CN109117830A - Imaging sensor, Target Tracking System and method - Google Patents
Imaging sensor, Target Tracking System and method Download PDFInfo
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- CN109117830A CN109117830A CN201811105001.7A CN201811105001A CN109117830A CN 109117830 A CN109117830 A CN 109117830A CN 201811105001 A CN201811105001 A CN 201811105001A CN 109117830 A CN109117830 A CN 109117830A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
- G06V20/54—Surveillance or monitoring of activities, e.g. for recognising suspicious objects of traffic, e.g. cars on the road, trains or boats
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/25—Determination of region of interest [ROI] or a volume of interest [VOI]
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
- G06V40/161—Detection; Localisation; Normalisation
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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
- H04N23/50—Constructional details
- H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/60—Type of objects
- G06V20/62—Text, e.g. of license plates, overlay texts or captions on TV images
- G06V20/625—License plates
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Abstract
The present invention provides a kind of imaging sensor, and described image sensor includes a tracking module, for being tracked according to control to one or more target ROI.The present invention also provides a kind of Target Tracking Systems, the Target Tracking System includes described image sensor and backend processing unit, the backend processing unit includes a detection module and identification module, the detection module tests and analyzes image by autosensing mode or self-defined pattern to detect that one or more target ROI, the identification module carry out identifying processing to one or more of target ROI.Described image sensor exports two-path video picture signal simultaneously, panoramic video picture is input to the backend processing unit and is detected all the way, exports after another output high-resolution and video pictures to the backend processing unit identifying processing only comprising one or more tracking targets.The present invention also provides a kind of method for tracking target.
Description
Technical field
The present invention relates to image processing techniques more particularly to a kind of internal setting tracking module to realize multiple target ROI tracking
Imaging sensor, Target Tracking System and method.
Background technique
In numerous applications, such as in security, monitoring and automobile application, real-time object or target detection and tracking are very
Necessity, such as pedestrian, face or motor vehicles in monitored picture are advanced etc..At present all computer vision algorithms make be all
Back-end chip is handled, and image sensor apparatus always exports the video of high frame per second and full resolution.It is well known that in recent years
As application demand and technology development are constantly progressive, image sensor pixel number is continuously increased, from VGA, 1,000,000 pixels, and 200
Ten thousand pixels to 8,000,000 pixels, 12,000,000 pixels.In subsequent development, it is possible that the image more than 50,000,000 pixels passes
Sensor is used for the specific use of security field.The imaging sensor output image quality of big pixel is high, but image sensor design
And production and processing is at high cost, is unfavorable for large-scale promotion application.
If image sensor apparatus can realize the tracking to target object simultaneously by way of its build-in function module
And its tracked ROI (region of interest, area-of-interest) target can only be exported according to application, while can solve again
Certainly the problem of the high-resolution of output video image, high frame per second high-resolution video output occupied bandwidth bottleneck is broken through, figure is reduced
As the power consumption of sensor and Target Tracking System, be present invention seek to address that the technical issues of.
Summary of the invention
The object of the invention provides a kind of imaging sensor, and described image sensor includes:
Pixel array, the pixel array are made of multiple pixel units being arranged in rows, output pixel signal；
Peripheral circuit, the picture element signal for exporting to the pixel array are controlled and are handled, the peripheral circuit
Including an image processing unit；
Wherein, described image processing unit include a tracking module, the tracking module be used for according to control to one or
Multiple target ROI are tracked；
Further, described image sensor exports two-path video picture signal simultaneously, wherein being low point of low frame per second all the way
The full-view video image of resolution；Another way is the high frame per second high resolution video image only comprising one or more target ROI；
Further, the tracking module carries out tracking to one or more of target ROI and is not limited to light condition
Variation, target numbers variation, the factor that target shape changes or target part is blocked；
Further, one or more target ROI are cut out and define automatically to the image processing unit of described image sensor
Ratio and size.
