CN110163885A

CN110163885A - A kind of method for tracking target and device

Info

Publication number: CN110163885A
Application number: CN201810145003.2A
Authority: CN
Inventors: 童鸿翔
Original assignee: Hangzhou Hikvision Digital Technology Co Ltd
Current assignee: Hangzhou Hikvision Digital Technology Co Ltd
Priority date: 2018-02-12
Filing date: 2018-02-12
Publication date: 2019-08-23
Anticipated expiration: 2038-02-12
Also published as: CN110163885B

Abstract

The embodiment of the invention provides a kind of method for tracking target and devices, wherein method comprises determining that target to be tracked；Target to be tracked is tracked, and according to the preset time interval, the position of target to be tracked is obtained, as target position；After obtaining target position every time, the control instruction for carrying the target position is sent to video camera, so that receiving the camera response control instruction of control instruction.The technical solution provided through the embodiment of the present invention realizes the tracking to target to be tracked by radar, and video camera then responds the control instruction of radar, in this way, not only increasing the accuracy of target following, and also improves the efficiency of target following.

Description

A kind of method for tracking target and device

Technical field

The present invention relates to intelligent monitoring technology fields, more particularly to a kind of method for tracking target and device.

Background technique

Radar can detect the target in institute overlay area by radio electromagnetsm wave, and determine the spatial position of target. Video camera can shoot target, and then get the detailed information for captured target, also, with target Mobile, video camera can follow rotation, in this way, the track up to mobile target can be realized.

Therefore, it is based on radar and the respective function of video camera, at present communicates to connect radar and video camera, forms one Linked system, obtained location information is sent to video camera for obtaining the location information of target by radar, in this way, taking the photograph Camera can obtain the position of target, and turn to the position, capture target, and carry out continuing tracking to target.

The linked system of current this radar and video camera, radar only provide initial position when discovery target, then The tracking of target is all completed by video camera.However, being merely capable of that it can be taken when video camera tracks target In the range of target tracked, when target is blocked or target is located at outside the field range of video camera, take the photograph Camera can not capture target, and such video camera is just difficult to continue to track target, in this way, reducing to target following Efficiency.

Summary of the invention

The embodiment of the present invention is designed to provide a kind of method for tracking target and device, is imitated with the tracking for improving to target Rate.Specific technical solution is as follows:

In a first aspect, the embodiment of the invention provides a kind of method for tracking target, applied to the radar in linked system, institute Stating linked system further includes video camera, which comprises

Determine target to be tracked；

The target to be tracked is tracked, and according to the preset time interval, obtains the position of the target to be tracked It sets, as target position；

After obtaining target position every time, the control instruction for carrying the target position is sent to video camera, so that receiving Control instruction described in the camera response of control instruction.

Optionally, described to obtain the position of the target to be tracked according to the preset time interval, as target position, Include:

According to the preset time interval, the position where the target to be tracked that the radar detection is arrived is obtained, as First position；

According to the first position, the first coordinate in radar fix system is determined；

According to the coordinate transformation relation between preset radar fix system and camera coordinate system, first coordinate is obtained Corresponding second coordinate in the camera coordinate system, and as target position.

Optionally, described according to the first position, determine the first coordinate in radar fix system, comprising:

Coordinate of the first position in radar fix system is determined, as third coordinate；

According to the third coordinate, the motion profile of the established target to be tracked is updated；

According to the motion profile updated, the 4-coordinate of the target to be tracked, the 4-coordinate are as follows: in mesh are predicted Mark coordinate of the target to be tracked described in time point in the radar fix system, the object time point are as follows: obtaining described the After the time point of one position, interval preset duration time point；

The 4-coordinate is determined as the first coordinate.

Optionally, determination target to be tracked, comprising:

Detect whether that there is candidate tracking target enters preset monitoring area；

If detecting the presence of candidate tracking target enters the monitoring area, the mark of the candidate tracking target is added To in preset tracking queue；

It is tracked in the corresponding mark of target from candidate included by the tracking queue and determines target to be tracked.

Optionally, described track in the corresponding mark of target from candidate included by the tracking queue determines mesh to be tracked Mark, comprising:

According to preset priority policy, determined from the mark that candidate included by the tracking queue tracks target to Track target；Wherein, the priority policy includes the priority policy of monitoring area and/or the priority of candidate tracking target Strategy.

