CN109389093A - Based on recognition of face towards type method for tracing - Google Patents
Based on recognition of face towards type method for tracing Download PDFInfo
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- CN109389093A CN109389093A CN201811239458.7A CN201811239458A CN109389093A CN 109389093 A CN109389093 A CN 109389093A CN 201811239458 A CN201811239458 A CN 201811239458A CN 109389093 A CN109389093 A CN 109389093A
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- China
- Prior art keywords
- human face
- distance
- image data
- camera
- face target
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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
- G06V40/166—Detection; Localisation; Normalisation using acquisition arrangements
-
- 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
Abstract
The present invention provide it is a kind of based on recognition of face towards type method for tracing, comprising steps of S1: real-time image acquisition；S2: whether processing image data simultaneously judges in image data to include human face target, such as includes that human face target continues subsequent step；S3: judge whether human face target is located at the center of image data using face recognition algorithms；Such as it is located at center, camera is shot；Otherwise, the position deviation of human face target and center is calculated；Camera further includes step S4 before carrying out shooting step: measurement human face target judges distance whether within the scope of pre-determined distance at a distance from tracking photographic device, controls to adjust moving device according to judging result；S5: the rotation angle of two steering engines is controlled according to position deviation, so that human face target is located at the center of image data；S6: control camera is shot.It is of the invention it is a kind of based on recognition of face towards type method for tracing, it can be achieved that the real-time follow-up of target is shot, strong flexibility.
Description
Technical field
The present invention relates to target image tracking field more particularly to it is a kind of based on recognition of face towards type method for tracing.
Background technique
Still lack at present it is a kind of can be achieved follow up to target in real time, strong flexibility and can be to target progress automatic tracing
Image capture method.
Summary of the invention
In view of the deficiency of the prior art, the present invention provide it is a kind of based on recognition of face towards type method for tracing,
The real-time follow-up shooting of target, strong flexibility can be achieved.
To achieve the goals above, the present invention provide it is a kind of based on recognition of face towards type method for tracing, comprising steps of
S1: by a camera real-time image acquisition of a tracking photographic device, image data is obtained；The tracking camera shooting
Device includes the camera, two steering engines, a distance measuring sensor, a single-chip microcontroller and a moving device, the camera, the rudder
Machine, the distance measuring sensor connect the single-chip microcontroller with the moving device；The camera can be along one by two steering engines
It is fixed on the moving device to first plane and one second Plane Rotation, the distance measuring sensor and the moving device are solid
It is fixed；The moving device is advanced along a default route；
S2: whether the single-chip microcontroller handles described image data and judges in described image data to include a human face target,
Such as continue subsequent step including the human face target, otherwise return step S1；
S3: judge whether the human face target is located at the center of described image data using face recognition algorithms；Such as
The human face target is located at the center, and the single-chip microcontroller controls the camera and shot, return step S2；It is no
Then, the single-chip microcontroller calculates the position deviation for obtaining the human face target and the center, and continues subsequent step；
It further includes step S4 that the single-chip microcontroller, which controls before the camera carries out shooting step: by the distance measuring sensor
The human face target is measured at a distance from the tracking photographic device, judge the distance whether within the scope of a pre-determined distance,
A judging result is obtained, the single-chip microcontroller controls to adjust the moving device according to the judging result；
S5: the single-chip microcontroller controls the rotation angle of two steering engines according to the position deviation, so that the face mesh
Mark is in the center of described image data；
S6: the single-chip microcontroller controls the camera and is shot, return step S2.
Preferably, the distance measuring sensor uses phase shift rangefinder sensor, and 43 step further comprises step:
S41: the distance measuring sensor measures the human face target at a distance from the tracking photographic device, and upper to one
Machine sends the status information and the data of presently described human face target；
S42: judging the distance whether within the scope of the pre-determined distance, obtains the judging result, the judgement knot
Fruit includes that the distance is less than the pre-determined distance range, the distance is greater than within the scope of the pre-determined distance with the distance
The pre-determined distance range；
S43: the single-chip microcontroller adjusts the row according to the current direction of travel of the judging result and the moving device
Into the movement speed of device, so that presently described human face target is located at the pre-determined distance at a distance from the tracking photographic device
In range.
Preferably, before the S1 step further include: the initialization step of the camera.
Preferably, described to judge whether the human face target is located at the center of described image data using face recognition algorithms
Position step further comprises step:
Utilize face recognition algorithms segmentation described image data and marker characteristic point；
A centre coordinate of the human face target is determined according to the characteristic point and is stored；
Judge whether the human face target is located at the center of described image data according to the centre coordinate.
The present invention due to use above technical scheme, make it have it is following the utility model has the advantages that
Distance measuring sensor and steering engine are combined together, by adjusting the position of the angulation change camera of steering engine, in conjunction with
The rate travel of the range estimation control moving device of distance measuring sensor, realizes the real-time follow-up of target, platform strong flexibility.It is logical
The direction for crossing adjustment steering engine allows camera to follow up in real time under the premise of not changing the pre-set navigational route of moving device target pair
As.Meanwhile the motor of the target range adjustment moving device according to ranging camera head feedback, to adjust the mobile speed of moving device
Degree guarantees that moving device and target object remain in suitable distance range.
