obtains calibrating parameters.
Here Zhang Zhengyou standardizations may be used to demarcate the first camera, obtain calibrating parameters.
Step S1021 obtains the first camera and the tracking box of shooting is tracked to object, and calculate tracking box center
Pixel coordinate information and tracking box catercorner length；
First, the image shot by the first camera selectes the object to be tracked.It is real by Vision Tracking
When calculate movement and dimensional variation of the object in camera image, and in real time output tracking as a result, i.e. the object " with
Track frame center pixel coordinate " and " catercorner length (as unit of pixel) of tracking box ".
The realization of track algorithm：In current image frame, it is assumed that tracking box position and size are it is known that utilize tracking target image
The pixel value of block calculates characteristics of image.It is scanned in the corresponding close position of next frame image, it is most like to find characteristics of image
Image block, using its position and size as the tracking result of the frame.The tracking result with " tracking box center pixel coordinate " and
It is exported in the form of " catercorner length (by as unit of pixel) of tracking box ".
Step S1041 calculates object correspondence in the first camera shooting using calibrating parameters and tracking box center pixel coordinate
Observation angle under head coordinate system；
Step S1042 adjusts the shooting angle of second camera according to observation angle, and according to tracking box catercorner length
Adjust the focal length of second camera；
Determine the best correspondence between tracking box catercorner length and the focal length of second camera, when tracking passes through this
Tracking box catercorner length adjusts lens focus in real time, to realize the maximization of object imaging and optimal observation effect.
Step S106 shoots object using the second camera after adjustment, obtains object image.
Embodiment three：
Fig. 3 is target tracking alignment system schematic diagram provided in an embodiment of the present invention.
Target tracking alignment system is present embodiments provided, applied to the camera shooting equipped with the first camera and second camera
Device, wherein, second camera is varifocal camera, as shown in figure 3, system includes tracking taking module 10, adjustment module
20 and positioning taking module 30；
Taking module 10 is tracked, for being tracked shooting to object using the first camera, obtains the position of object
Confidence ceases；
Module 20 is adjusted, for adjusting the shooting angle and focal length of second camera according to the location information of object；
Taking module 30 is positioned, for being shot using the second camera after adjusting to object, obtains object
Image.
Further, tracking taking module 10 includes tracking box computing unit, and tracking box computing unit is for acquisition first
Camera is tracked object the tracking box of shooting, and calculates tracking box center pixel coordinate information and tracking box is diagonal
Line length.
Further, system further includes demarcating module；Demarcating module is demarcated for being demarcated to the first camera
Parameter.
Further, adjustment module includes observation angle computing unit and adjustment unit；Observation angle computing unit is used for
View angle of the object correspondence under the first camera coordinate system is calculated using calibrating parameters and tracking box center pixel coordinate
Degree；Adjustment unit is used to adjust the shooting angle of second camera according to observation angle, and according to tracking box catercorner length tune
The focal length of whole second camera.
Example IV：
Fig. 4 is photographic device schematic diagram provided in an embodiment of the present invention.
As shown in figure 4, photographic device is present embodiments provided, including the first camera 100, second camera 200 and place
Manage device 300；
First camera 100 and second camera 200, for being shot to outer scene；
Processor 300, for performing target tracking localization method as above, to be tracked positioning to object.
In addition, under the scene of ultra-wide angle in need, a focal length of the first camera and second camera can be set as
Unanimously, splice picture so as to carry out ultra-wide angle by processor.
Target tracking alignment system provided in an embodiment of the present invention and photographic device, the target provided with above-described embodiment chase after
Track localization method has identical technical characteristic, so can also solve the technical issues of identical, reaches identical technique effect.
An embodiment of the present invention provides target tracking localization method, system and photographic device, method is applied to be equipped with first
The photographic device of camera and second camera, wherein, second camera is varifocal camera, including：Using the first camera shooting
Head is tracked object shooting, obtains the location information of object；According to the second camera shooting of the location information of object adjustment
The shooting angle and focal length of head；Shooting is amplified object using the second camera after adjustment, obtains object shadow
Picture.Scheme is taken the photograph using double, high dynamic shooting or video recording can be carried out to it while to target object tracing and positioning.
The embodiment of the present invention also provides a kind of electronic equipment, and including memory, processor, being stored in memory can locate
The computer program run on reason device, processor realize the target tracking positioning that above-described embodiment provides when performing computer program
The step of method.
The embodiment of the present invention also provides a kind of computer readable storage medium, and meter is stored on computer readable storage medium
Calculation machine program, the step of target tracking localization method of above-described embodiment is performed when computer program is run by processor.
In the description of the present invention, it should be noted that term " first ", " second ", " third " are only used for description purpose,
And it is not intended that instruction or hint relative importance.
