CN109509233B - PTZ camera target tracking method, system and device based on RFID label position information - Google Patents

PTZ camera target tracking method, system and device based on RFID label position information Download PDF

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CN109509233B
CN109509233B CN201811366337.9A CN201811366337A CN109509233B CN 109509233 B CN109509233 B CN 109509233B CN 201811366337 A CN201811366337 A CN 201811366337A CN 109509233 B CN109509233 B CN 109509233B
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CN109509233A (en
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刘玉平
杨帅
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Xiamen Bocong Information Technology Co ltd
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Abstract

The invention discloses a PTZ camera target tracking method, system and device based on RFID label position information, and relates to the field of security and protection. The method comprises the following steps: acquiring ground coordinates of a target position through the RFID label position information of the target to be tracked; converting the ground coordinates of the target position into a vertical elevation angle theta and a horizontal azimuth angle of the PTZ camera when the center of the picture of the PTZ camera is aligned with the target position according to a coordinate conversion mechanism
Figure DDA0001868665290000011
Positioning the PTZ camera to the vertical elevation angle θ and the horizontal azimuth angle
Figure DDA0001868665290000012
The technical scheme of the invention can reliably and accurately realize the interconversion between the ground coordinate of the target to be tracked and the PTZ camera coordinate, and the method is simple and has good accuracy and reliability.

Description

PTZ camera target tracking method, system and device based on RFID label position information
Technical Field
The invention relates to the field of security and protection, in particular to a PTZ camera target tracking method, system and device based on RFID label position information.
Background
In the prior art, various target tracking methods are proposed for a PTZ camera to track a target, and particularly, a dome camera, which is widely applied in the field of intelligent video monitoring at present, is a dome camera. The target tracking method of the dome camera mainly comprises the following steps: the target tracking method based on template matching comprises the following specific steps: firstly, extracting the feature of a target as a template, then determining the position information closest to the feature in the next frame of image according to the template feature, taking the determined position information as the position information of the target again, and updating the feature template; the tracking method based on the characteristic pixel points comprises the following specific steps: firstly, extracting characteristic pixel points on a target, and then tracking the position of each characteristic pixel point; in addition, a tracking method for more complex tracking learning detection is provided, which comprises the following specific steps: firstly, a short-time tracker is set, the set short-time tracker continuously tracks the target, the tracking result of the short-time tracker is used as the output of a trainer to generate an online detector, and when the short-time tracker loses the target, the target can be retrieved again through the online detector.
However, the above method still has some disadvantages: the target tracking method based on template matching has higher requirements on the difference between the established model and the background, the tracking reliability of the tracking method based on the characteristic pixel points is not high for scenes with small number of the characteristic pixel points, and the tracking method of tracking, learning and detecting is complex, so that the accuracy and reliability in practical application are not ideal.
Disclosure of Invention
In order to overcome the technical problems, the invention provides a method, a system and a device for tracking a target of a PTZ camera based on RFID label position information. The invention adopts the following specific technical scheme:
in a first aspect, the invention provides a PTZ camera target tracking method based on RFID tag location information, including:
acquiring ground coordinates of a target position through the RFID label position information of the target to be tracked;
converting the ground coordinates of the target position into a vertical elevation angle theta and a horizontal azimuth angle of the PTZ camera when the center of the picture of the PTZ camera is aligned with the target position according to a coordinate conversion mechanism
Figure BDA0001868665270000011
Positioning the PTZ camera to the vertical elevation angle θ and the horizontal azimuth angle
Figure BDA0001868665270000012
Further, the coordinate transformation mechanism is established by the following steps:
establishing a ground coordinate system and a PTZ camera coordinate system;
determining a ground coordinate of the target location and a vertical elevation angle θ and a horizontal azimuth angle of the PTZ camera
Figure BDA0001868665270000028
The coordinate transformation relationship comprises related transformation parameters, wherein the related transformation parameters are determined by the following steps:
calibrating in the ground coordinate system and the PTZ camera coordinate system, including: positioning the PTZ camera to a horizontal azimuth
Figure BDA0001868665270000021
At least two different vertical elevation angles theta are randomly selected1And theta2And obtaining the ground coordinates (x) of two points on the ground pointed by the corresponding PTZ camera picture center1,y1) And (x)2,y2)；
Theta obtained by calibration1And theta2And (x)1,y1) And (x)2,y2) And determining the related conversion parameters in the coordinate conversion relation.
