CN110047092B - multi-target real-time tracking method in complex environment - Google Patents
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/50—Image enhancement or restoration using two or more images, e.g. averaging or subtraction
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- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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- G06T7/00—Image analysis
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- G06T7/223—Analysis of motion using block-matching
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Abstract
The invention discloses a multi-target real-time tracking method in a complex environment, which comprises a first video acquisition module, a second video acquisition module, an information transmission module, a database, a background cutting module, a video processing module, a display module, a controller and an alarm module, wherein the first video acquisition module is connected with the second video acquisition module; in the process of cutting out the static background, the influence of human activities and accidental events on background cutting is reduced by acquiring a large number of video frame images in a monitoring area and integrating the large number of video frame images, and meanwhile, objects with a certain activity range appearing in the monitoring area are analyzed, so that the noise generated by the movable objects in the tracking process is reduced, the analysis difficulty is reduced, and the accuracy of analysis and tracking is improved; the invention also establishes a coordinate system for the global monitoring area, reads the coordinate point corresponding to the target, and performs relay tracking on the target according to the coordinate of the target, thereby preventing the target from being lost in the tracking process of the target and being incapable of completing relay in time.
Description
Technical Field
The invention belongs to the technical field of video monitoring, and particularly relates to a multi-target real-time tracking method in a complex environment.
background
with the progress of society and the development of cities, no matter in the public field or the private field, a large number of video monitoring systems are arranged, the video monitoring systems are important means for mastering security management, and the establishment of the video monitoring systems has great significance for maintaining the social stability.
the video monitoring technology in the traditional technology mainly plays a role in collecting, browsing and recording, manual checking and judgment are needed in the monitoring field, workers are required to be in a state of high concentration for a long time by means of manual checking and judgment, and the difficulty is obviously high, so that a large number of intelligent monitoring systems are promoted, the intelligent monitoring systems mainly track and manage targets after the targets are calibrated, and give an alarm after abnormal actions of the targets occur in the tracking process, so that the intelligent monitoring system can track and monitor the targets, but in the prior art, the intelligent tracking and monitoring technology still has defects, and under a complex environment, the monitoring camera is easily and frequently shielded by environments such as buildings and the like, so that the monitoring camera cannot directly track the targets, the invention provides the following technical scheme for solving the problem that the situation of wrong tracking and lost tracking of a monitored target is easy to occur, the environment is changeable in the actual monitoring environment, and the extraction of the background is troublesome due to the fact that the foreground such as fallen leaves, insects, flying birds and the like brings troubles to the extraction of the background, so that the extraction of the background is influenced, and the tracking of the target is influenced.
disclosure of Invention
the invention aims to provide a multi-target real-time tracking method in a complex environment.
the technical problems to be solved by the invention are as follows:
1. the important point of tracking and monitoring is that a static background is cut out, and then a foreground object can be obtained by subtracting the background from an obtained image, so as to perform monitoring, but in actual operation, many foreground objects which are not required to be monitored, such as fallen leaves, insects and the like, influence the monitoring of a target when the foreground objects and the target which is required to be monitored are covered and crossed, and influence the cutting of the background when the foreground objects exist when the background is updated;
2. in the prior art, under the condition that the background environment is complex, the monitored target is often covered by buildings and the like, so that the monitored target cannot be tracked, monitored and analyzed in time, and the phenomena of lost and wrong tracking are easy to occur.
