CN109461169A - A kind of system and method positioned for face tracking and human body - Google Patents
A kind of system and method positioned for face tracking and human body Download PDFInfo
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- CN109461169A CN109461169A CN201811230670.7A CN201811230670A CN109461169A CN 109461169 A CN109461169 A CN 109461169A CN 201811230670 A CN201811230670 A CN 201811230670A CN 109461169 A CN109461169 A CN 109461169A
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- face
- steering engine
- rotary head
- camera
- human body
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
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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
- G06T2207/30196—Human being; Person
- G06T2207/30201—Face
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- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
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Abstract
The present invention relates to a kind of system and methods positioned for face tracking and human body, the system includes pedestal, rotary head, camera, range sensor and controller, the rotary head is set on the base, the rotary head configures two steering engines, respectively control rotary head is rotated up and down the first steering engine of movement and controls the second steering engine of rotary head horizontal revolving motion, the camera and range sensor is each attached on rotary head, first steering engine, second steering engine, camera and range sensor are connected to controller, camera tracks face until its face face location, face three-dimensional localization coordinate is obtained in conjunction with the rotation angle that range sensor measures distance and the first steering engine and the second steering engine.Compared with prior art, the present invention is detected target and is not required to additional article worn, and while detecting is disturbed smaller, is able to achieve the accurate positioning of human body.
Description
Technical field
Human body field of locating technology of the present invention, more particularly, to a kind of system positioned for face tracking and human body and side
Method.
Background technique
Currently used human body positioning method is the less radio-frequency positioning mode based on radio frequency identification, and there are some for this method
Disadvantage:
(1) it is detected human body target to need to carry electronic tag, this application places certain for dining room, enterprise etc. is simultaneously uncomfortable
With；
(2) reader range of signal has certain limitation, and induction range and positioning accuracy can not reach higher level simultaneously,
And wireless signal precision will receive particular configuration, such as wall, the influence at turning.
(3) reader needs actively transmitting detection signal, and existing transmitting unit energy consumption is higher, need to be supplied using external power supply
Electricity, to limit the actual use of positioning system, and system will be unable to work when power failure occurs.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide one kind to be used for face tracking
With the system and method for human body positioning.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of system positioned for face tracking and human body, which is characterized in that the system include pedestal, rotary head,
Camera, range sensor and controller, the rotary head are set on the base, and the rotary head configures two rudders
Machine, respectively control rotary head be rotated up and down movement the first steering engine and control rotary head horizontal revolving motion second
Steering engine, the camera and range sensor are each attached on rotary head, first steering engine, the second steering engine, camera shooting
Head and range sensor are connected to controller.
The controller includes arm control panel.
A method of it is positioned for face tracking and human body, this method is based on above-mentioned for face tracking and human body positioning
System, this method comprises the following steps:
(1) face is tracked using camera；
(2) rotary head rotation is controlled until camera face face location according to face current location；
(3) range sensor obtains it at a distance from face, while obtaining the rotational angle of the first steering engine and the second steering engine；
(4) according to range sensor at a distance from face, the rotational angle of the first steering engine and the second steering engine obtain face
Three-dimensional localization coordinate.
Step (1) tracks face using camera, specifically: control rotary head rotation, while camera scanning front
Image, the rotation for the holder that stops rotating after there is complete facial image in the forward image of scanning.
Step (2) specifically: face center is relative to image in the forward image that camera is shot under acquisition current location
The coordinate of central point calculates the rotational angle of the first steering engine and the second steering engine according to coordinate size, controls the first steering engine and second
Steering engine movement, until face center is located at image center position in forward image.
Compared with prior art, the present invention has the advantage that
(1) present invention combines camera with range sensor, and target is not required to additional article worn when being detected, and examines
It is disturbed smaller when survey, can precisely obtain position of the face with respect to camera, realize human body positioning；
(2) present invention tracks face using camera, and the positioning of face is realized by image processing algorithm, and then adjust
Rotary head makes camera face face center, finally combines the rotation angle of range sensor measurement distance and rotary head
Degree realizes the acquisition of human body three-dimensional positioning coordinate, and result precision is high, and realizes process simple and convenient.
Detailed description of the invention
Fig. 1 is the flow diagram that the method that the present invention is positioned for face tracking and human body is implemented.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.Note that the following embodiments and the accompanying drawings is said
Bright is substantial illustration, and the present invention is not intended to be applicable in it object or its purposes is defined, and the present invention does not limit
In the following embodiments and the accompanying drawings.
Embodiment
A kind of system positioned for face tracking and human body, which includes pedestal, rotary head, camera, distance
Sensor and controller, rotary head are set on the base, and rotary head configures two steering engines, respectively on control rotary head
First steering engine of lower rotary motion and the second steering engine for controlling rotary head horizontal revolving motion, camera and range sensor
It is each attached on rotary head, the first steering engine, the second steering engine, camera and range sensor are connected to controller.Camera
It is overlapped with the mounting axis of range sensor with rotary head central axes.Above and below first steering engine, the second steering engine realization rotary head,
The movement of two freedom degrees in left and right.It is handled after camera collection image by controller, and upper operation respective image on the controller
Processing software, controller include arm control panel, run Android or linux environment.