Optionally, the priority policy of candidate tracking target is the plan according to determined by least one of following information Slightly:

With the presence or absence of specified candidate tracking target；

The candidate tracking target interrupted with the presence or absence of tracking；

With the presence or absence of the candidate tracking target for being currently at tracked state；

In the case where there is the candidate tracking target for being currently at tracked state, to being currently at tracked state The duration that candidate's tracking target has persistently tracked；

Time point of the detections of radar to candidate tracking target.

Optionally, described according to preset priority policy, it is tracked in target from candidate included by the tracking queue Determine target to be tracked, comprising:

Judge in the tracking queue with the presence or absence of the mark of specified candidate tracking target；

It is if there is the mark of specified candidate tracking target in the tracking queue, the specified candidate tracking target is true It is set to target to be tracked；

If there is no the mark of specified candidate tracking target in the tracking queue, judge in the tracking queue whether In the presence of the mark for the candidate tracking target that tracking is interrupted；

If there is the mark for the candidate tracking target that tracking is interrupted in the tracking queue, by the tracking interrupt it is candidate with Track target is determined as target to be tracked；

If the mark for the candidate tracking target interrupted in the tracking queue there is no tracking, judges in the tracking queue With the presence or absence of the mark for the candidate tracking target for being currently at tracked state；

If there is the mark for the candidate tracking target for being currently at tracked state in the tracking queue, judge to current Whether the duration that the candidate tracking target in tracked state has persistently tracked is greater than preset duration threshold value；

If the duration persistently tracked is not more than preset duration threshold value, by this be currently at tracked state it is candidate with Track target is determined as target to be tracked；

If the duration persistently tracked is greater than preset duration threshold value, according to the detections of radar to each candidate tracking target Time point, the mark of the candidate tracking target at the time point farthest from current point in time is chosen from the tracking queue, and The selected corresponding candidate tracking target of mark is determined as target to be tracked.

Optionally, the method also includes:

Detect whether that there is candidate tracking target leaves the monitoring area；

When detecting the presence of candidate tracking target and leaving the monitoring area, by detected candidate tracking target Mark is deleted from the tracking queue.

Second aspect, the embodiment of the invention provides a kind of target trackers, applied to the radar in linked system, institute Stating linked system further includes video camera, and described device includes:

Determining module, for determining target to be tracked；

Obtain module, for being tracked to the target to be tracked, and according to the preset time interval, obtain it is described to The position for tracking target, as target position；

Sending module, after obtaining target position every time, the control for carrying the target position to video camera transmission refers to It enables, so that receiving control instruction described in the camera response of control instruction.

Optionally, the acquisition module includes:

First obtain submodule, be used for following preset time intervals, obtain the radar detection arrive it is described to be tracked Position where target, as first position；

First determines submodule, for determining the first coordinate in radar fix system according to the first position；

Second obtains submodule, closes for being converted according to the coordinate between preset radar fix system and camera coordinate system System obtains the first coordinate corresponding second coordinate in the camera coordinate system, and as target position.

Optionally, described first determine that submodule includes:

Determination unit, for determining coordinate of the first position in radar fix system, as third coordinate；

Updating unit, for updating the motion profile of the established target to be tracked according to the third coordinate；

Predicting unit, for according to the motion profile updated, predicting the 4-coordinate of the target to be tracked, described the 4-coordinate are as follows: coordinate of the target to be tracked described in the object time point in the radar fix system, the object time point are as follows: After the time point for obtaining the first position, the time point of interval preset duration；

Determination unit, for the 4-coordinate to be determined as the first coordinate.

Optionally, the determining module includes:

Detection sub-module, for detecting whether there is candidate tracking target enters preset monitoring area；

Submodule is added, if the testing result for the detection sub-module is when being, by the candidate tracking target Mark is added in preset tracking queue；

Second determines submodule, determines for tracking in the corresponding mark of target from candidate included by the tracking queue Target to be tracked.

Optionally, described second determine that submodule includes:

Determination unit, for according to preset priority policy, the candidate tracking target included by the tracking queue Mark in determine target to be tracked；Wherein, the priority policy include monitoring area priority policy and/or it is candidate with The priority policy of track target.

