CN109413384A - Video monitoring system and method based on GPS information and PTZ - Google Patents
Video monitoring system and method based on GPS information and PTZ Download PDFInfo
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- CN109413384A CN109413384A CN201811222962.6A CN201811222962A CN109413384A CN 109413384 A CN109413384 A CN 109413384A CN 201811222962 A CN201811222962 A CN 201811222962A CN 109413384 A CN109413384 A CN 109413384A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30232—Surveillance
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- Signal Processing (AREA)
- Studio Devices (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
The present invention proposes a kind of video monitoring system based on target GPS, the function of the system includes the pixel coordinate for calculating target point in current camera monitored picture, the monitoring system includes spherical camera and monitor supervision platform, analysis module target analysis module in target position is equipped in monitor supervision platform for calculating pixel coordinate of the target in monitored picture, when target position analysis module calculates target point pixel coordinate, the information used includes the video camera PTZ information set when calibration；It selectes the GPS information of calibration point when the PTZ, select pixel coordinate of the calibration point in monitored picture in position for video camera；The GPS information of target point, spherical camera receive the control instruction that monitor supervision platform is sent by network interface；Send video camera current location PTZ and visual field angle information；Receive the target GPS information that monitor supervision platform is sent；Monitor supervision platform is sent by object pixel coordinate.
Description
Technical field
The present invention relates to field of video monitoring systems, especially a kind of video monitoring system based on GPS information and PTZ and
Method.
Background technique
With social progress and development, video monitoring system using more and more extensive, to ensureing that social stability plays
Considerable effect.
Application No. is 201510102092.9 patents to propose a kind of method for tracking target, device and system, the system base
The PTZ information of video camera, the GPS information pre-saved according to method when the GPS information of target point calculates tracking target point
With the transformational relation between PTZ coordinate information, PTZ coordinate information corresponding to the GPS information of target object is obtained, wherein PTZ
When coordinate information is that target object is locked in a certain fixed position in the camera lens visual field by tracking equipment, the PTZ of tracking equipment holder
Parameter.Preferably, when PTZ coordinate information is that target object is locked in camera lens central region position by tracking equipment, tracking equipment
The PTZ parameter of holder.Transformational relation between the GPS information pre-saved and PTZ coordinate information is tracking equipment visual range
Within arbitrary point GPS information and PTZ coordinate information Conversion Relations.It is any in target object motion profile by knowing
The GPS information of any obtains the target object in the PTZ coordinate information of the point.
A kind of police strength distribution situation that can be used for analyzing government, public security, traffic etc. is now needed, in large scene or monitoring objective
When point is blocked, the monitoring system of the location information of target can be showed in real time.
Summary of the invention
The present invention proposes a kind of target monitor system based on GPS and PTZ, the technical solution adopted is as follows:
A kind of video monitoring system based on target GPS, the function of the monitoring system include calculating target point current
Pixel coordinate in camera supervised picture, the monitoring system include spherical camera and monitor supervision platform, are set in monitor supervision platform
There is target position analysis module target analysis module for calculating pixel coordinate of the target in monitored picture, target position analysis
When module calculates target point pixel coordinate, the information used includes the video camera PTZ information set when calibration；Position for video camera is in institute
When stating PTZ, selectes the GPS information of calibration point, selectes pixel coordinate of the calibration point in monitored picture；The GPS information of target point,
Spherical camera receives the control instruction that monitor supervision platform is sent by network interface；Send video camera current location PTZ and visual field
Angle information.
Further, when target position analysis module calculates pixel coordinate of the target point in monitored picture, process variable packet
Include the PT of video camera when selected calibration point is located at the PTZ value of video camera at picture center, target point is located at monitored picture center
Value, camera center geographical location be due east when video camera P value.