The present invention also provides a kind of Target Tracking System, the Target Tracking System includes:
Imaging sensor, acquisition and video image output for information on target object, described image sensor includes one
Image processing unit, described image processing unit include:
Tracking module, for being tracked according to control to one or more target ROI；
Backend processing unit carries out detection and identifying processing to the video image of described image sensor output, and controls
With the one or more of target ROI of transmission to described image sensor, the backend processing unit includes:
Detection module tests and analyzes image by autosensing mode or self-defined pattern, to detect one
Or multiple target ROI；
Identification module, for carrying out identifying processing to one or more of target ROI；
Further, described image sensor exports two-path video picture signal simultaneously, wherein being low point of low frame per second all the way
The full-view video image of resolution；Another way is the high frame per second high resolution video image only comprising one or more target ROI；
Further, described image sensor output low frame per second low resolution full-view video image be input to it is described after
Hold processing unit, the detection module according to application demand to the full-view video image carry out detect and determine it is one or
Multiple target ROI；
Further, the high-resolution video image of high frame per second of described image sensor output is input at the rear end
Processing unit is managed, the identification module carries out identifying processing to the high high-resolution one or more target ROI of frame per second；
Further, the tracking module carries out tracking to one or more target ROI and is not limited to light condition variation,
Target numbers variation, the factor that target shape changes or target part is blocked；
Further, one or more target ROI are cut out and define automatically to the image processing unit of described image sensor
Ratio and size.
The present invention also provides a kind of method for tracking target, using tracking module, back-end processing list are arranged in imaging sensor
Member setting detection module, to the output of described image sensor carry out control processing and target following mode, the target with
Track method comprises the steps of:
Described image sensor provides two-path video picture signal, wherein the panoramic video figure of low frame per second low resolution all the way
As being input to the backend processing unit；
The detection module detects according to application demand and determines one or more target ROI；
The backend processing unit determines one or more target ROI according to testing result and is sent to described image sensing
Device；
The tracking module tracks one or more of target ROI according to control；
Described image sensor output another way only includes the high frame per second high-resolution of one or more of tracking target ROI
Rate video image is to the backend processing unit；
The backend processing unit identifies output tracking target according to application；
Further, the detection module detects one or more targets by autosensing mode or self-defined pattern
ROI；
Further, the tracking module carries out tracking to one or more of target ROI and is not limited to light condition
Variation, target numbers variation, the factor that target shape changes or target part is blocked；
Further, one or more of targets are cut out and define automatically to the image processing unit of described image sensor
ROI ratio and size；
Further, the tracking target of the output is the high frame per second high-resolution for only including one or more target ROI
Video image.
Imaging sensor, Target Tracking System and method proposed by the invention, set by using inside imaging sensor
It sets tracking module to track one or more target ROI, backend processing unit is arranged detection module and carries out tracking target
Detection and identifying processing, backend processing unit final output target following result.This implementation can have in a particular application
Effect realizes the function of the target following in imaging sensor, and the power consumption of tracking system can be effectively reduced, and precisely realizes to mesh
The image/video of target tracking, one or more target ROI of output tracking has high frame per second and high-resolution, meets and applies need
It asks.Solution provided by the present invention simultaneously, target following and processing include a variety of condition elements, can satisfy a variety of applications
Environment and condition, the especially clarity and the higher application of accuracy requirement to tracking target output image picture.
Detailed description of the invention
Fig. 1 is image sensor structure block diagram proposed by the present invention；
Fig. 2 is the structural block diagram of Target Tracking System proposed by the present invention；And
Fig. 3 is the basic flow chart of method for tracking target proposed by the present invention.
Specific embodiment
Content given by the present invention is described in detail below in conjunction with each attached drawing and embodiment.Fig. 1 is this
The image sensor structure block diagram provided is invented, as shown in the figure, imaging sensor includes pixel array 110, and to pixel
The peripheral circuit that the pixel that array 110 is exported is controlled and handled.Peripheral circuit includes row driving unit 120, column driving
Unit 130, logic control element 140, column A/D converting unit 150 and image processing unit 160.It is set in image processing unit 160
Set a tracking module.Imaging sensor includes two-way output, and export 1 output all the way is the aphorama of low frame per second low resolution
Frequency image, what another output 2 exported is the high-resolution ROI video image of high frame per second.Imaging sensor can be according to application
Demand Design is a plurality of types of imaging sensors, such as FSI (Frontside Illumination, front-illuminated) or BSI
(Backside Illumination, back-illuminated type) imaging sensor can be bis- comprising DCG according to used by application demand
The imaging sensor of conversion gain circuit, or roll various types of image sensings of exposure or global exposure output
Device.
Fig. 2 is the structural block diagram of Target Tracking System proposed by the present invention, and as shown in the figure, Target Tracking System includes figure
As sensor 210 and backend processing unit 220, a tracking module 211 is set in imaging sensor 210.The image passes
Sensor 210 is exported with two-path video image, and in the specific embodiment that the present invention provides, exporting 1 all the way is low point of low frame per second
The panoramic video of resolution, such as 720p, the panoramic picture video of 20fps, another output 2 are to track mesh comprising one or more
The high frame per second high resolution video image of target, such as the ROI of 1Mp, 60fps.