Further, the ground coordinate system is a plane rectangular coordinate system established in an active area of the target to be tracked.
Further, the Z-axis of the camera coordinate system is perpendicular to the X-and Y-axes of the planar rectangular coordinate system.
Further, the camera is a dome camera, and the coordinate transformation relationship may be expressed as:
Figure BDA0001868665270000022
wherein, (x, y) is the ground coordinate pointed by the picture center of the dome camera at this time, and the related conversion parameters include: ground coordinate (x) of ball machine mounting position0,y0) And the angle of the ball machine when the horizontal zero optical axis of the ball machine is parallel to the X axis of the plane rectangular coordinate system
Figure BDA0001868665270000023
And of the ball machineThe mounting height h.
In a second aspect, the present invention provides a PTZ camera target tracking system based on RFID tag location information, comprising:
the ground coordinate acquisition module is used for acquiring the ground coordinate of the target position according to the RFID label position information of the target to be tracked;
a PTZ camera coordinate determination module for converting the ground coordinate of the target position into a vertical elevation angle theta and a horizontal azimuth angle when the PTZ camera is aligned with the target position at the picture center thereof through the coordinate conversion module
Figure BDA0001868665270000024
A coordinate positioning module for positioning the PTZ camera to the vertical elevation angle theta and the horizontal azimuth angle theta
Figure BDA0001868665270000025
In a third aspect, the present invention provides a PTZ camera target tracking device based on RFID tag location information, comprising a processor and a memory, wherein the memory stores at least one program, and the program is executed by the processor to implement the PTZ camera target tracking method based on RFID tag location information according to the first aspect.
The technical scheme provided by the invention has the beneficial effects that:
firstly, acquiring ground coordinates of a target position through RFID label position information of a target to be tracked; and then converting the ground coordinates of the target position into a vertical height angle theta and a horizontal azimuth angle when the PTZ camera is aligned with the target position at the picture center thereof according to a coordinate conversion mechanism
Figure BDA0001868665270000026
Positioning the PTZ camera to the vertical elevation angle θ and the horizontal azimuth angle
Figure BDA0001868665270000027
By setting up a ground seatThe corresponding relation between the target and the PTZ camera coordinate can reliably and accurately realize the mutual conversion between the ground coordinate of the target to be tracked and the PTZ camera coordinate.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart of a PTZ camera target tracking method based on RFID tag location information according to the present invention;
FIG. 2 is a flow chart of a method for establishing a coordinate transformation mechanism according to the present invention;
FIG. 3 is a schematic view of a PTZ camera coordinate system of the present invention;
FIG. 4 is a flowchart illustrating a method for determining transformation parameters in a coordinate transformation relationship according to the present invention;
FIG. 5 is a schematic diagram of an embodiment of the present invention for acquiring ground coordinates of an object to be tracked in a prison room through RFID tag information;
FIG. 6 is a schematic diagram of a PTZ camera target tracking system based on RFID tag location information according to the present disclosure;
fig. 7 is a schematic structural diagram of a PTZ camera target tracking device based on RFID tag location information according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.
Fig. 1 is a flow chart of a target tracking method of a PTZ camera based on RFID tag location information according to the present invention, which shows a specific implementation flow of the method, and includes:
the PTZ camera is used for continuously monitoring the target to be tracked within a certain moving range, so that the PTZ camera has very wide application requirements, for example, in prisons, some major criminals can be provided with an RFID electronic tag wrist strap to identify the identity of the person, and the other function is to control the PTZ camera to track the target in real time through acquiring the position of the electronic tag.
