CN110047092A - Multiple target method for real time tracking under a kind of complex environment - Google Patents
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Abstract
The present invention discloses multiple target method for real time tracking under a kind of complex environment, including the first video acquisition module, the second video acquisition module, information transmission modular, database, background cut module, video processing module, display module, controller and alarm module；The present invention is during progress static background is cut, by the video frame images for acquiring a large amount of monitoring areas, by carrying out integration processing to multitude of video frame image, reduce the influence of character activities and incident to background clip, simultaneously to there is the objects of certain scope of activities to analyze in monitored space, the noise that the mobiles generate in tracing process is reduced, to reduce analysis difficulty, improves the accuracy of analysis tracking；The present invention is read out the corresponding coordinate points of target also by establishing coordinate system to global monitoring region, and the coordinate pair target according to locating for target carries out relay tracking, prevents from losing target in the tracing process to target, and can not complete relay in time.
Description
Technical field
The invention belongs to technical field of video monitoring, specifically, being related to multiple target real-time tracking side under a kind of complex environment
Method.
Background technique
With the development of social progress and city, either public sphere or private domain, it is both provided with a large amount of
Video monitoring system, video monitoring system are to grasp the important means of security administration, and video monitoring system is set up for maintenance
Social stability has great significance.
Video Supervision Technique in traditional technology mainly plays the role of an acquisition browsing and record, and monitoring is led
Domain needs manually to be checked and judged, and relies on and manually checked and judge that staff is just needed to be in attention for a long time
The state of power high concentration, and the obvious difficulty of this point is larger, therefore this has also expedited the emergence of a large amount of intelligent monitoring system, wisdom prison
After control system mainly passes through spotting, tracing management is carried out to target, when abnormal operation occurs in target during tracking
Afterwards, alarm is issued, it can be seen that, no matter in which kind of intelligent monitoring system, the tracing and monitoring to target is all necessary technology, but
It is that in the prior art, wisdom tracing and monitoring technology still has its deficiency, under complex environment, monitoring camera is easy frequency
Numerous is blocked by the environment of building etc, causes monitoring camera not track again to target directly, is easy to appear
To monitoring objective with the wrong, situation with losing, and in actual monitored environment, environment itself be it is changeable, such as fallen leaves, insect,
The prospects such as flying bird can make troubles to the extraction of background, to influence the extraction to background, and then influence the tracking to target, be
Solve the problems, such as this, the present invention provides following technical scheme.
Summary of the invention
The purpose of the present invention is to provide multiple target method for real time tracking under a kind of complex environment.
The technical problem to be solved in the invention are as follows:
1, the more important of tracing and monitoring is to cut static background, and the image of acquisition, which is then subtracted background, to obtain
It to foreground object, and then is monitored, but also having in actual operation, in foreground object many is not that we need to carry out
Monitoring, such as fall leaves, insect, when these foreground objects are with needing the target monitored to occur covering, intersecting, will affect to mesh
Target monitoring, and when updating background, when there are these foreground objects, cutting for background can also be impacted；
2, in the prior art, in the case where background environment is complex, monitoring objective is often carried out by building etc.
It covers, leads to not carry out tracing and monitoring analysis to monitoring objective in time, to be easy to appear with losing, with wrong phenomenon.