Further, the parameter information needed when calculating pixel coordinate of the target point in current camera monitored picture is logical
Calibration is crossed to obtain, comprising steps of
Step 1: fixed video camera obtains the GPS information of video camera；
Step 2: control camera motion records the PTZ information P of the position to designated positioniTiZi, in current location
In monitored picture, calibration point is selected, the GPS information of calibration point is measured, determines that calibration point is monitoring by way of manually picking up
Pixel coordinate in picture, the pixel coordinate for recording calibration point control camera motion to other designated positions, repeat this step,
Record several groups PTZ information and corresponding calibration point information.
Further, the step of calculating pixel coordinate of the target point in current camera monitored picture include:
Step 1: compare the PTZ information of the calibration point of target point and record, judge target point P value and each calibration point P
The angle of value, when selecting angle minimum, the pixel coordinate of calibration point and corresponding video camera PTZ information, as subsequent meter
The known parameters of calculation；
Step 2: determining calibration point by comparing the GPS information of video camera position and the GPS information of calibration point position
With the angle α of the relative position of video camera；
Step 3: passing through the pixel coordinate of calibration point and the P of video camera0T0Z0, pass through spherical triangle trigonometric function and seat
Mark conversion calculates the P of video camera when calibration point is located at monitored picture central point1T1Z1；
Step 4: being based on P1And angle α, determining camera views midpoint can be derived according to quadrant angle and trigonometric function relationship
Geographical location be due east when video camera PEast；
Step 5: horizontal distance between the two being calculated by calibration point GPS and video camera GPS, in conjunction with T1Calculate camera shooting
The height H of machine position；
Step 6: horizontal distance between the two being calculated by the GPS of target point GPS and video camera, mark can be found out in conjunction with H
Pinpoint the T of the video camera at picture centerIn；
Step 7: by the GPS and video camera GPS of target point, acquiring the physical distance between two o'clock, pass through trigonometric function
Find out the auxiliary angle β of target point relative camera position.
Step 8: by PEastThe P of video camera when target point is located at picture center can be calculated by subtracting βIn；
Step 9: by the trigonometric function relationship and changes in coordinates of spherical triangle, and combining known camera field of view angle
With the relation table of video camera Z, by TInAnd PInCalculate the pixel coordinate of target point in monitored picture.
Compared with prior art, the beneficial effects of the present invention are:
1. system proposed by the present invention can be used for analyzing the police strength distribution situation of government, public security, traffic etc., work as target object
After being equipped with GPS device such as handhold GPS equipment, real time location tracking can be realized in platform, reflect field condition in time, facilitate reality
The command scheduling of existing macroscopic view.
2. the pixel coordinate that target point is located on monitored picture is calculated based on target point GPS information, when target point is by object
Body can also show the position of monitoring objective on picture when blocking, more intuitively realize the real-time positioning and tracking of target.
Detailed description of the invention
Fig. 1 is target point pixel coordinate calculation flow chart；
Fig. 2 is that auxiliary calculates schematic diagram 1；
Fig. 3 is that auxiliary calculates schematic diagram 2.
Specific embodiment
In the present embodiment, the video monitoring system based on target GPS includes spherical camera and monitor supervision platform, monitor supervision platform
In be equipped with target position analysis module target analysis module for calculating pixel coordinate of the target in monitored picture, spherical shooting
Machine receives the control instruction that monitor supervision platform is sent by network interface；Send video camera current location PTZ and visual field angle information.
It after installing spherical camera, is demarcated first, step includes:
Step 1: fixed video camera obtains the GPS information of video camera；
Step 2: control camera motion records the PTZ information P of the position to designated positioniTiZi, in current location
In monitored picture, calibration point is selected, the GPS information of calibration point is measured, determines that calibration point is monitoring by way of manually picking up
Pixel coordinate in picture, the pixel coordinate for recording calibration point control camera motion to other designated positions, repeat this step,
Record several groups PTZ information and corresponding calibration point information.