In step 101, acquiring a ground coordinate of a target position according to RFID label position information of a target to be tracked;
the target position refers to a position where a target object needing to be tracked is located currently, and may be a patrol fleet or a police car deployed in an security area, or a prisoner in a prison area. In a possible practical operation, a person serving a prison in a monitoring area wears a specific RFID wristband, one or more base stations are installed on the ceiling or the wall of a monitoring room, the RFID electronic tag actively or passively emits electromagnetic waves, and after the electromagnetic waves are received by the one or more base stations, the relative position of the RFID electronic tag and the base stations is calculated by detecting the time difference of the electromagnetic waves reaching each base station. Therefore, the position of the RFID tag obtained is generally a relative position with respect to a base station, a corner, or the like.
In step 102, the ground coordinates of the target position are converted into a vertical elevation angle θ and a horizontal azimuth angle when the PTZ camera is aligned with the target position at the center of the image thereof according to a coordinate conversion mechanism
Figure BDA0001868665270000031
After the ground coordinates of the target position are obtained in step 101, the ground coordinates of the target position may be converted into a vertical elevation angle θ and a horizontal azimuth angle when the PTZ camera aligns to the target position at the center of its picture by a coordinate conversion mechanism
Figure BDA0001868665270000032
It should be noted that the coordinate transformation mechanism should be capable of representing the target positionGround coordinates and vertical elevation angle theta and horizontal azimuth angle of PTZ camera when its picture center is aligned with the target position
Figure BDA0001868665270000033
The transformation relationship between the target position and the vertical height angle theta and the horizontal azimuth angle theta of the PTZ camera when the center of the picture of the PTZ camera is aligned with the target position can be obtained according to the coordinate transformation mechanism by knowing the ground coordinates of the target position in one possible implementation
Figure BDA0001868665270000048
In another possible implementation, the vertical elevation angle θ and the horizontal azimuth angle of the PTZ camera are known
Figure BDA0001868665270000049
According to the coordinate conversion mechanism, the ground coordinates of the target position aligned with the center of the picture can be obtained.
In addition, it should be noted that, in the technical solution of the present application, the PTZ camera optionally includes a dome camera, and when the solution is specifically described, the following contents are all described by using the dome camera, but not limited thereto.
Fig. 2 is a flowchart of a method for establishing a coordinate transformation mechanism in the present invention, which shows specific implementation steps of the method, and includes:
in step 201, a ground coordinate system and a PTZ camera coordinate system are established;
the ground coordinate system is a coordinate system established by regarding the ground as a plane within a certain distance range, and in a possible implementation, when a prisoner in a prison room is taken as a target to be tracked, a rectangular plane coordinate system can be established in an active area of the prisoner, optionally, an origin of the coordinate system can be set at an origin of the coordinate system used by the base station corresponding to the RFID electronic tag in step 101, so that the obtained position of the RFID electronic tag is the position in the rectangular plane coordinate system.
FIG. 3 is a schematic diagram of a PTZ camera coordinate system according to the present invention, showing the present inventionIn a reference coordinate system of the technical solution in the specific implementation process, optionally, a Z axis of the camera coordinate system is perpendicular to X and Y axes of the planar rectangular coordinate system, the camera is a ball machine, and (X) in fig. 30,y0) For the ground coordinates of the projection point of the dome camera on the ground, an XYZ three-dimensional coordinate system can be established as shown in fig. 3, which provides a reference coordinate system for the following implementation steps, and is the basis for the coordinate transformation.
In step 202, the ground coordinates of the target location and the vertical elevation angle θ and horizontal azimuth angle of the PTZ camera are determined
Figure BDA00018686652700000410
The coordinate transformation relationship between the two, the coordinate transformation relationship contains relevant transformation parameters.
After the PTZ camera coordinate system is established through the above step 201, the ground coordinates of the target position in the PTZ camera coordinate system and the vertical height angle θ and the horizontal azimuth angle of the PTZ camera are determined based on the description of the coordinate system
Figure BDA00018686652700000411
The coordinate transformation relationship between the two, the coordinate transformation relationship contains relevant transformation parameters. In the description of this step, reference is made to the coordinate system as in fig. 3 as an exemplary description.