The purpose of the invention can be realized by the following technical scheme:
A multi-target real-time tracking method under a complex environment comprises a first video acquisition module, a second video acquisition module, an information transmission module, a database, a background cutting module, a video processing module, a display module, a controller and an alarm module;
The first video acquisition module and the second video acquisition module are both monitoring cameras and are used for acquiring video image information and transmitting the acquired video image information to the database, the background clipping module and the video processing module through the information transmission module, wherein the monitoring areas of the first video acquisition module and the second video acquisition module are the same, the monitoring areas of the first video acquisition module and the second video acquisition module are unchanged, the first video acquisition module monitors the whole situation of the monitoring area, and the second video acquisition module can track and monitor a monitored target in the monitoring area by changing the focal length;
the database is used for storing the video image information transmitted by the video acquisition module;
the background clipping module is used for clipping and updating the background of the monitoring picture of the first video acquisition module and transmitting the updated background to the video processing module;
the method for the background cutting-out module to cut out and update the background of the monitoring picture of the first video acquisition module comprises the following steps:
Step one, reading a video frame image of monitoring video information uploaded by a first video acquisition module at preset time intervals of T1 within a period of time, and obtaining a result 2na video frame image of a page, wherein n is more than or equal to 1;
when two pictures are compared, reading the angular points of the object in each video frame picture by taking the object with a preset fixed position in a video monitoring area as a reference, and establishing a plane coordinate system by using at least two angular points of the object;
Comparing every two video frame images, cutting off the part which only appears in one video frame image, overlapping the two video frame images, continuously overlapping the two overlapped images in pairs to obtain an image, and taking a plane coordinate system established on different video frame images as a corresponding standard during comparison;
Step four, dividing the plurality of video frame images obtained in the step one into a plurality of areas by taking the origin of coordinates as corresponding points, wherein the positions of the divided areas on each video frame image are the same, when the same object exists in at most four adjacent areas and whether the same object is judged by the color and the color distribution of the object, calibrating the object, and reading the 2nsuperposing the video frame images to obtain the motion range of the object, cutting the motion range of the object, adding the cut motion range of the object into the corresponding coordinate position in the image obtained in the third step to obtain a background image, and shielding the motion in the motion range of the object when tracking analysis is carried out;
step five, performing the operations from the step one to the step four by taking the preset time T2 as a period, and transmitting the obtained background image to a video processing module to replace the background image in the previous period;
the video processing module is used for reading the video image information acquired by the first video acquisition module and the background image uploaded by the background clipping module, analyzing and tracking a target in a monitoring range according to the video image information and the background image, and when the video processing module analyzes that the monitored target has preset characteristics, the controller controls the alarm module to send alarm information, wherein the preset characteristics refer to characteristic data of a tracking target preset in the database;
the display module is used for displaying the monitoring video information of the monitoring area processed by the video processing module.
As a further scheme of the present invention, the video processing module analyzes the video image acquired by the first video acquisition module to obtain the people flow rate information of the monitored area of the first video acquisition module, and when the people flow rate of the monitored area is smaller than a preset value, the background clipping module reads the video frame image of the monitored video information uploaded by the first video acquisition module.
As a further scheme of the present invention, the working method for controlling the second video capture module by the video processing module is as follows:
s1, reading the video image information collected by the first video collection module and the background image uploaded by the background cutting-out module;
s2, reading the real-time coordinate position of the preset object in the background image, and transmitting the corresponding focal length value obtained by the video to-be-processed module to the second video acquisition module through the coordinate position;
And S3, the second video acquisition module adjusts the focal length of the second video acquisition module according to the received focal length value to obtain a clear tracking picture.
As a further scheme of the present invention, the method for tracking and monitoring the target by the video processing module comprises:
SS1, a first video acquisition module and a second video acquisition module are used as a group of video acquisition modules, a plurality of groups of video acquisition modules are arranged in a global monitoring area, and local monitoring areas of at least two adjacent groups of video acquisition modules are partially overlapped to ensure that the global monitoring area has no monitoring dead angle;
SS2, establishing a plane coordinate system by taking any point in the global monitoring area as an origin, and marking the overlapping area of at least two adjacent local monitoring areas;
SS3, a video acquisition module continuously tracks and shoots the tracked target in real time according to the path and the motion velocity vector of the tracked target and an image recognition algorithm, and the video acquisition module calculates the real-time coordinate information of the tracked target in the monitoring area of the video acquisition module;
SS4, when the tracked target enters the overlap area, the video processing module receives the video monitoring information of the local monitoring area related to the overlap area, predicts the advancing direction of the tracked target in the overlap area according to the velocity vector of the tracked target, the video acquisition module in the corresponding direction prepares to perform relay tracking, and when the video acquisition module in the predicted direction does not acquire the corresponding target outside the overlap area, the original video acquisition module performing target tracking continuously tracks.