With the presence or absence of specified candidate tracking target；

Time point of the detections of radar to candidate tracking target.

Optionally, the determination unit is specifically used for:

Optionally, described device further include:

Detection module, for detecting whether there is candidate tracking target leaves the monitoring area；

Removing module will be detected for when detecting the presence of candidate tracking target and leaving the monitoring area The mark of candidate's tracking target is deleted from the tracking queue.

The third aspect, the embodiment of the invention provides a kind of electronic equipment, including processor, communication interface, memory and Communication bus, wherein processor, communication interface, memory complete mutual communication by communication bus；

Memory, for storing computer program；

Processor when for executing the computer program stored on memory, realizes a kind of any of the above-described mesh Mark tracking step.

Fourth aspect, the embodiment of the invention provides a kind of computer readable storage mediums, which is characterized in that the calculating Computer program is stored in machine readable storage medium storing program for executing, the computer program is realized any of the above-described described when being executed by processor A kind of method for tracking target step.

In technical solution provided in an embodiment of the present invention, linked system includes radar and video camera, and wherein radar can be true Fixed target to be tracked；Target to be tracked is tracked, and according to the preset time interval, obtains the position of target to be tracked, As target position；After obtaining target position every time, the control instruction for carrying the target position is sent to video camera, so that Receive the camera response control instruction of control instruction.The technical solution provided through the embodiment of the present invention, by radar realization pair The tracking of target to be tracked, video camera then respond the control instruction of radar, in this way, the accuracy of target following is not only increased, And also improve the efficiency of target following.

Detailed description of the invention

In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with It obtains other drawings based on these drawings.

Fig. 1 is a kind of a kind of flow chart of method for tracking target provided in an embodiment of the present invention；

Fig. 2 is a kind of two-dimensional coordinate system figure provided in an embodiment of the present invention；

Fig. 3 is a kind of three-dimensional system of coordinate figure provided in an embodiment of the present invention；

Fig. 4 is a kind of another flow chart of method for tracking target provided in an embodiment of the present invention；

Fig. 5 is a kind of flow chart that target to be tracked provided in an embodiment of the present invention determines method；

Fig. 6 is a kind of a kind of structural schematic diagram of target tracker provided in an embodiment of the present invention；

Fig. 7 is a kind of another structural schematic diagram of target tracker provided in an embodiment of the present invention；

Fig. 8 is a kind of structural schematic diagram of a kind of electronic equipment provided in an embodiment of the present invention.

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.

In order to improve the accuracy of target following, and the efficiency of raising target following, the embodiment of the invention provides one Kind method for tracking target and device, applied to the radar in linked system, which further includes video camera, wherein method Include:

Determine target to be tracked；

Target to be tracked is tracked, and according to the preset time interval, the position of target to be tracked is obtained, as mesh Cursor position；

After obtaining target position every time, the control instruction for carrying the target position is sent to video camera, so that receiving The camera response control instruction of control instruction.

The technical solution provided through the embodiment of the present invention realizes the tracking to target to be tracked by radar, and video camera is then The control instruction for responding radar, in this way, not only increasing the accuracy of target following, and also improves the effect of target following Rate.

A kind of method for tracking target provided in an embodiment of the present invention is introduced first below, this method is applied to linkage Radar in system, the linked system further include video camera.

Wherein, radar is the spatial position for finding target with the method for radio electromagnetsm wave and measuring target, and radar can be with The information such as distance, range rate, orientation, the height of found target are obtained, there are many classification for radar, according to used seat The classification of mark system, can at least be divided into double dimensional Radars using two-dimensional coordinate system and the three-dimensional radar using three-dimensional coordinate.

Wherein, the number of cameras in linked system can be at least two, and specific quantity customized can be set, and be taken the photograph The position of camera installation customized can also be set.

Wherein, video camera can be ball machine, and ball machine can provide coordinate information, and provided coordinate information includes horizontal angle Spend information and vertical angle information.In this way, the coordinate information of the target can be provided when ball machine shoots target.Certainly, Coordinate information provided by ball machine is for the ball machine, that is to say, that provided coordinate information is the ball machine Coordinate in coordinate system.