Based on the reference coordinate system established in step 201, the coordinate transformation formula is as follows:
Figure BDA0001868665270000041
Figure BDA0001868665270000042
wherein (x)0,y0) The ground coordinates of the installation position of the dome camera are known conditions, the (x, y) are the ground longitude and latitude coordinates pointed by the center of the dome camera picture,
Figure BDA0001868665270000043
is the fixed offset between the ball machine and the X axis of the ground coordinate when the ball machine is at the horizontal zero position (the angle of the ball machine when the horizontal zero position optical axis of the ball machine is parallel to the X axis of the ground coordinate),
Figure BDA0001868665270000044
is the horizontal included angle between the ball machine and the X axis when the center of the picture of the ball machine points to (X, y), and is shown in the upper figure
Figure BDA0001868665270000045
Wherein, as in fig. 2 for
Figure BDA0001868665270000046
As shown in the further description of (a), OB is the central axis of the dome camera when the center of the dome camera is pointed at (x, y), and the included angle with OA is
Figure BDA0001868665270000047
I.e., the horizontal coordinate (Pan) of the ball machine, theta is the vertical angle at which the ball machine points (x, y), and h is the mounting height of the ball machine.
As can be seen from the coordinate conversion formulas (1) and (2), the conversion parameters of the coordinate conversion relation comprise the installation height h of the dome camera and the fixed offset of the horizontal angle of the dome camera
Figure BDA0001868665270000051
It will be appreciated that the fixed offset between the installation height h of the dome camera and the horizontal angle of the dome camera
Figure BDA0001868665270000052
The ground coordinates of the target location, when known, are aligned with the vertical elevation angle θ and the horizontal azimuth angle of the PTZ camera
Figure BDA0001868665270000053
The translation relationship between them is determined.
In a possible implementation, as shown in fig. 4, a flowchart of a method for determining a transformation parameter in a coordinate transformation relationship according to the present invention shows specific implementation steps of the method, including:
in the following description of the steps, reference is made to the coordinate system as in fig. 3 as an exemplary description.
In step 401, calibrating in the ground coordinate system and the PTZ camera coordinate system includes: positioning the PTZ camera to a horizontal azimuth
Figure BDA0001868665270000054
At least two different vertical elevation angles theta are randomly selected1And theta2And obtaining the ground coordinates (x) of two points on the ground pointed by the corresponding PTZ camera picture center1,y1) And (x)2,y2)；
In step 402, θ is obtained by calibration1And theta2And (x)1,y1) And (x)2,y2) And determining the related conversion parameters in the coordinate conversion relation.
Rotating the ball machine to a horizontal azimuth
Figure BDA0001868665270000055
Selecting vertical angle theta of two ball machines with different heights1And theta2And obtaining the coordinates (x) of two points of the center of the corresponding ball machine pointing to the ground1,y1)，(x2,y2) The following formulae (1) and (2) can be used:
Figure BDA0001868665270000056
Figure BDA0001868665270000057
can be obtained by the formulas (3) and (4):
Figure BDA0001868665270000058
substituting the formula (5) into the formula (3) or the formula (4) can obtain a calculation formula of the installation height h of the ball machine at the moment, and optionally, obtaining the calculation formula from the formula (4):
Figure BDA0001868665270000059
then, the mounting height h of the ball machine can be obtained by substituting the formula (5) into the formula (6).
Thus, in (x)0,y0)、
Figure BDA00018686652700000510
And h are known, the ground coordinates of the target location are revealed as shown in equations (1) and (2) along with the vertical elevation angle θ and the horizontal azimuth angle of the PTZ camera
Figure BDA00018686652700000511
The mutual conversion relationship between the two.
It should be noted that, according to the above steps 201 to 202, the ground coordinates of the target position and the vertical height angle θ and the horizontal azimuth angle of the PTZ camera can be determined
Figure BDA00018686652700000512
The mutual conversion relationship between the two is established, namely a coordinate conversion mechanism between the two is established.