The purpose of the present invention can be achieved through the following technical solutions:
Multiple target method for real time tracking under a kind of complex environment, including the first video acquisition module, the second video acquisition mould
Block, information transmission modular, database, background cut module, video processing module, display module, controller and alarm module；
First video acquisition module and second video acquisition module are monitoring camera, for acquiring video
Image information, and video image information collected is transmitted to database by information transmission modular, background cut module with
Video processing module, wherein the first video acquisition module is identical as the monitoring area of the second video acquisition module and the first video is adopted
The monitoring area for collecting module and the second video acquisition module is constant, and the first video acquisition module supervises the overall situation of monitoring area
Control, the second video acquisition module can be tracked monitoring to the monitoring objective in monitoring area by changing focal length；
The database is for storing the video image information that video acquisition module is transmitted；
The background cuts background of the module for the monitored picture to the first video acquisition module and is cut and updated,
And by the background transmission of update to video processing module；
The background cuts the side that module is cut and updated to the background of the monitored picture of the first video acquisition module
Method are as follows:
Step 1: whithin a period of time, reading the monitor video that the first video acquisition module uploads every preset time T 1
The video frame images of information, to obtain 2nVideo frame images, wherein n >=1；
Step 2: being made when two pictures are compared with the object of fixed position preset in video monitoring regional
For reference, the angle point of the object in each video frame picture is read out, plane is established at least two angle points of the object and sits
Mark system；
Step 3: every two video frame images are compared, by the part only occurred in a video frame images into
Row excision, and two video frame images are overlapped, the image being superimposed continues to be superimposed two-by-two, finally obtains one
Image, the plane coordinate system that when comparison is established using on different video frame image is as corresponding standard；
Step 4: multiple video frame images obtained in step 2 are divided into multiple areas by corresponding points of coordinate origin
Domain, the position in divided region is identical on each video frame images, when there is same object at most four adjacent regions
Body, if judged by the color to object with distribution of color for same object, then the object is demarcated, and will be read
2 takennIt opens video frame images to be overlapped, to obtain the motion range of the object, the motion range of the object is cut out
The respective coordinates position in image obtained in step 3 is added after cutting, background image is obtained, when carrying out trace analysis, to this
Movement within the scope of object of which movement is shielded；
Step 5: with preset time T 2 being that a cycle carries out the operation of step 1 to step 4, and by obtained back
Scape image transmitting to background image of the video processing module to previous cycle is replaced；
The video processing module is cut for reading the first video acquisition module video image information collected with background
The background image that module is uploaded out, and the target in monitoring range is analyzed according to video image information and background image
Tracking, when video processing module is analyzed to obtain monitoring objective with default feature, controller controls alarm module and issues alarm
Information, the default feature refer to preset tracking clarification of objective data in the database；
The display module is used to show the monitoring video information of the monitoring area by video processing module processing.
As further scheme of the invention, the video processing module is to the first video acquisition module video collected
Image is analyzed, and the flow of the people information of the first video acquisition module surveillance area is obtained, when the flow of the people of monitoring area is small
When preset value, background cuts the video frame images that module reads the monitoring video information that the first video acquisition module uploads.
As further scheme of the invention, the video processing module controls the working method of the second video acquisition module
Are as follows:
S1, reading the first video acquisition module video image information collected and background cut the background that module is uploaded
Image；
S2, default real-time coordinates position of the object in background image, by the coordinate position, video mould to be processed are read
Block obtains corresponding focal length value and transmits it to the second video acquisition module；
Focal length value is adjusted clearly to be tracked itself focal length based on the received for S3, the second video acquisition module
Picture.
The method that tracing and monitoring is carried out to target as further scheme of the invention, the video processing module are as follows:
SS1, with first video acquisition module with second video acquisition module for one group of video acquisition module,
Multiple groups video acquisition module, the local monitored space of the video acquisition module of adjacent at least two groups are provided in global monitoring region
Domain overlaps, and guarantees that global monitoring region does not monitor dead angle；
SS2, plane coordinate system is established using any point in global monitoring region as origin, and to adjacent at least two
The overlapping region of local monitoring area is marked；
SS3, a video acquisition module are according to the path of tracked target and movement velocity vector and image recognition algorithm
It is carried out to continue track up in real time, video acquisition module calculates tracked target in the monitoring of the video acquisition module
Real-time coordinates information in region；
SS4, when tracked target enters overlapping region, video processing module receives part involved in overlapping region simultaneously
The video monitoring information of monitoring area, and its direction of travel in overlapping region is carried out according to the velocity vector of tracked target
Prediction, the video acquisition module of corresponding direction are ready for relay tracking, be not overlapped in the video acquisition module of prediction direction
When collecting corresponding target outside region, the video acquisition module that original carries out target following is persistently tracked.