For ball machine, ball machine can also rotate, and captured angle be adjusted, for example, ball machine can be by adjusting institute The angle of shooting, by the middle position of captured target adjustment to shooting picture.In addition, ball machine can also be according to multiplying power pair Target in captured picture amplifies processing.

Radar can be communicated to connect with each video camera in linked system, and radar can send to video camera and instruct, by Instruction received by camera response simultaneously executes relevant operation.For example, radar can send shooting instruction, the bat to video camera The position coordinates that captured target can be carried are taken the photograph in instruction, in this way, after video camera receives the shooting instruction, it can be according to position Rotation of the coordinate system camera lens are set, and the target of the position coordinates is shot.

As shown in Figure 1, a kind of method for tracking target provided in an embodiment of the present invention, includes the following steps:

S101 determines target to be tracked.

Wherein, the quantity of target to be tracked can be one, can also be at least two, specifically, customized can set It is fixed.

For radar, preset region can be monitored, that is to say, that the mesh in the preset region Mark, radar can monitor, and track to the target monitored.

When the quantity of identified target to be tracked is one, if the target that radar monitors also only has one, This target monitored can be determined as target to be tracked；And if the destination number that radar monitors is more than one When, then a target can be chosen from the more than one target as target to be tracked.

When the quantity of identified target to be tracked be at least two when, if radar monitoring target quantity be less than or Person is equal to the quantity of identified target to be tracked, then can regard the target that radar monitors as target to be tracked；If The quantity of the target of radar monitoring is more than the quantity of identified target to be tracked, then selects from the target that radar monitors The target for taking institute's quantification, as target to be tracked.

It describes in detail in embodiment during concrete implementation mode is below, this will not be detailed here.

S102 tracks target to be tracked, and according to the preset time interval, obtains the position of target to be tracked, As target position.

Radar can track the target monitored in preset region, and therefore, radar can be to mesh to be tracked Mark is tracked, and certainly, target to be tracked is in the preset region of radar monitoring.

Wherein, preset time interval can be customized setting, can be to thunder at customized setting time interval The accuracy tracked up to itself load capacity and linked system is comprehensively considered.

A kind of customized setting means can be in order to enable linked system more accurately tracks target to be tracked In the case where the load capacity of radar allows, by the smaller of time interval setting, in this way, radar obtains the position of target to be tracked It sets more frequently, entire linked system can also more accurately track target to be tracked.

Wherein, the position of target to be tracked obtained, i.e. target position can be divided into two kinds of situations: the first situation, Position obtained is the real-time position of target to be tracked, i.e. position where the target to be tracked that detects of radar；The Two kinds of situations, position obtained are the position of the target to be tracked of prediction, i.e., according to the position of target to be tracked detected, The mobile next position of the target to be tracked of radar prediction.

For the first case, target position is the position for the target to be tracked that radar detects, which is real-time , for example, the position for the target to be tracked that radar detection is arrived, being converted into coordinate is (1,2,3), wherein 1 at the time of 12 Point in coordinate system used by indicating in X-axis, 2 indicate the point in the coordinate system in Y-axis, and 3 indicate in the coordinate system on Z axis Point；It is possible to which the coordinate (1,2,3) is determined as target position.

In the first scenario, target position is the real time position of target to be tracked, therefore, for linked system, It can take certain measure when reducing camera side progress track up in linked system to the position error of target to be tracked.

Wherein, the measure taken can be the configuration for improving hardware device in linked system, and then improves radar and take the photograph Transmission rate between camera；It can also be in camera side, each video camera can preset prediction rule, when video camera connects After receiving target position, a predicted position can be obtained according to prediction rule, video camera in turn can be according to the predicted position tune Whole shooting angle.

Certainly, in the first scenario in order to reduce the measure taken to the position error of target to be tracked and not only limit In above two, it can also include other methods, be not limited thereto.

For second situation, target position obtained is the position of prediction, and the position of the prediction is by radar according to institute The position of the target to be tracked detected is obtained after being predicted.For example, at the time of 12, radar detection arrive to The position of track target, being converted into coordinate is (1,2,3), the predicted position that radar can be predicted according to the coordinate (1,2,3) Corresponding coordinate is (1.5,2,3)；It is possible to which the coordinate (1.5,2,3) is determined as target position.

Target position under the second situation describes in detail in the first embodiment, herein no longer below It is described in detail.