Detailed description of the invention
Fig. 1 is the flow chart towards type method for tracing based on recognition of face of the embodiment of the present invention.
Specific embodiment
Below according to attached drawing 1, presently preferred embodiments of the present invention is provided, and is described in detail, makes to be better understood when this
Function, the feature of invention.
Referring to Fig. 1, the embodiment of the present invention it is a kind of based on recognition of face towards type method for tracing, comprising steps of
S1: by a camera real-time image acquisition of a tracking photographic device, image data is obtained；Track photographic device
Including camera, two steering engines, a distance measuring sensor, a single-chip microcontroller and a moving device, camera, steering engine, distance measuring sensor and
Moving device connects single-chip microcontroller；Camera can be fixed on traveling along one first plane and one second Plane Rotation by two steering engines
On device, distance measuring sensor is fixed with moving device；Moving device is advanced along a default route.
Before S1 step further include: the initialization step of camera.
S2: whether single-chip microcontroller processing image data simultaneously judges in image data to include a human face target, such as includes face mesh
Mark continues subsequent step, otherwise return step S1.
S3: judge whether human face target is located at the center of image data using face recognition algorithms；Such as human face target
Positioned at center, single-chip microcontroller control camera is shot, return step S2；Otherwise, single-chip microcontroller, which calculates, obtains human face target
With the position deviation of center, and continue subsequent step.
Wherein, using face recognition algorithms judge human face target whether be located at image data center step it is further
Comprising steps of
Utilize face recognition algorithms segmented image data and marker characteristic point；
A centre coordinate of human face target is determined according to characteristic point and is stored；
Judge whether human face target is located at the center of image data according to centre coordinate.
Single-chip microcontroller control camera further includes step S4 before carrying out shooting step: measuring human face target by distance measuring sensor
With tracking photographic device at a distance from, judge distance whether within the scope of a pre-determined distance, obtain a judging result, single-chip microcontroller according to
Judging result controls to adjust moving device；
Wherein, distance measuring sensor uses phase shift rangefinder sensor, and S4 step further comprises step:
S41: distance measuring sensor measures human face target at a distance from tracking photographic device, and works as forefathers to host computer transmission
The status information and data of face target；
S42: judging distance whether within the scope of pre-determined distance, obtains judging result, and judging result includes distance less than pre-
If distance range, distance are within the scope of pre-determined distance and distance is greater than pre-determined distance range；
S43: single-chip microcontroller adjusts the movement speed of moving device according to the current direction of travel of judging result and moving device,
So that current face's target is located within the scope of pre-determined distance at a distance from tracking photographic device.
S5: single-chip microcontroller controls the rotation angle of two steering engines according to position deviation, so that human face target is located at image data
Center.
S6: single-chip microcontroller control camera is shot, return step S2.
The embodiment of the present invention it is a kind of based on recognition of face towards type method for tracing, distance measuring sensor and steering engine are combined
Together, by adjusting the position of the angulation change camera of steering engine, in conjunction with the range estimation control traveling dress of distance measuring sensor
The rate travel set realizes the real-time follow-up of target, platform strong flexibility.
Make camera real-time under the premise of not changing the pre-set navigational route of moving device by adjusting the direction of steering engine
Follow up target object.Meanwhile the motor of the target range adjustment moving device according to ranging camera head feedback, it is advanced and is filled with adjustment
The movement speed set guarantees that moving device and target object remain in suitable distance range.
Meanwhile the software section for tracking photographic device is developed based on embedded environment, it is existing not needing to significantly alter
Embedded hardware on the basis of, the i.e. changeable three big modules of adjustment algorithm, system flexibility is strong.
In the present embodiment, moving device uses four-wheel drive platform.
The present invention has been described in detail with reference to the accompanying drawings, those skilled in the art can be according to upper
It states and bright many variations example is made to the present invention.Thus, certain details in embodiment should not constitute limitation of the invention, this
Invention will be using the range that the appended claims define as protection scope of the present invention.