In step 103, the PTZ camera is positioned to the vertical elevation angle θ and the horizontal azimuth angle θ
Figure BDA00018686652700000513
In the above steps 101 and 102, the ground coordinates of the target position are obtained according to the RFID tag position information of the target to be tracked, and the ground coordinates of the target position and the vertical height angle θ and the horizontal azimuth angle of the PTZ camera are used
Figure BDA0001868665270000061
The coordinate conversion mechanism between, at this time, theWhen the ground coordinates of the target to be tracked are known, the vertical height angle theta and the horizontal azimuth angle of the PTZ camera when the center of the picture of the PTZ camera is aligned with the position of the target can be obtained according to the coordinate conversion mechanism
Figure BDA0001868665270000062
Positioning the PTZ camera to the vertical elevation angle θ and the horizontal azimuth angle
Figure BDA0001868665270000063
Then, the monitoring of the target to be tracked can be realized.
It should be noted that, in order to continuously track the target to be tracked, after continuously acquiring the position information of the RFID tag of the target to be tracked in real time, the PTZ camera described in the formulas (1) and (2) aligns the vertical elevation angle θ and the horizontal azimuth angle of the target position at the center of the image of the PTZ camera
Figure BDA0001868665270000064
Rapidly positioning the PTZ camera to the vertical elevation angle θ and the horizontal azimuth angle
Figure BDA0001868665270000065
That is, the steps 101 to 103 are continuously executed, so that the target to be tracked can be continuously monitored.
The method comprises the steps of firstly, acquiring ground coordinates of a target position through RFID label position information of a target to be tracked; and then converting the ground coordinates of the target position into a vertical height angle theta and a horizontal azimuth angle when the PTZ camera is aligned with the target position at the picture center thereof according to a coordinate conversion mechanism
Figure BDA0001868665270000066
Positioning the PTZ camera to the vertical elevation angle θ and the horizontal azimuth angle
Figure BDA0001868665270000067
By establishing the corresponding relation between the ground coordinates and the PTZ camera coordinates, the method can reliably and accurately realizeThe method is simple and has good accuracy and reliability.
Fig. 5 is a schematic diagram of an embodiment of acquiring ground coordinates of an object to be tracked in a monitoring room through RFID tag information, in which point O is an origin of a rectangular planar coordinate system, and an X axis and a Y axis are perpendicular to each other, so that any point in the monitoring room can describe its ground coordinates by its position in the rectangular planar coordinate system.
Through the rectangular plane coordinate system established in fig. 5 and the coordinate conversion mechanism determination step corresponding to fig. 2, the coordinates of all other physical positions can be measured by various tools such as a circle ruler, optionally, the coordinates of other points are measured by the circle ruler, and the relevant conversion parameters in formulas (1) and (2) can be calibrated by taking meters as units, so that the vertical height angle θ and the horizontal azimuth angle when the ground coordinates are obtained and the PTZ camera aligns to the target position at the center of the picture thereof
Figure BDA0001868665270000068
The conversion relationship between them.
When the RFID electronic tag position information is acquired through the RFID wristband worn by the prisoner, the position information is also based on the plane coordinate system established in fig. 5, wherein the dot 501 represents the electronic tag and has coordinates of (1.95,4.06) in meters. Converting the RFID electronic tag coordinate into a vertical altitude angle theta and a horizontal azimuth angle of a dome camera coordinate through the conversion relation of the formulas (1) and (2)
Figure BDA0001868665270000069
Respectively (36.21 °, 22.68 °), and finally, positioning the dome camera to the coordinates of the dome camera obtained by solving at this time, so that the tracking of the prisoner can be realized, and when the position of the dome camera changes, the coordinates of the dome camera can be calculated in real time and quickly positioned, so that the continuous tracking of the target to be tracked is further realized.