Beneficial effects of the present invention:
1, the present invention is during progress static background is cut, by acquiring the video frame images of a large amount of monitoring areas,
By carrying out integration processing to multitude of video frame image, character activities and incident such as fallen leaves are reduced to the shadow of background clip
It rings, while to there is the objects of certain scope of activities to analyze in monitored space, reduces the live animal in tracing process
The noise that body generates improves the accuracy of analysis tracking to reduce analysis difficulty；
2, the present invention is carried out by establishing coordinate system to global monitoring region by the corresponding coordinate points in position to target
It reading, the coordinate pair target according to locating for target carries out relay tracking, it prevents from losing target in the tracing process to target, and
Relay can not be completed in time.
Detailed description of the invention
Present invention is further described in detail in the following with reference to the drawings and specific embodiments.
Fig. 1 is system structure diagram of the invention.
Specific embodiment
The technical scheme in the embodiments of the invention will be clearly and completely described below, it is clear that described implementation
Example is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is common
Technical staff's all other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
Multiple target method for real time tracking under a kind of complex environment, as shown in Figure 1, including the first video acquisition module, second
Video acquisition module, information transmission modular, database, background cut module, video processing module, display module, controller with
Alarm module；
First video acquisition module and second video acquisition module are monitoring camera, for acquiring video
Image information, and video image information collected is transmitted to database by information transmission modular, background cut module with
Video processing module, wherein the first video acquisition module is identical as the monitoring area of the second video acquisition module and the first video is adopted
The monitoring area for collecting module and the second video acquisition module is constant, and the first video acquisition module supervises the overall situation of monitoring area
Control, the second video acquisition module can be tracked monitoring to the monitoring objective in monitoring area by changing focal length, guarantee
Enough obtain the clear image of monitoring objective；
The database facilitates the reading in later period for storing the video image information that video acquisition module is transmitted；
The background cuts background of the module for the monitored picture to the first video acquisition module and is cut and updated,
And by the background transmission of update to video processing module；
The background cuts the side that module is cut and updated to the background of the monitored picture of the first video acquisition module
Method are as follows:
Step 1: whithin a period of time, reading the monitor video that the first video acquisition module uploads every preset time T 1
The video frame images of information, to obtain 2nVideo frame images, wherein n >=1；
Step 2: being made when two pictures are compared with the object of fixed position preset in video monitoring regional
For reference, the angle point of the object in each video frame picture is read out, plane is established at least two angle points of the object and sits
Mark system；
Step 3: every two video frame images are compared, by the part only occurred in a video frame images into
Row excision, and two video frame images are overlapped, the image being superimposed continues to be superimposed two-by-two, finally obtains one
Image, the plane coordinate system that when comparison is established using on different video frame image is as corresponding standard；
Step 4: multiple video frame images obtained in step 2 are divided into multiple areas by corresponding points of coordinate origin
Domain, the position in divided region is identical on each video frame images, when there is same object at most four adjacent regions
Body, if judged by the color to object with distribution of color for same object, then the object is demarcated, and will be read
2 takennIt opens video frame images to be overlapped, to obtain the motion range of the object, the motion range of the object is cut out
The respective coordinates position in image obtained in step 3 is added after cutting, background image is obtained, when carrying out trace analysis, to this
Movement within the scope of object of which movement is shielded；
Step 5: with preset time T 2 being that a cycle carries out the operation of step 1 to step 4, and by obtained back
Scape image transmitting to background image of the video processing module to previous cycle is replaced.
The step can be by still its position meeting again in monitored picture for a long time of such as flag, branch in monitored picture
The object to change a lot eliminates the interference that background is cut, since the objects such as flag, branch can occur by a relatively large margin
Shaking, when background cut module read a video frame images as background when, can not be by the shaking range of this type objects
Determination is made, therefore when carrying out information processing, which can also be carried out by video processing module as target moving object
Processing, increases interference, improves processing difficulty.
As further scheme of the invention, in order to improve the automation strength of real time tracing system, the video processing
Module is also used to the first video acquisition module video image collected and is analyzed, and obtains the first video acquisition module and supervised
The flow of the people information for controlling region, when the flow of the people of monitoring area is less than preset value, background cuts module the first video of reading and adopts
The video frame images for collecting the monitoring video information that module uploads, cut in the read video frame images of module to reduce background
Character image, reduce background and cut the difficulty of process.