The computer program product of progress target tracking localization method that the embodiment of the present invention is provided, including storing place
The computer readable storage medium of non-volatile program code that reason device can perform, the instruction that said program code includes can be used for
The method described in previous methods embodiment is performed, specific implementation can be found in embodiment of the method, and details are not described herein.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit can refer to the corresponding process in preceding method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, it can be with
It realizes by another way.The apparatus embodiments described above are merely exemplary, for example, the division of the unit,
Only a kind of division of logic function, can there is other dividing mode in actual implementation, in another example, multiple units or component can
To combine or be desirably integrated into another system or some features can be ignored or does not perform.Another point, it is shown or beg for
The mutual coupling, direct-coupling or communication connection of opinion can be by some communication interfaces, device or unit it is indirect
Coupling or communication connection can be electrical, machinery or other forms.
The unit illustrated as separating component may or may not be physically separate, be shown as unit
The component shown may or may not be physical unit, you can be located at a place or can also be distributed to multiple
In network element.Some or all of unit therein can be selected according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also
That each unit is individually physically present, can also two or more units integrate in a unit.
If the function is realized in the form of SFU software functional unit and is independent product sale or in use, can be with
It is stored in the non-volatile computer read/write memory medium that a processor can perform.Based on such understanding, the present invention
The part that substantially contributes in other words to the prior art of technical solution or the part of the technical solution can be with software
The form of product embodies, which is stored in a storage medium, including some instructions use so that
One computer equipment (can be personal computer, server or the network equipment etc.) performs each embodiment institute of the present invention
State all or part of step of method.And aforementioned storage medium includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-
Only Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with
Store the medium of program code.
Finally it should be noted that：Embodiment described above, only specific embodiment of the invention, to illustrate the present invention
Technical solution, rather than its limitations, protection scope of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, it will be understood by those of ordinary skill in the art that：Any one skilled in the art
In the technical scope disclosed by the present invention, it can still modify to the technical solution recorded in previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement is carried out to which part technical characteristic；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of technical solution of the embodiment of the present invention, should all cover the protection in the present invention
Within the scope of.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. a kind of target tracking localization method, which is characterized in that the method is applied to equipped with the first camera and the second camera shooting
The photographic device of head, wherein, the second camera is varifocal camera, including：
Shooting is tracked object using first camera, obtains the location information of the object；
The shooting angle and focal length of the second camera are adjusted according to the location information of the object；
The object is shot using the second camera after adjustment, obtains object image.
2. target tracking localization method according to claim 1, which is characterized in that obtain the location information of the object
Including：
It obtains first camera and the tracking box of shooting is tracked to the object, and calculate tracking box center pixel seat
Mark information and tracking box catercorner length.
3. target tracking localization method according to claim 2, which is characterized in that using first camera to target
Object is tracked before shooting, including：
First camera is demarcated, obtains calibrating parameters.
4. target tracking localization method according to claim 3, which is characterized in that according to the location information of the object
The shooting angle and focal length for adjusting the second camera include：
The object correspondence is calculated using the calibrating parameters and the tracking box center pixel coordinate to take the photograph described first
As the observation angle under head coordinate system；
The shooting angle of the second camera is adjusted according to the observation angle, and according to the tracking box catercorner length tune
The focal length of the whole second camera.
5. target tracking localization method according to claim 1, which is characterized in that first camera is big using short focus
Wide-angle lens, the second camera use the small wide-angle lens of focal length.
6. a kind of target tracking alignment system, which is characterized in that the system is applied to equipped with the first camera and the second camera shooting
The photographic device of head, wherein, the second camera is varifocal camera, the system comprises：
Taking module is tracked, for being tracked shooting to object using first camera, obtains the object
Location information；
Module is adjusted, for adjusting the shooting angle and coke of the second camera according to the location information of the object
Away from；
Taking module is positioned, for being shot using the second camera after adjusting to the object, obtains target
Object image.
7. target tracking alignment system according to claim 6, which is characterized in that the tracking taking module includes：
Tracking box computing unit, for obtaining the tracking box that first camera is tracked the object shooting, and
Calculate tracking box center pixel coordinate information and tracking box catercorner length.
8. target tracking alignment system according to claim 7, which is characterized in that the system also includes demarcating modules；
The demarcating module for being demarcated to first camera, obtains calibrating parameters.
9. target tracking alignment system according to claim 8, which is characterized in that the adjustment module includes：
Observation angle computing unit, for calculating the mesh using the calibrating parameters and the tracking box center pixel coordinate
Mark observation angle of the object correspondence under the first camera coordinate system；
Adjustment unit, for adjusting the shooting angle of the second camera according to the observation angle, and according to the tracking
Frame catercorner length adjusts the focal length of the second camera.
10. a kind of photographic device, which is characterized in that the photographic device includes the first camera, second camera and processor；
First camera and the second camera, for being shot to outer scene；
The processor, for perform claim require 1 to 5 any one of them target tracking localization method, with to object into
Row tracing and positioning.
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| CN110446014A (en) * | 2019-08-26 | 2019-11-12 | 深圳前海达闼云端智能科技有限公司 | Monitoring method, monitoring equipment and computer readable storage medium |
| CN110539309A (en) * | 2019-07-23 | 2019-12-06 | 上海卫星装备研究所 | Mechanical arm hole-making positioning system and method based on laser alignment and vision measurement |
| CN111193541A (en) * | 2018-11-15 | 2020-05-22 | 财团法人工业技术研究院 | Underwater wireless communication device and method |
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