After obtaining target position every time, the control instruction for carrying the target position is sent to video camera by S103, so that Receive the camera response control instruction of control instruction.

Wherein, radar is to the mode that video camera sends control instruction: after radar obtains target position each time, just sending Control instruction, transmitted control instruction carry this target position obtained.For example, radar is obtained in 12 point moments The target position obtained is (1,2,3), and radar can send control to video camera after obtaining the target position (1,2,3) and refer to It enables, the target position carried in the control instruction is (1,2,3).

Radar is when sending control instruction, determination for sending object, can be there are two types of method of determination: the first side Formula, can be by all video cameras in linked system as the object sent；Second method takes the photograph the part in linked system Camera is as the object sent.

For first way, the control instruction for carrying target position is sent in linked system included by radar All video cameras, a kind of implementation, each video camera can independently judge respectively received target position, only Just received control instruction is responded when judging to meet preset shooting condition,

Specifically, preset shooting condition can be target to be tracked ratio shared in captured picture, and preset One proportion threshold value, video camera adjusts shooting angle according to target position, so that target to be tracked is in captured picture, And the available ratio shared in captured picture to target to be tracked, the only shooting picture shared by target to be tracked When ratio is greater than preset proportion threshold value, video camera just will continue to response control instruction.This way it is ensured that Camera location is shot When image quality clarity, the captured unsharp situation of image quality is avoided, so as to avoid the waste of resource.

For the second way, the control instruction for carrying target position is sent in linked system included by radar Part video camera, in order to guarantee the effect of Camera location shooting, radar before sending carries out the video camera in linked system Screening, the video camera only met certain condition can just be determined as sending object.In this way, the video camera as sending object It, can be directly in response to the control instruction after receiving control instruction.

For example, control instruction be to target to be tracked carry out video capture, then, the video camera for receiving control instruction can To get entrained target position in the control instruction, and shooting angle is adjusted according to the target position, so as to be tracked Target carries out video capture in shooting picture, and to target to be tracked.

A kind of implementation, radar, can be according to target positions to taking the photograph in linked system after getting target position Camera is screened, video camera of the selection near target position from video camera included by linked system, and will be selected Video camera be determined as send object.Therefore, only the video camera near target position can receive and carry target position Control instruction, because the video camera near target position is more preferable to effect captured by target to be tracked, in this way, guaranteeing to track While shooting effect, the waste of camera shooting resource is avoided.

In addition, because target position can be divided into two kinds of situations, for two kinds of different situations of target position, take the photograph The mode of camera response control instruction may include two kinds:

The first response mode, for the first situation of target position, target position be radar detect to The position of track target, the position are real-time.

Video camera is when receiving control instruction, also available target position, video camera before being responded to control instruction, The corresponding predicted position in the target position can be obtained according to preset prediction rule and target position, video camera can basis The angle of predicted position adjustment shooting, and response control instructs.

A kind of implementation, video camera can according to before target to be tracked motion profile and received target Position and prediction rule obtain the predicted position of the target to be tracked, wherein prediction rule may is that it is considered that with Track target is that straight trip is mobile, therefore, according to motion profile and target position, one is determined on the straight trip direction of target to be tracked A position, as predicted position.Video camera, can be according to the prediction after determining the corresponding predicted position of the target to be tracked The angle of position adjustment shooting, and response control instructs.

In this way, for the camera side in linked system, it, can be further when carrying out track up to target to be tracked Improve the accuracy of track up.

Second of response mode, for the second situation of target position, target position is the institute after radar is predicted Obtained position.It in this case, can be directly in response to received control instruction for video camera.

A kind of implementation, video camera can obtain target entrained by the control instruction after receiving control instruction Position, video camera can adjust the angle of shooting according to the target position, so that target to be tracked is in captured range, Then the control instruction can be executed, for example, target to be tracked is taken pictures, recorded a video etc..

The first embodiment, it is described to obtain the position of target to be tracked according to the preset time interval, as target position The step of setting (S102), may include steps of:

One, the position where the target to be tracked that radar detection is arrived according to the preset time interval, is obtained, as first It sets.

Two, according to first position, the first coordinate in radar fix system is determined；

Three, according to the coordinate transformation relation between preset radar fix system and camera coordinate system, the first coordinate is obtained Corresponding second coordinate in camera coordinate system, and as target position.