the invention has the beneficial effects that:
1. in the process of cutting out the static background, the invention collects a large number of video frame images of the monitoring area, integrates and processes the large number of video frame images, reduces the influence of character activities and accidental events such as fallen leaves on the background cutting, and analyzes objects with a certain activity range in the monitoring area, thereby reducing the noise generated by the movable objects in the tracking process, reducing the analysis difficulty and improving the accuracy of analysis and tracking;
2. according to the method and the device, the coordinate system is established for the global monitoring area, the coordinate point corresponding to the position of the target is read, and the relay tracking is carried out on the target according to the coordinate where the target is located, so that the target is prevented from being lost in the tracking process of the target, and the relay cannot be completed in time.
Drawings
the invention is described in further detail below with reference to the figures and specific embodiments.
FIG. 1 is a schematic diagram of the system of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
A multi-target real-time tracking method under a complex environment is disclosed, as shown in figure 1, and comprises a first video acquisition module, a second video acquisition module, an information transmission module, a database, a background clipping module, a video processing module, a display module, a controller and an alarm module;
The first video acquisition module and the second video acquisition module are both monitoring cameras and are used for acquiring video image information and transmitting the acquired video image information to the database, the background clipping module and the video processing module through the information transmission module, wherein the monitoring areas of the first video acquisition module and the second video acquisition module are the same, the monitoring areas of the first video acquisition module and the second video acquisition module are unchanged, the first video acquisition module monitors the whole situation of the monitoring area, and the second video acquisition module can track and monitor a monitored target in the monitoring area by changing the focal length, so that a clear image of the monitored target can be acquired;
The database is used for storing the video image information transmitted by the video acquisition module, so that the later reading is facilitated;
the background clipping module is used for clipping and updating the background of the monitoring picture of the first video acquisition module and transmitting the updated background to the video processing module;
the method for the background cutting-out module to cut out and update the background of the monitoring picture of the first video acquisition module comprises the following steps:
step one, reading a video frame image of monitoring video information uploaded by a first video acquisition module at preset time intervals of T1 within a period of time, and obtaining a result 2nA video frame image of a page, wherein n is more than or equal to 1;
when two pictures are compared, reading the angular points of the object in each video frame picture by taking the object with a preset fixed position in a video monitoring area as a reference, and establishing a plane coordinate system by using at least two angular points of the object;
comparing every two video frame images, cutting off the part which only appears in one video frame image, overlapping the two video frame images, continuously overlapping the two overlapped images in pairs to obtain an image, and taking a plane coordinate system established on different video frame images as a corresponding standard during comparison;
Step four, dividing the plurality of video frame images obtained in the step one into a plurality of areas by taking the origin of coordinates as corresponding points, wherein the positions of the divided areas on each video frame image are the same, when the same object exists in at most four adjacent areas and whether the same object is judged by the color and the color distribution of the object, calibrating the object, and reading the 2nfolding of video frame imagesAdding the obtained result to obtain the motion range of the object, cutting the motion range of the object, adding the cut motion range of the object to the corresponding coordinate position in the image obtained in the third step to obtain a background image, and shielding the motion in the motion range of the object when tracking analysis is carried out;
And step five, performing the operations from the step one to the step four by taking the preset time T2 as a period, and transmitting the obtained background image to the video processing module to replace the background image in the previous period.
the step can eliminate the interference of objects such as flags, branches and the like in the monitoring picture which are in the monitoring picture for a long time but have certain positions changed to the background clipping, and because the flags, the branches and the like greatly shake, when the background clipping module reads a video frame image as the background, the shaking range of the objects cannot be determined, so that the objects can be processed as target moving objects by the video processing module during information processing, the interference is increased, and the processing difficulty is improved.
As a further scheme of the present invention, in order to improve the automation strength of the real-time tracking system, the video processing module is further configured to analyze the video image acquired by the first video acquisition module, and acquire the people flow rate information of the area monitored by the first video acquisition module, and when the people flow rate of the monitored area is smaller than a preset value, the background clipping module reads the video frame image of the monitored video information uploaded by the first video acquisition module, so as to reduce the people image in the video frame image read by the background clipping module, and reduce the difficulty of the background clipping process.