The video processing module is cut for reading the first video acquisition module video image information collected with background
The background image that module is uploaded out, and the target in monitoring range is analyzed according to video image information and background image
Tracking, when video processing module is analyzed to obtain monitoring objective with default feature, controller controls alarm module and issues alarm
Information, the default feature refer to preset tracking clarification of objective data in the database；
The video processing module controls the working method of the second video acquisition module are as follows:
S1, reading the first video acquisition module video image information collected and background cut the background that module is uploaded
Image；
Coordinate position in S2, background image between the position and video acquisition module at a distance from there is one-to-one correspondence to close
System, and the focal length of the distance between the position and video acquisition module and camera is there are corresponding relationship reads and presets object and exist
Real-time coordinates position in background image, by the coordinate position, video module to be processed obtain corresponding focal length value and by its
It is transmitted to the second video acquisition module；
Focal length value is adjusted itself focal length based on the received for S3, the second video acquisition module, to obtain clearly
Track picture.
The method that the video processing module carries out tracing and monitoring to target are as follows:
SS1, with first video acquisition module with second video acquisition module for one group of video acquisition module,
Multiple groups video acquisition module, the local monitored space of the video acquisition module of adjacent at least two groups are provided in global monitoring region
Domain overlaps, and guarantees that global monitoring region does not monitor dead angle；
SS2, plane coordinate system is established using any point in global monitoring region as origin, and to adjacent at least two
The overlapping region of local monitoring area is marked；
SS3, a video acquisition module are according to the path of tracked target and movement velocity vector and image recognition algorithm
It is carried out to continue track up in real time, video acquisition module calculates tracked target in the monitoring of the video acquisition module
Real-time coordinates information in region；
SS4, when tracked target enters overlapping region, video processing module receives part involved in overlapping region simultaneously
The video monitoring information of monitoring area, and its direction of travel in overlapping region is carried out according to the velocity vector of tracked target
Prediction, the video acquisition module of corresponding direction are ready for relay tracking, be not overlapped in the video acquisition module of prediction direction
When collecting corresponding target outside region, the video acquisition module that original carries out target following is persistently tracked, and prevents target from losing.
The display module is used to show the monitoring video information of the monitoring area by video processing module processing.
Above content is only to structure of the invention example and explanation, affiliated those skilled in the art couple
Described specific embodiment does various modifications or additions or is substituted in a similar manner, without departing from invention
Structure or beyond the scope defined by this claim, is within the scope of protection of the invention.
Claims (4)
1. multiple target method for real time tracking under a kind of complex environment, which is characterized in that including the first video acquisition module, the second view
Frequency acquisition module, information transmission modular, database, background cut module, video processing module, display module, controller and report
Alert module；
First video acquisition module and second video acquisition module are monitoring camera, for acquiring video image
Information, and video image information collected is transmitted to database by information transmission modular, background cuts module and video
Processing module, wherein the first video acquisition module is identical as the monitoring area of the second video acquisition module and the first video acquisition mould
Block and the monitoring area of the second video acquisition module are constant, and the first video acquisition module is monitored the overall situation of monitoring area,
Second video acquisition module can be tracked monitoring to the monitoring objective in monitoring area by changing focal length；
The database is for storing the video image information that video acquisition module is transmitted；
The background cuts background of the module for the monitored picture to the first video acquisition module and is cut and updated, and will
The background transmission of update is to video processing module；
The background cuts the method that module is cut and updated to the background of the monitored picture of the first video acquisition module are as follows:
Step 1: whithin a period of time, reading the monitoring video information that the first video acquisition module uploads every preset time T 1
Video frame images, to obtain 2nVideo frame images, wherein n >=1；
Step 2: when two pictures are compared, the object of preset fixed position is as ginseng using in video monitoring regional
It examines, the angle point of the object in each video frame picture is read out, establish plane coordinate system at least two angle points of the object；