The full-view video image for the low frame per second low resolution that imaging sensor 210 exports is input to backend processing unit 220,
The detection module 221 of backend processing unit 220 is according to application demand, such as tracks to pedestrian or tracked to vehicle
Demand detects one or more target ROI (interested region), such as the face of people, license plate etc., and the present invention gives
Technical solution out can be detected for multiple targets simultaneously.Automatic detection can be used to the detection of one or more targets
Mode or self-defined pattern may be configured as system and detect automatically, or according to customized testing conditions to multiple target ROI into
Row detection.
Backend processing unit 220 determines one or more target ROI, such as the face of one or more people according to testing result
Portion region, one or more vehicle license plate regions, is sent to imaging sensor 210.The image processing unit of imaging sensor 210
Automatically cut out and define one or more target ROI ratios, size, shape etc..The tracking module being arranged in imaging sensor 210
211 track identified one or more target ROI according to control.During tracking, the variation of external environment, example
If light condition changes, target numbers variation, the various factors such as target shape changes or target part is blocked are not to target
Tracking be construed as limiting.The another output 2 of imaging sensor 210 is by the result of target following with high frame per second high resolution model
Video image be output to backend processing unit 220,222 pairs of identification module one or more targets of backend processing unit 220
ROI carries out identifying processing.According to the demand of application, export being tracked as a result, for example classifying to the tracking target of output,
Institute's tracking result is output to corresponding application software.Tracking module 211 is arranged in imaging sensor 210, in concrete application
In can use stacked chips design form, to improve the performance of imaging sensor 210.The exported result of tracking system
High frame per second high-resolution video picture only comprising one or more target ROI, image sharpness is high and guarantees target following
Accuracy.The target following video that this Target Tracking System is exported, had both guaranteed high-definition screen quality, and was not required to occupy
Too many video output bandwidth demand, meets and uses under a variety of environment.
Fig. 3 that the present invention provides is the basic flow chart of method for tracking target, is passed in conjunction with the image provided in Fig. 1 and Fig. 2
Sensor and Target Tracking System set tracked target by taking the supervision for the upper traveling vehicle that satisfies the need to traffic control system as an example
For the license plate information of one or more vehicles, specific implementation step is as follows:
301: imaging sensor 210 provides the output of two-path video picture signal, output low frame per second low resolution all the way
The output 1 of full-view video image comprising vehicle and license board information is input to the backend processing unit 220 of Target Tracking System；
302: the detection module 221 of backend processing unit 220 is detected and is determined according to the demand of identification according to vehicle license plate
One or more vehicle license plate ROI；
In this step, detection module 221 can pass through autosensing mode or use to the detection of vehicle license plate information
Customized detection pattern detects the license plate information tracked；
303: the one or more license plate according to determined by the testing result to vehicle license plate information of backend processing unit 220
The image object of information is sent to imaging sensor 210；
304: the information that the tracking module 211 in imaging sensor 210 is sent according to backend processing unit 220, to really
Fixed vehicle license plate information frame region is tracked；
In this step, one can be cut out and define automatically to the image processing unit of imaging sensor 210 according to application
Or the ratio of multiple targets, size, shape etc.；Tracking module 211 tracks the above-mentioned target area cut out and defined, with
External environment and condition change during track, such as light condition variation, and target numbers variation, target shape changes or mesh
Mark part is blocked, within the scope of tracking is covered；
305: the tracked vehicle license plate of the another output of imaging sensor 210 shines video pictures；
In this step, it is that only one or more vehicle license plates comprising being tracked are believed that imaging sensor 210, which is exported,
The picture of breath, and be the high-resolution video pictures of high frame per second；
306: 222 pairs of identification module one or more vehicle license plate information carry out identifying processing；
In this step, the vehicle license plate picture that is inputted can be 1Mp, the high-definition picture picture of 60fps, and picture is clear
Clear degree is high, and target identification result is accurate；
307: the tracking result of the output vehicle license plate information of backend processing unit 220；
It is carried out according to row of the tracking result with high-resolution video picture of Target Tracking System output to vehicle real
When picture monitor.It is soft that the tracking result out can be output to other application according to application further progress classification output or connection
Part terminal etc., to meet more application demands.
The examples and drawings that the present invention provides are for illustrative purposes, without departing substantially from the wider purport of the present invention
Under range, various forms of equivalent modifications are feasible.The embodiment of the present invention can be repaired according to above-mentioned detailed description
Change.It should not be construed as limited in present invention specific implementation content and claim elements be taken off for the term in claim
The specific embodiment of dew.On the contrary, range completely determining in claim, which should be interpreted that, explains establishment according to claim
Statement.The description and the appended drawings of the invention should be considered as it is explanatory, rather than it is constrained.