The video processing module is used for reading the video image information acquired by the first video acquisition module and the background image uploaded by the background clipping module, analyzing and tracking a target in a monitoring range according to the video image information and the background image, and when the video processing module analyzes that the monitored target has preset characteristics, the controller controls the alarm module to send alarm information, wherein the preset characteristics refer to characteristic data of a tracking target preset in the database;
The working method of the video processing module for controlling the second video acquisition module comprises the following steps:
s1, reading the video image information collected by the first video collection module and the background image uploaded by the background cutting-out module;
s2, the coordinate position in the background image has a one-to-one correspondence with the distance between the position and the video acquisition module, the distance between the position and the video acquisition module has a correspondence with the focal length of the camera, the real-time coordinate position of the preset object in the background image is read, and the video to-be-processed module obtains the corresponding focal length value through the coordinate position and transmits the focal length value to the second video acquisition module;
and S3, adjusting the focal length of the second video acquisition module according to the received focal length value, thereby obtaining a clear tracking picture.
The method for tracking and monitoring the target by the video processing module comprises the following steps:
SS1, a first video acquisition module and a second video acquisition module are used as a group of video acquisition modules, a plurality of groups of video acquisition modules are arranged in a global monitoring area, and local monitoring areas of at least two adjacent groups of video acquisition modules are partially overlapped to ensure that the global monitoring area has no monitoring dead angle;
SS2, establishing a plane coordinate system by taking any point in the global monitoring area as an origin, and marking the overlapping area of at least two adjacent local monitoring areas;
SS3, a video acquisition module continuously tracks and shoots the tracked target in real time according to the path and the motion velocity vector of the tracked target and an image recognition algorithm, and the video acquisition module calculates the real-time coordinate information of the tracked target in the monitoring area of the video acquisition module;
SS4, when the tracked target enters the overlap area, the video processing module receives the video monitoring information of the local monitoring area related to the overlap area, predicts the advancing direction of the tracked target in the overlap area according to the velocity vector of the tracked target, the video acquisition module in the corresponding direction prepares to perform relay tracking, and when the video acquisition module in the predicted direction does not acquire the corresponding target outside the overlap area, the original video acquisition module performing target tracking continuously tracks to prevent the target from losing.
the display module is used for displaying the monitoring video information of the monitoring area processed by the video processing module.
the foregoing is merely exemplary and illustrative of the present invention and various modifications, additions and substitutions may be made by those skilled in the art to the specific embodiments described without departing from the scope of the invention as defined in the following claims.
Claims (4)
1. A multi-target real-time tracking method under a complex environment is characterized by comprising a first video acquisition module, a second video acquisition module, an information transmission module, a database, a background clipping module, a video processing module, a display module, a controller and an alarm module;
The first video acquisition module and the second video acquisition module are both monitoring cameras and are used for acquiring video image information and transmitting the acquired video image information to the database, the background clipping module and the video processing module through the information transmission module, wherein the monitoring areas of the first video acquisition module and the second video acquisition module are the same, the monitoring areas of the first video acquisition module and the second video acquisition module are unchanged, the first video acquisition module monitors the whole situation of the monitoring area, and the second video acquisition module can track and monitor a monitored target in the monitoring area by changing the focal length;
the database is used for storing the video image information transmitted by the video acquisition module;
The background clipping module is used for clipping and updating the background of the monitoring picture of the first video acquisition module and transmitting the updated background to the video processing module;
The method for the background cutting-out module to cut out and update the background of the monitoring picture of the first video acquisition module comprises the following steps:
step one, reading a video frame image of monitoring video information uploaded by a first video acquisition module at preset time intervals of T1 within a period of time, and obtaining a result 2na video frame image of a page, wherein n is more than or equal to 1;
when two pictures are compared, reading the angular points of the object in each video frame picture by taking the object with a preset fixed position in a video monitoring area as a reference, and establishing a plane coordinate system by using at least two angular points of the object;