Step 3: every two video frame images are compared, the part only occurred in a video frame images is cut
It removes, and two video frame images is overlapped, the image being superimposed continues to be superimposed two-by-two, finally obtains a figure
Picture, the plane coordinate system that when comparison is established using on different video frame image is as corresponding standard；
Step 4: multiple video frame images obtained in step 2 are divided into multiple regions by corresponding points of coordinate origin, often
The position in divided region is identical on a video frame images, when there is same object at most four adjacent regions, is
It is no to be judged by the color to object with distribution of color for same object, then the object is demarcated, and will be read
2nIt opens video frame images to be overlapped, so that the motion range of the object is obtained, after the motion range of the object is cut
The respective coordinates position in image obtained in step 3 is added, background image is obtained, when carrying out trace analysis, to the object
Movement in motion range is shielded；
Step 5: with preset time T 2 being that a cycle carries out the operation of step 1 to step 4, and by obtained Background
The background image of previous cycle is replaced as being transmitted to video processing module；
The video processing module cuts mould for reading the first video acquisition module video image information collected and background
The background image that block is uploaded, and analysis is carried out to the target in monitoring range according to video image information and background image and is chased after
Track, when video processing module is analyzed to obtain monitoring objective with default feature, controller controls alarm module and issues alarm signal
Breath, the default feature refer to preset tracking clarification of objective data in the database；
The display module is used to show the monitoring video information of the monitoring area by video processing module processing.
2. multiple target method for real time tracking under a kind of complex environment according to claim 1, which is characterized in that the video
Processing module analyzes the first video acquisition module video image collected, obtains the first video acquisition module and is monitored
The flow of the people information in region, when the flow of the people of monitoring area is less than preset value, background cuts module and reads the first video acquisition
The video frame images for the monitoring video information that module uploads.
3. multiple target method for real time tracking under a kind of complex environment according to claim 1, which is characterized in that the video
Processing module controls the working method of the second video acquisition module are as follows:
S1, reading the first video acquisition module video image information collected and background cut the Background that module is uploaded
Picture；
S2, default real-time coordinates position of the object in background image is read, by the coordinate position, video module to be processed is obtained
To corresponding focal length value and transmit it to the second video acquisition module；
Focal length value is adjusted clearly to be tracked picture itself focal length based on the received for S3, the second video acquisition module
Face.
4. multiple target method for real time tracking under a kind of complex environment according to claim 1, which is characterized in that the video
The method that processing module carries out tracing and monitoring to target are as follows:
SS1, with first video acquisition module with second video acquisition module for one group of video acquisition module, in the overall situation
Multiple groups video acquisition module is provided in monitoring area, the local monitoring area of the video acquisition module of adjacent at least two groups has
It partly overlaps, guarantees that global monitoring region does not monitor dead angle；
SS2, plane coordinate system is established using any point in global monitoring region as origin, and at least two adjacent parts
The overlapping region of monitoring area is marked；
SS3, a video acquisition module are according to the path of tracked target and movement velocity vector and image recognition algorithm to it
It carries out continuing track up in real time, video acquisition module calculates tracked target in the monitoring area of the video acquisition module
In real-time coordinates information；
SS4, when tracked target enters overlapping region, video processing module receives locally monitor involved in overlapping region simultaneously
The video monitoring information in region, and its direction of travel in overlapping region is carried out in advance according to the velocity vector of tracked target
Survey, the video acquisition module of corresponding direction is ready for relay tracking, prediction direction video acquisition module not in overlay region
Overseas when collecting corresponding target, the video acquisition module that original carries out target following is persistently tracked.
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| CN110458053A (en) * | 2019-07-26 | 2019-11-15 | 中国安全生产科学研究院 | A kind of effective monitoring region partitioning method and video passenger flow method of counting |
| CN110495954A (en) * | 2019-08-30 | 2019-11-26 | 深圳市汇健医疗工程有限公司 | Ultra high-definition surgical assistant system based on 5G communication |
| CN113382200A (en) * | 2020-03-10 | 2021-09-10 | 深圳富桂精密工业有限公司 | Camera layout method and device |
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