Claims (15)
1. a kind of imaging sensor, which is characterized in that described image sensor includes:
Pixel array, the pixel array are made of multiple pixel units being arranged in rows, output pixel signal；
Peripheral circuit, the picture element signal for exporting to the pixel array are controlled and are handled, and the peripheral circuit includes
One image processing unit；
Wherein, described image processing unit includes a tracking module, and the tracking module is used for according to control to one or more
Target ROI is tracked.
2. imaging sensor according to claim 1, which is characterized in that described image sensor exports two-path video simultaneously
Picture signal, wherein being the full-view video image of low frame per second low resolution all the way；Another way is only comprising one or more targets
The high frame per second high resolution video image of ROI.
3. imaging sensor according to claim 1, which is characterized in that the tracking module is to one or more of mesh
Mark ROI carries out tracking and is not limited to light condition variation, and target numbers variation, target shape changes or target part is blocked
Factor.
4. imaging sensor according to claim 1, which is characterized in that the image processing unit of described image sensor is certainly
It is dynamic to cut out and define one or more target ROI ratios and size.
5. a kind of Target Tracking System, which is characterized in that the Target Tracking System includes:
Imaging sensor, acquisition and video image output for information on target object, described image sensor includes an image
Processing unit, described image processing unit include:
Tracking module, for being tracked according to control to one or more target ROI；
Backend processing unit carries out detection and identifying processing to the video image of described image sensor output, and controls and send out
Send one or more of target ROI to described image sensor, the backend processing unit includes:
Detection module tests and analyzes image by autosensing mode or self-defined pattern, to detect one or more
A target ROI；And
Identification module, for carrying out identifying processing to one or more of target ROI.
6. Target Tracking System according to claim 5, which is characterized in that described image sensor exports two-way view simultaneously
Frequency picture signal, wherein being the full-view video image of low frame per second low resolution all the way；Another way is only comprising one or more mesh
Mark the high frame per second high resolution video image of ROI.
7. Target Tracking System according to claim 6, which is characterized in that the low frame per second of described image sensor output is low
The full-view video image of resolution ratio is input to the backend processing unit, and the detection module is according to application demand to the panorama
Video image detect and determines one or more of target ROI.
8. Target Tracking System according to claim 6, which is characterized in that the high frame per second of described image sensor output is high
The video image of resolution ratio is input to the back-end processing processing unit, and the identification module is high-resolution to the high frame per second
One or more target ROI of video image carry out identifying processing.
9. Target Tracking System according to claim 5, which is characterized in that the tracking module is to one or more targets
ROI carry out tracking is not limited to light condition variation, target numbers variation, target shape change or target part be blocked because
Element.
10. Target Tracking System according to claim 5, which is characterized in that the image procossing list of described image sensor
It is first to cut out and define automatically one or more target ROI ratios and size.
11. a kind of method for tracking target, using tracking module is arranged in imaging sensor, detection module is arranged in backend processing unit
And identification module, the mode of control processing and target following, the target following side are carried out to the output of described image sensor
Method comprises the steps of:
Described image sensor provides two-path video picture signal, wherein the full-view video image of low frame per second low resolution is defeated all the way
Enter to the backend processing unit；
The detection module detects according to application demand and determines one or more target ROI；
The backend processing unit determines one or more target ROI according to testing result and is sent to described image sensor；
The tracking module tracks one or more of target ROI according to control；
Described image sensor output another way only includes the high frame per second high-resolution view of one or more of tracking target ROI
Frequency image is to the backend processing unit；
The identification module of the backend processing unit identifies output tracking target according to application.
12. method for tracking target according to claim 11, which is characterized in that the detection module by detecting mould automatically
Formula or self-defined pattern detect one or more target ROI.
13. method for tracking target according to claim 11, which is characterized in that the tracking module is to one or more
A target ROI carries out tracking and is not limited to light condition variation, and target numbers variation, target shape changes or target part is hidden
The factor of gear.
14. method for tracking target according to claim 11, which is characterized in that the image procossing list of described image sensor
It is first to cut out and define automatically one or more of target ROI ratios and size.
15. method for tracking target according to claim 11, which is characterized in that the tracking target of the output is only to include
The high frame per second high resolution video image of one or more target ROI.
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| CN109117830B (en) | 2022-09-09 |
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