The invention also discloses a target tracking system of the PTZ camera based on the RFID label position information, as shown in FIG. 6, the target tracking system of the PTZ camera based on the RFID label position information disclosed by the invention comprises:
in the module 601, a ground coordinate obtaining module is used for obtaining a ground coordinate of the target position;
in block 602, a PTZ camera coordinate determination module is configured to convert the ground coordinates of the target location into a vertical elevation angle θ and a horizontal azimuth angle when the PTZ camera is aligned with the target location at the center of the image thereof through a coordinate conversion module
Figure BDA00018686652700000610
In block 603, a positioning module for positioning the PTZ camera to a target location having a vertical elevation angle θ and a horizontal azimuth angle θ
Figure BDA0001868665270000073
Further, the coordinate conversion module includes:
the system comprises a coordinate system establishing module, a PTZ camera coordinate system and a ground coordinate system, wherein the coordinate system establishing module is used for establishing a ground coordinate system and the PTZ camera coordinate system;
a coordinate transformation determination module for determining ground coordinates of the target location and a vertical elevation angle theta and a horizontal azimuth angle of the PTZ camera
Figure BDA0001868665270000072
The coordinate transformation relationship comprises related transformation parameters, wherein the related transformation parameters are determined by the following sub-modules:
a calibration sub-module for performing calibration in the PTZ camera coordinate system, comprising: positioning the PTZ camera to a horizontal azimuth
Figure BDA0001868665270000071
At least two different vertical elevation angles theta are randomly selected1And theta2And obtaining a ground seat with the corresponding PTZ camera picture center pointing to two points on the groundLabel (x)1,y1) And (x)2,y2)；
A parameter determination submodule for determining theta obtained by the calibration module1And theta2And (x)1,y1) And (x)2,y2) And determining the related conversion parameters in the coordinate conversion relation.
Fig. 7 is a schematic structural diagram of a PTZ camera target tracking device based on RFID tag location information according to an embodiment of the present invention, which mainly includes a processor 701, a memory 702 and a bus 703, where the memory stores at least one program, and the program is executed by the processor to implement the PTZ camera target tracking method based on RFID tag location information according to the above embodiment.
The processor 701 comprises one or more processing cores, the processor 701 is connected with the memory 702 through the bus 703, the memory 10 is used for storing program instructions, and the processor 701 realizes the PTZ camera target tracking method based on the RFID tag position information provided by the above method embodiment when executing the program instructions in the memory 702.
Alternatively, memory 702 may be implemented using any type or combination of volatile and non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.
The present invention also provides a computer readable storage medium having stored therein at least one instruction, at least one program, code set, or set of instructions that is loaded and executed by the processor to implement the method for PTZ camera target tracking based on RFID tag location information provided by the above method embodiments.
Optionally, the present invention also provides a computer program product containing instructions which, when run on a computer, cause the computer to perform the PTZ camera target tracking method based on RFID tag location information as described in the above aspects.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by hardware related to instructions of a program, where the program may be stored in a computer readable storage medium, and the above mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only exemplary of the present invention and should not be taken as limiting the invention, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (5)

1. A PTZ camera target tracking method based on RFID label position information is characterized by comprising the following steps:
acquiring ground coordinates of a target position through the RFID label position information of the target to be tracked;
converting the ground coordinates of the target position into a vertical elevation angle theta and a horizontal azimuth angle of the PTZ camera when the center of the picture of the PTZ camera is aligned with the target position according to a coordinate conversion mechanism
Figure FDA0002684174620000012
Positioning the PTZ camera to the vertical elevation angle θ and the horizontal azimuth angle
Figure FDA0002684174620000013
The coordinate transformation mechanism is established by the following steps:
establishing a ground coordinate system and a PTZ camera coordinate system;
determining a ground coordinate of the target location and a vertical elevation angle θ and a horizontal azimuth angle of the PTZ camera
Figure FDA0002684174620000014
Coordinate conversion relationship between them, the coordinate conversion relationship packageIncluding a correlation transformation parameter, wherein the correlation transformation parameter is determined by:
calibrating in the ground coordinate system and the PTZ camera coordinate system, including: positioning the PTZ camera to a horizontal azimuth
Figure FDA0002684174620000015
At least two different vertical elevation angles theta are randomly selected1And theta2And obtaining the ground coordinates (x) of two points on the ground pointed by the corresponding PTZ camera picture center1,y1) And (x)2,y2)；
Theta obtained by calibration1And theta2And (x)1,y1) And (x)2,y2) Determining the related transformation parameters in the coordinate transformation relation;
the ground coordinate system is a plane rectangular coordinate system established in an active area of the target to be tracked;
the Z axis of the PTZ camera coordinate system is vertical to the X axis and the Y axis of the plane rectangular coordinate system;
the coordinate transformation relationship may be expressed as:
Figure FDA0002684174620000011
wherein, (x, y) is the ground coordinate pointed by the picture center of the PTZ camera at this time, and the related transformation parameters include: ground coordinates (x) of PTZ camera mounting location0,y0) PTZ camera angle when horizontal zero optical axis of PTZ camera is parallel to X axis of plane rectangular coordinate system
Figure FDA0002684174620000016
And a mounting height h of the PTZ camera.