Each step in the first embodiment is introduced respectively below.

When radar is detected, the position detected is real-time position, and therefore, first position may be considered thunder Position up to where the target to be tracked when detecting target to be tracked.

For example, the position where radar detection to target to be tracked is location A, and such first position is in 12 point moments For location A, and it will do it the processing such as some data storages after radar detection to location A, and when carrying out these processing Some times can be occupied, it is no longer location A, but right that the position of target to be tracked, which can may also change, in these times It is still location A for first position.

Two, according to first position, the first coordinate in radar fix system is determined.

Wherein, radar fix system is a kind of functional characteristic of radar itself, the mesh in region for monitoring for radar Mark provides corresponding location information.Coordinate set type used by radar fix system is polar coordinate system, i.e., by using azimuth information Location information is indicated with range information.

Also, the difference of location information type according to acquired in radar can at least be divided into double dimensional Radars and three and sit Mark radar:

Radar fix system provided by double dimensional Radars is two-dimensional coordinate system, is indicated to sit with azimuth information and range information A position in mark system, for example, two-dimentional polar coordinates (r, θ), wherein r indicates that range information, θ indicate azimuth information；

Radar fix system provided by three-dimensional radar is three-dimensional system of coordinate, is believed with azimuth information, range information and height Breath comes a position in indicates coordinate system, for example, three-dimensional polar (r, θ, h), wherein r indicates range information, the expression side θ Position information, h indicate elevation information.

Certainly, polar coordinates can mutually be converted with rectangular co-ordinate: two-dimentional polar coordinates can with plane rectangular coordinates into Row mutually conversion, three-dimensional polar can mutually be converted with rectangular space coordinate.

As shown in Fig. 2, polar coordinate system and plane right-angle coordinate are using o as coordinate origin, wherein A in two-dimensional coordinate system Coordinate representation of the point in polar coordinate system is (r, θ), and coordinate representation of the A point in plane right-angle coordinate is (x, y), then, Polar coordinates can be converted into plane rectangular coordinates according to following two formula:

X=r × sin θ；

Y=r × cos θ.

As shown in figure 3, polar coordinate system and plane right-angle coordinate are using o as coordinate origin, wherein A in three-dimensional system of coordinate Coordinate representation of the point in polar coordinate system is (r, θ, h), and coordinate representation of the A point in plane right-angle coordinate is (x, y, z), that , polar coordinates can be converted to by rectangular space coordinate according to following three formula:

Wherein, r,Relationship between h can indicate are as follows: For the azimuth of vertical direction, θ is water Square to azimuth, h is distance of the A point apart from plane where plane right-angle coordinate xoy, and r is A point with a distance from o point.

Two kinds of situations can be divided into according to target position in the corresponding embodiment of above-mentioned Fig. 1, correspondingly, according to first position It determines the first coordinate in radar fix system, two kinds of methods of determination can also be divided into:

The first method of determination, corresponding to the first situation of target position, at this point, identified first coordinate is first Coordinate of the position in radar fix system, that is to say, that the same point in first position and the first coordinate representation space, only Representation is different.

Second of method of determination, corresponding to the second situation of target position, radar can according to first position, treat with The next position of track target is predicted, and then obtains the predicted position of target to be tracked.Wherein, side position predicted Formula can be preset prediction rule, which can be customized setting.

Second of method of determination describes in detail in second following of embodiment, and this will not be detailed here.

Wherein, radar fix system is set on the basis of itself, i.e., the position where radar itself is coordinate origin Position；Camera coordinate system is set on the basis of video camera itself, i.e., the position where video camera is camera coordinates The coordinate origin of system.Therefore, for different video cameras, each corresponding camera coordinate system of video camera is different 's.

For example, the coordinate system of video camera A is camera coordinate system A, the coordinate system of video camera B is camera coordinate system B, and Because video camera A and video camera B is located at different positions, camera coordinate system A is different with camera coordinate system B Coordinate system.