As shown in Figure 1, a kind of method positioned for face tracking and human body, this method are based on above-mentioned for face tracking
With the system of human body positioning, this method comprises the following steps:
(1) face is tracked using camera, specifically: control rotary head rotation, while camera scans forward image,
It stops rotating after there is complete facial image in the forward image of scanning the rotation of holder.
(2) rotary head rotation is controlled up to camera face face location, specifically: obtaining according to face current location
Coordinate of the face center relative to image center in the forward image that camera is shot under current location, according to the big subtotal of coordinate
The rotational angle of the first steering engine and the second steering engine is calculated, the first steering engine and the movement of the second steering engine are controlled, until face in forward image
Center is located at image center position, and in above-mentioned first steering engine and the second steering engine rotary course, camera is in work always
State, on each regulation of longitudinal angle that the first steering engine reaches, the second steering engine will do it lateral 180 degree scanning.By above
Method, camera can take all positions in front of it, and when face is in the center of whole image, program is whole
Only, test face is in picture center.
(3) range sensor obtains it at a distance from face, while obtaining the rotational angle of the first steering engine and the second steering engine.
(4) according to range sensor at a distance from face, the rotational angle of the first steering engine and the second steering engine obtain face
Three-dimensional localization coordinate.
Above embodiment is only to enumerate, and does not indicate limiting the scope of the invention.These embodiments can also be with other
Various modes are implemented, and can make in the range of not departing from technical thought of the invention it is various omit, displacement, change.
Claims (6)
1. a kind of system positioned for face tracking and human body, which is characterized in that the system includes pedestal, rotary head, takes the photograph
Picture head, range sensor and controller, the rotary head are set on the base, and the rotary head configures two rudders
Machine, respectively control rotary head be rotated up and down movement the first steering engine and control rotary head horizontal revolving motion second
Steering engine, the camera and range sensor are each attached on rotary head, first steering engine, the second steering engine, camera shooting
Head and range sensor are connected to controller.
2. a kind of system positioned for face tracking and human body according to claim 1, which is characterized in that the control
Device processed includes arm control panel.
3. a kind of system positioned for face tracking and human body according to claim 1, which is characterized in that described takes the photograph
As the mounting axis of head and range sensor is overlapped with rotary head central axes.
4. a kind of method positioned for face tracking and human body, which is characterized in that it is any that this method is based on claims 1 to 3
System described in one, this method comprises the following steps:
(1) face is tracked using camera；
(2) rotary head rotation is controlled until camera face face location according to face current location；
(3) range sensor obtains it at a distance from face, while obtaining the rotational angle of the first steering engine and the second steering engine；
(4) according to range sensor at a distance from face, the rotational angle of the first steering engine and the second steering engine obtain the three-dimensional of face
Position coordinate.
5. a kind of method positioned for face tracking and human body according to claim 4, which is characterized in that step (1)
Face is tracked using camera, specifically: control rotary head rotation, while camera scans forward image, before scanning
Stopping rotating after complete facial image in square image the rotation of holder occur.
6. a kind of method positioned for face tracking and human body according to claim 5, which is characterized in that step (2)
Specifically: obtain coordinate of the face center relative to image center in the forward image that camera is shot under current location, root
The rotational angle of the first steering engine and the second steering engine is calculated according to coordinate size, controls the first steering engine and the movement of the second steering engine, until before
Face center is located at image center position in square image.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811230670.7A CN109461169A (en) | 2018-10-22 | 2018-10-22 | A kind of system and method positioned for face tracking and human body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811230670.7A CN109461169A (en) | 2018-10-22 | 2018-10-22 | A kind of system and method positioned for face tracking and human body |
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| CN109461169A true CN109461169A (en) | 2019-03-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811230670.7A Pending CN109461169A (en) | 2018-10-22 | 2018-10-22 | A kind of system and method positioned for face tracking and human body |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111251307B (en) * | 2020-03-24 | 2021-11-02 | 北京海益同展信息科技有限公司 | Voice acquisition method and device applied to robot and robot |
| CN113983992A (en) * | 2021-10-29 | 2022-01-28 | 广东电网有限责任公司 | Anti-touch power transmission line early warning device and method |
| CN114257742A (en) * | 2021-12-15 | 2022-03-29 | 惠州视维新技术有限公司 | Control method of pan-tilt camera, storage medium and pan-tilt camera |
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| US20180260614A1 (en) * | 2015-11-12 | 2018-09-13 | Alibaba Group Holding Limited | Face location tracking method, apparatus, and electronic device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111251307B (en) * | 2020-03-24 | 2021-11-02 | 北京海益同展信息科技有限公司 | Voice acquisition method and device applied to robot and robot |
| CN113983992A (en) * | 2021-10-29 | 2022-01-28 | 广东电网有限责任公司 | Anti-touch power transmission line early warning device and method |
| CN113983992B (en) * | 2021-10-29 | 2023-09-08 | 广东电网有限责任公司 | Anti-touch power transmission line early warning device and method |
| CN114257742A (en) * | 2021-12-15 | 2022-03-29 | 惠州视维新技术有限公司 | Control method of pan-tilt camera, storage medium and pan-tilt camera |
| CN114257742B (en) * | 2021-12-15 | 2024-05-03 | 惠州视维新技术有限公司 | Control method of cradle head camera, storage medium and cradle head camera |
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Application publication date: 20190312 |