2. The PTZ camera target tracking method based on RFID tag location information of claim 1, wherein the camera is a ball machine.
3. A PTZ camera target tracking system based on RFID tag location information, comprising:
the ground coordinate acquisition module is used for acquiring the ground coordinate of the target position according to the RFID label position information of the target to be tracked;
a PTZ camera coordinate determination module for converting the ground coordinate of the target position into a vertical elevation angle theta and a horizontal azimuth angle when the PTZ camera is aligned with the target position at the picture center thereof through the coordinate conversion module
Figure FDA0002684174620000017
A coordinate positioning module for positioning the PTZ camera to the vertical elevation angle theta and the horizontal azimuth angle theta
Figure FDA0002684174620000018
The coordinate conversion module includes:
the system comprises a coordinate system establishing module, a PTZ camera coordinate system and a ground coordinate system, wherein the coordinate system establishing module is used for establishing a ground coordinate system and the PTZ camera coordinate system;
a coordinate transformation determination module for determining ground coordinates of the target location and a vertical elevation angle theta and a horizontal azimuth angle of the PTZ camera
Figure FDA0002684174620000022
The coordinate transformation relationship comprises related transformation parameters, wherein the related transformation parameters are determined by the following sub-modules:
a calibration sub-module for performing calibration in the PTZ camera coordinate system, comprising: positioning the PTZ camera to a horizontal azimuth
Figure FDA0002684174620000023
At least two different vertical elevation angles theta are randomly selected1And theta2And obtaining the ground of two points of the corresponding PTZ camera image center pointing to the groundPlane coordinate (x)1,y1) And (x)2,y2)；
A parameter determination submodule for determining theta obtained by the calibration module1And theta2And (x)1,y1) And (x)2,y2) Determining the related transformation parameters in the coordinate transformation relation;
the ground coordinate system is a plane rectangular coordinate system established in an active area of the target to be tracked;
the Z axis of the PTZ camera coordinate system is vertical to the X axis and the Y axis of the plane rectangular coordinate system;
the coordinate transformation relationship may be expressed as:
Figure FDA0002684174620000021
wherein, (x, y) is the ground coordinate pointed by the picture center of the PTZ camera at this time, and the related transformation parameters include: ground coordinates (x) of PTZ camera mounting location0,y0) PTZ camera angle when horizontal zero optical axis of PTZ camera is parallel to X axis of plane rectangular coordinate system
Figure FDA0002684174620000024
And a mounting height h of the PTZ camera.
4. An RFID tag location information based PTZ camera target tracking device, comprising a processor and a memory, the memory storing at least one program, the program being executed by the processor to implement the RFID tag location information based PTZ camera target tracking method according to any one of claims 1 to 2.
5. A computer readable storage medium, wherein at least one program is stored in the storage medium, the at least one program being executed by a processor to implement the PTZ camera target tracking method based on RFID tag location information according to any one of claims 1 to 2.
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