Video camera can be ball machine, and correspondingly, camera coordinate system can be PT coordinate system, take the photograph corresponding to PT coordinate system Camera can rotate horizontally, and can also rotate vertically in vertical direction, therefore, for the coordinate in PT coordinate system, Ke Yiti The azimuth T of the azimuth P and vertical direction that are horizontally oriented that supply.In addition, video camera can also be to captured visual field model It encloses and is zoomed in or out according to zoom coefficient Z, in general, zoom coefficient is bigger, and amplification factor is bigger, and the same target exists Occupied pixel value is bigger in the captured picture image of video camera, but the view of the picture image entirety of shot by camera It angle can be smaller.

For example, as shown in figure 3, angle in figureFor the azimuth of vertical direction, angle, θ is the azimuth of horizontal direction.

Each corresponding camera coordinate system of video camera is different, therefore, for different camera coordinate systems, respectively Coordinate transformation relation between camera coordinate system and radar fix system is different, camera coordinate system and coordinate conversion pass It is one-to-one between system.That is, a camera coordinate system corresponds to a kind of coordinate transformation relation.

For example, coordinate transformation relation corresponding to the camera coordinate system A of video camera A is coordinate transformation relation A, video camera Coordinate transformation relation corresponding to the camera coordinate system B of B is coordinate transformation relation B, then, the coordinate in radar fix system can To be converted to the coordinate in camera coordinate system A by coordinate transformation relation A, the coordinate in radar fix system can pass through coordinate Transformational relation B is converted to the coordinate in camera coordinate system B.

First coordinate is the coordinate in radar fix system, and radar is determined to receive the video camera of target position first, and really Make the corresponding camera coordinate system of the video camera, i.e. camera coordinate system belonging to the second coordinate；And then it can be from being stored Coordinate transformation relation in choose determined camera coordinate system, in this way, radar is sat further according to the video camera determined First coordinate, can be converted to the second coordinate in the camera coordinate system, and second coordinate is determined as target by mark system Position.

A kind of embodiment can basis for the coordinate transformation relation between radar fix system and camera coordinate system Obtained by following steps:

Determine the target designation point of preset quantity；

Obtain coordinate of the target designation point in radar fix system；

Obtain coordinate of the target designation point in camera coordinate system；

According to the acquired target designation point coordinate in radar fix system and camera coordinate system respectively, can calculate Transformation matrix is obtained, which can be used for mutually being turned the coordinate between radar fix system and camera coordinate system It changes.

Specifically, according to the difference of radar fix system, the acquisition pattern of coordinate transformation relation can be there are two types of implementation:

The first implementation, radar fix system are two-dimensional coordinate system

It is possible, firstly, to choose the target designation point of preset quantity, wherein selected target designation point needs in radar In the range of the range and shot by camera that are monitored, in this way, the target designation can be obtained for same target designation point Coordinate of the point in radar fix system and the coordinate in camera coordinate system.

In addition, for the coordinate transformation relation between two two-dimensional coordinate systems, it is believed that be the list between two planes It should convert, i.e. coordinate conversion in two coordinate systems is realized by plane shock wave matrix.Therefore, plane list in order to obtain Answering property matrix, preset quantity at least four, preset quantity can be customized setting on the basis of at least four.

In this way, in the regional scope of radar monitoring, the target designation point can be obtained for target designation point Coordinate in radar fix system, the coordinate are represented by polar coordinates；It, can be with also, by two formula in above-mentioned Fig. 2 It is [x, y] that the polar coordinates of the target designation point, which are converted to plane rectangular coordinates,^T, wherein x, y can be respectively indicated are as follows:

X=r × sin θ；

Y=r × cos θ.

Wherein, []^TThe transposition of indicates coordinate, hereinafter the symbol equally indicates transposition.R is target designation point and coordinate The distance of origin, θ are the angle of the y-axis of target designation point and radar fix system.

The target designation point is also within the scope of the picture of shot by camera, and hence it is also possible to obtain the target designation point Coordinate in camera coordinate system.A kind of situation, camera coordinate system is PT coordinate system, because only providing for PT coordinate system Azimuth information, therefore, can height using video camera itself apart from ground level as Given information, in this way, mesh can be obtained The difference in height h from horizontal plane where video camera is marked,

As shown in figure 3, the PT coordinate of the target designation point can be converted to plane rectangular coordinates by following formula [x’,y’]^T, wherein x ', y ' can be expressed as indicating:

Wherein,For the azimuth of vertical direction, θ is the azimuth of horizontal direction, and h is that target range video camera place is flat The distance in face.