Claims (4)
1. it is a kind of based on recognition of face towards type method for tracing, comprising steps of
S1: by a camera real-time image acquisition of a tracking photographic device, image data is obtained；The tracking photographic device
Including the camera, two steering engines, a distance measuring sensor, a single-chip microcontroller and a moving device, the camera, the steering engine,
The distance measuring sensor connects the single-chip microcontroller with the moving device；The camera can be along one first by two steering engines
It is fixed on the moving device to plane and one second Plane Rotation, the distance measuring sensor is fixed with the moving device；
The moving device is advanced along a default route；
S2: whether the single-chip microcontroller handles described image data and judges in described image data to include a human face target, such as wraps
It includes the human face target and continues subsequent step, otherwise return step S1；
S3: judge whether the human face target is located at the center of described image data using face recognition algorithms；As described in
Human face target is located at the center, and the single-chip microcontroller controls the camera and shot, return step S2；Otherwise, institute
It states single-chip microcontroller and calculates the position deviation for obtaining the human face target and the center, and continue subsequent step；
It further includes step S4 that the single-chip microcontroller, which controls before the camera carries out shooting step: being measured by the distance measuring sensor
The human face target judges that the distance whether within the scope of a pre-determined distance, obtains at a distance from the tracking photographic device
One judging result, the single-chip microcontroller control to adjust the moving device according to the judging result；
S5: the single-chip microcontroller controls the rotation angle of two steering engines according to the position deviation, so that the human face target position
In the center of described image data；
S6: the single-chip microcontroller controls the camera and is shot, return step S2.
2. it is according to claim 1 based on recognition of face towards type method for tracing, which is characterized in that ranging sensing
Device uses phase shift rangefinder sensor, and the S4 step further comprises step:
S41: the distance measuring sensor measures the human face target at a distance from the tracking photographic device, and sends out to a host computer
Send the status information and the data of presently described human face target；
S42: judging the distance whether within the scope of the pre-determined distance, obtains the judging result, the judging result packet
Include the distance less than the pre-determined distance range, the distance within the scope of the pre-determined distance and the distance be greater than it is described
Pre-determined distance range；
S43: the single-chip microcontroller adjusts the traveling according to the current direction of travel of the judging result and the moving device and fills
The movement speed set, so that presently described human face target is located at the pre-determined distance range at a distance from the tracking photographic device
It is interior.
3. it is according to claim 2 based on recognition of face towards type method for tracing, which is characterized in that before the S1 step
Further include: the initialization step of the camera.
4. it is according to claim 3 based on recognition of face towards type method for tracing, which is characterized in that it is described utilize face
The center step that recognizer judges whether the human face target is located at described image data further comprises step:
Utilize face recognition algorithms segmentation described image data and marker characteristic point；
A centre coordinate of the human face target is determined according to the characteristic point and is stored；
Judge whether the human face target is located at the center of described image data according to the centre coordinate.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811239458.7A CN109389093A (en) | 2018-10-23 | 2018-10-23 | Based on recognition of face towards type method for tracing |
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| CN201811239458.7A CN109389093A (en) | 2018-10-23 | 2018-10-23 | Based on recognition of face towards type method for tracing |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110049221A (en) * | 2019-04-29 | 2019-07-23 | 维沃移动通信（杭州）有限公司 | Image pickup method and mobile terminal |
| CN111131701A (en) * | 2019-12-25 | 2020-05-08 | 航天信息股份有限公司 | Intelligent head portrait tracking system and method |
| CN111539295A (en) * | 2020-04-17 | 2020-08-14 | 中移（杭州）信息技术有限公司 | Face recognition method, device, system, network equipment and storage medium |
| CN112107125A (en) * | 2020-09-18 | 2020-12-22 | 电子科技大学 | Intelligent sitting posture correction method based on face recognition |
| CN112866773A (en) * | 2020-08-21 | 2021-05-28 | 海信视像科技股份有限公司 | Display device and camera tracking method in multi-person scene |
| CN113489893A (en) * | 2020-07-31 | 2021-10-08 | 深圳技术大学 | Real-time target object tracking and positioning method and real-time target object tracking and positioning device |
| WO2022007119A1 (en) * | 2020-07-07 | 2022-01-13 | 章微微 | Directional driving platform based on distribution state, and corresponding terminal |
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| CN110049221A (en) * | 2019-04-29 | 2019-07-23 | 维沃移动通信（杭州）有限公司 | Image pickup method and mobile terminal |
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| CN111131701A (en) * | 2019-12-25 | 2020-05-08 | 航天信息股份有限公司 | Intelligent head portrait tracking system and method |
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| WO2022007119A1 (en) * | 2020-07-07 | 2022-01-13 | 章微微 | Directional driving platform based on distribution state, and corresponding terminal |
| CN113489893A (en) * | 2020-07-31 | 2021-10-08 | 深圳技术大学 | Real-time target object tracking and positioning method and real-time target object tracking and positioning device |
| CN113489893B (en) * | 2020-07-31 | 2023-04-07 | 深圳技术大学 | Real-time target object tracking and positioning method and real-time target object tracking and positioning device |
| CN112866773A (en) * | 2020-08-21 | 2021-05-28 | 海信视像科技股份有限公司 | Display device and camera tracking method in multi-person scene |
| CN112866773B (en) * | 2020-08-21 | 2023-09-26 | 海信视像科技股份有限公司 | Display equipment and camera tracking method in multi-person scene |
| CN112107125A (en) * | 2020-09-18 | 2020-12-22 | 电子科技大学 | Intelligent sitting posture correction method based on face recognition |
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