Calculate object pixel coordinate the step of include:
Step 1: determining the PTZ information of current camera, be compared, select with the video camera PTZ information of mark time recording
It takes and is denoted as P with the current location immediate information of video camera PTZ0T0Z0, and record the pixel coordinate of corresponding calibration point；
Step 2: determining calibration point by comparing the GPS information of video camera position and the GPS information of calibration point position
With the angle α of the relative position of video camera；
As shown in Figure 1, calculating the formula that α is used are as follows:
Wherein latPc, lonPc are respectively the latitude and longitude of calibration point, and latO, lonO are respectively video camera position
Latitude and longitude, wherein longitude and latitude degree of using every minute and second is unit, the conversion based on practical longitude and latitude unit distance and degree every minute and second
Relationship determines that the value of coefficient of utilization in formula is 30.8.
Step 3: passing through the pixel coordinate of calibration point and the P of video camera0T0Z0, pass through spherical triangle trigonometric function and seat
Mark conversion calculates the P of video camera when calibration point is located at monitored picture central point1T1Z1；
Step 4: as shown in Figure 1, being based on P1And angle α, determining camera shooting can be derived according to quadrant angle and trigonometric function relationship
The P of video camera when the geographical location of machine midpoint picture is due eastEast；
Step 5: horizontal distance between the two being calculated by calibration point GPS and video camera GPS, in conjunction with T1Calculate camera shooting
The height H of machine position；
As shown in Fig. 2, the formula that calculating H is used includes:
H=QC*tan (T1)
The wherein calculation formula of QC are as follows:
Step 6: horizontal distance between the two being calculated by the GPS of target point GPS and video camera, mark can be found out in conjunction with H
Pinpoint the T of the video camera at picture centerIn；
TInCalculation formula are as follows:
As shown in Fig. 2, the calculation formula of QB are as follows:
Step 7: by the GPS and video camera GPS of target point, acquiring the physical distance between two o'clock, pass through trigonometric function
Find out the auxiliary angle β of target point relative camera position.
Step 8: by PEastThe P of video camera when target point is located at picture center can be calculated by subtracting βIn；
Step 9: by the trigonometric function relationship and changes in coordinates of spherical triangle, and combining known camera field of view angle
With the relation table of video camera Z, by TInAnd PInCalculate the pixel coordinate of target point in monitored picture.
Step 10: the position of monitored picture displaying target point.
The foregoing is merely the preferred embodiments of the invention, are not intended to limit the invention creation, all at this
Within the spirit and principle of innovation and creation, any modification, equivalent replacement, improvement and so on should be included in the invention
Protection scope within.
Claims (4)
1. a kind of video monitoring system based on target GPS, the function of the monitoring system includes calculating target point when proactive
Pixel coordinate in camera monitored picture, the monitoring system include spherical camera and monitor supervision platform, which is characterized in that monitoring
Target position analysis module is equipped in platform, target analysis module is for calculating pixel coordinate of the target in monitored picture, mesh
When cursor position analysis module calculates target point pixel coordinate, the information used includes the video camera PTZ information set when calibration；It takes the photograph
When camera is located at the PTZ, selectes the GPS information of calibration point, selectes pixel coordinate of the calibration point in monitored picture；Target point
GPS information, spherical camera pass through network interface receive monitor supervision platform send control instruction；Send video camera current location
PTZ and visual field angle information.
2. a kind of video monitoring system based on target GPS as described in claim 1, which is characterized in that analyze mould in target position
When block calculates pixel coordinate of the target point in monitored picture, process variable includes the camera shooting that selected calibration point is located at picture center
The PT value of video camera when the PTZ value of machine, target point are located at monitored picture center, camera center geographical location take the photograph when being due east
The P value of camera.
3. a kind of video monitoring system based on target GPS as claimed in claim 2, which is characterized in that calculate target point and working as
The parameter information needed when pixel coordinate in preceding video camera monitored picture is obtained by calibration, comprising steps of
Step 1: fixed video camera obtains the GPS information of video camera；
Step 2: control camera motion records the PTZ information P of the position to designated positioniTiZi, monitoring in current location
In picture, calibration point is selected, the GPS information of calibration point is measured, determines calibration point in monitored picture by way of manually picking up
In pixel coordinate, record the pixel coordinate control camera motion of calibration point to other designated positions, repeat this step, record
Several groups PTZ information and corresponding calibration point information.