comparing every two video frame images, cutting off the part which only appears in one video frame image, overlapping the two video frame images, continuously overlapping the two overlapped images in pairs to obtain an image, and taking a plane coordinate system established on different video frame images as a corresponding standard during comparison;
Step four, dividing the plurality of video frame images obtained in the step one into a plurality of areas by taking the origin of coordinates as corresponding points, wherein the positions of the divided areas on each video frame image are the same, when the same object exists in at most four adjacent areas and whether the same object is judged by the color and the color distribution of the object, calibrating the object, and reading the 2nSuperposing the video frame images to obtain the motion range of the object, cutting the motion range of the object, adding the cut motion range of the object into the corresponding coordinate position in the image obtained in the third step to obtain a background image, and shielding the motion in the motion range of the object when tracking analysis is carried out;
Step five, performing the operations from the step one to the step four by taking the preset time T2 as a period, and transmitting the obtained background image to a video processing module to replace the background image in the previous period;
The video processing module is used for reading the video image information acquired by the first video acquisition module and the background image uploaded by the background clipping module, analyzing and tracking a target in a monitoring range according to the video image information and the background image, and when the video processing module analyzes that the monitored target has preset characteristics, the controller controls the alarm module to send alarm information, wherein the preset characteristics refer to characteristic data of a tracking target preset in the database;
the display module is used for displaying the monitoring video information of the monitoring area processed by the video processing module.
2. the method for multi-target real-time tracking in a complex environment according to claim 1, wherein the video processing module analyzes the video image acquired by the first video acquisition module to obtain the pedestrian flow information of the area monitored by the first video acquisition module, and when the pedestrian flow of the monitored area is smaller than a preset value, the background clipping module reads the video frame image of the monitored video information uploaded by the first video acquisition module.
3. the multi-target real-time tracking method under the complex environment according to claim 1, wherein the working method of the video processing module for controlling the second video acquisition module is as follows:
S1, reading the video image information collected by the first video collection module and the background image uploaded by the background cutting-out module;
s2, reading the real-time coordinate position of the preset object in the background image, and transmitting the corresponding focal length value obtained by the video to-be-processed module to the second video acquisition module through the coordinate position;
and S3, the second video acquisition module adjusts the focal length of the second video acquisition module according to the received focal length value to obtain a clear tracking picture.
4. The method for tracking and monitoring the multiple targets in the complex environment in real time according to claim 1, wherein the method for tracking and monitoring the targets by the video processing module comprises the following steps:
SS1, a first video acquisition module and a second video acquisition module are used as a group of video acquisition modules, a plurality of groups of video acquisition modules are arranged in a global monitoring area, and local monitoring areas of at least two adjacent groups of video acquisition modules are partially overlapped to ensure that the global monitoring area has no monitoring dead angle;
SS2, establishing a plane coordinate system by taking any point in the global monitoring area as an origin, and marking the overlapping area of at least two adjacent local monitoring areas;
SS3, a video acquisition module continuously tracks and shoots the tracked target in real time according to the path and the motion velocity vector of the tracked target and an image recognition algorithm, and the video acquisition module calculates the real-time coordinate information of the tracked target in the monitoring area of the video acquisition module;
SS4, when the tracked target enters the overlap area, the video processing module receives the video monitoring information of the local monitoring area related to the overlap area, predicts the advancing direction of the tracked target in the overlap area according to the velocity vector of the tracked target, the video acquisition module in the corresponding direction prepares to perform relay tracking, and when the video acquisition module in the predicted direction does not acquire the corresponding target outside the overlap area, the original video acquisition module performing target tracking continuously tracks.
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| CN110446014B (en) * | 2019-08-26 | 2021-07-20 | 达闼机器人有限公司 | Monitoring method, monitoring equipment and computer readable storage medium |
| CN110495954B (en) * | 2019-08-30 | 2022-11-04 | 深圳市汇健医疗工程有限公司 | Super-high-definition surgical auxiliary system based on 5G communication |
| US11176705B2 (en) * | 2020-03-10 | 2021-11-16 | Shenzhen Fugui Precision Ind. Co., Ltd. | Method for optimizing camera layout for area surveillance and apparatus employing the method |
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