4. a kind of video monitoring system based on target GPS as claimed in claim 3, which is characterized in that calculate target point and working as
The step of pixel coordinate in preceding video camera monitored picture includes:
Step 1: comparing the PTZ information of the calibration point of target point and record, judge the P value and each calibration point P value of target point
Angle, when selecting angle minimum, the pixel coordinate of calibration point and corresponding video camera PTZ information, as subsequent calculating
Known parameters；
Step 2: determining calibration point by comparing the GPS information of video camera position and the GPS information of calibration point position and take the photograph
The angle α of the relative position of camera；
Step 3: passing through the pixel coordinate of calibration point and the P of video camera0T0Z0, turned by spherical triangle trigonometric function and coordinate
It changes, calculates the P of video camera when calibration point is located at monitored picture central point1T1Z1；
Step 4: being based on P1And angle α, the geography at determining camera views midpoint can be derived according to quadrant angle and trigonometric function relationship
The P of video camera when position is due eastEast；
Step 5: horizontal distance between the two being calculated by calibration point GPS and video camera GPS, in conjunction with T1Calculate video camera institute
Height H in position；
Step 6: horizontal distance between the two being calculated by the GPS of target point GPS and video camera, calibration point can be found out in conjunction with H
The T of video camera at picture centerIn；
Step 7: by the GPS and video camera GPS of target point, acquiring the physical distance between two o'clock, found out by trigonometric function
The auxiliary angle β of target point relative camera position.
Step 8: by PEastThe P of video camera when target point is located at picture center can be calculated by subtracting βIn；
Step 9: by the trigonometric function relationship and changes in coordinates of spherical triangle, and combining known camera field of view angle and take the photograph
The relation table of camera Z, by TInAnd PInCalculate the pixel coordinate of target point in monitored picture.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811222962.6A CN109413384A (en) | 2018-10-19 | 2018-10-19 | Video monitoring system and method based on GPS information and PTZ |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811222962.6A CN109413384A (en) | 2018-10-19 | 2018-10-19 | Video monitoring system and method based on GPS information and PTZ |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111461994A (en) * | 2020-03-30 | 2020-07-28 | 苏州科达科技股份有限公司 | Method for obtaining coordinate transformation matrix and positioning target in monitoring picture |
| CN112230257A (en) * | 2020-09-04 | 2021-01-15 | 勤上光电股份有限公司 | Positioning monitoring method based on PTZ camera |
| CN114119651A (en) * | 2021-11-30 | 2022-03-01 | 重庆紫光华山智安科技有限公司 | Target tracking method, system, device and storage medium |
| CN115375779A (en) * | 2022-10-27 | 2022-11-22 | 智广海联(天津)大数据技术有限公司 | Method and system for marking AR (augmented reality) real scene of camera |
| WO2023124053A1 (en) * | 2021-12-29 | 2023-07-06 | 达闼机器人股份有限公司 | Position detection method and apparatus based on mobile camera, processing device, and medium |
-
2018
- 2018-10-19 CN CN201811222962.6A patent/CN109413384A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111461994A (en) * | 2020-03-30 | 2020-07-28 | 苏州科达科技股份有限公司 | Method for obtaining coordinate transformation matrix and positioning target in monitoring picture |
| CN112230257A (en) * | 2020-09-04 | 2021-01-15 | 勤上光电股份有限公司 | Positioning monitoring method based on PTZ camera |
| CN114119651A (en) * | 2021-11-30 | 2022-03-01 | 重庆紫光华山智安科技有限公司 | Target tracking method, system, device and storage medium |
| WO2023124053A1 (en) * | 2021-12-29 | 2023-07-06 | 达闼机器人股份有限公司 | Position detection method and apparatus based on mobile camera, processing device, and medium |
| CN115375779A (en) * | 2022-10-27 | 2022-11-22 | 智广海联(天津)大数据技术有限公司 | Method and system for marking AR (augmented reality) real scene of camera |
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Application publication date: 20190301 |