After above-mentioned conversion, homogeneous partial differential processing, [x, y] are carried out to above-mentioned coordinate^TBy that can be obtained after homogeneous partial differential To [x, y, 1]^T, [x ', y ']^TAvailable after homogeneous partial differential [x ', y ', 1]^T。

Homography matrix H can be set are as follows: [h₁,h₂,h₃]^T, wherein h₁、h₂、h₃It is 3 × 1 matrix, 3 × 1 indicate Matrix is the arrangement mode of three rows one column.Homography matrix H is to be converted between radar fix system and camera coordinate system Coordinate transformation relation, then, the relationship between radar fix system, camera coordinate system and homography matrix are as follows:

Q=H × p

Wherein, matrix q is [x ', y ', 1]^T, i.e., matrix corresponding to camera coordinate system, matrix p are [x, y, 1]^T, i.e. thunder Up to matrix corresponding to coordinate system.

It, can be with by the formula of relationship between above-mentioned expression radar fix system, camera coordinate system and homography matrix Obtain the expression equation of x ' in camera coordinate system, y ':

Wherein, p^TFor the transposed matrix of matrix p, matrix p is [x, y, 1]^T, then matrix p^TFor [x, y, 1].

It is available according to the equation of above-mentioned obtained x ', y ':

In this way, be converted to forForm, wherein

SVD decomposition, and then available homography matrix H, i.e. radar fix system and camera coordinates are carried out to matrix A again Coordinate transformation relation between system.

Second of implementation, radar fix system are three-dimensional system of coordinate

It is possible, firstly, to choose the target designation point of preset quantity, it is with radar fix system in the first above-mentioned implementation The case where two-dimensional coordinate system, is identical, and details are not described herein.

By two formula in above-mentioned Fig. 3, polar coordinates of the target designation point in radar fix system can be converted It is [x, y, z] for plane rectangular coordinates^T, wherein x, y, z can respectively indicate are as follows:

Wherein, r,Relationship between h can indicate are as follows: For the azimuth of vertical direction, θ is The azimuth of horizontal direction, h are target at a distance from plane where video camera.

The PT coordinate of the target designation point in camera coordinate system can be converted into flat square by following formula Coordinate [x ', y ', z ']^T, wherein x ', y ', z ' can be expressed as indicating:

Z '=- h

Wherein,For the azimuth of vertical direction, θ is the azimuth of horizontal direction, and h is plane where target and video camera Distance.

After above-mentioned conversion, coordinates matrix of the target designation point in radar fix system is [x, y, z]^T, target mark Pinpointing coordinates matrix in camera coordinate system is [x ', y ', z ']^T。

Homography matrix H can be set are as follows:

According to the relationship between radar fix system, camera coordinate system and homography matrix are as follows:

Q=H × p

Wherein, matrix q is [x ', y ', z ']^T, i.e., matrix corresponding to camera coordinate system, matrix p are [x, y, z]^T, i.e., Matrix corresponding to radar fix system.

Each matrix is substituted into above-mentioned equation, available following equation:

The calculating of matrix inversion, the expression formula of available homography matrix, and for each are carried out to above-mentioned equation again The progress of target designation point as above states the calculating of step, then integrates the expression of each obtained homography matrix of target designation point The homography matrix can be calculated in formula.

Second of embodiment, it is described according to first position on the basis of the first above-mentioned embodiment, determine radar In coordinate system the first coordinate (the step of step two) in the first embodiment, may include steps of:

1, coordinate of the first position in radar fix system is determined, as third coordinate；

2, according to third coordinate, the motion profile of established target to be tracked is updated；

3, according to the motion profile updated, the 4-coordinate of target to be tracked, 4-coordinate are predicted are as follows: in the object time Coordinate of the point target to be tracked in radar fix system, object time point are as follows: after the time point for obtaining first position, interval The time point of preset duration；4-coordinate is determined as the first coordinate.

Each step in the implementation is introduced respectively below:

For step 1, wherein third coordinate is coordinate of the first position in radar fix system, that is to say, that first Set with the same point in third coordinate representation space, it is merely meant that mode is different.

If also, radar fix system be two-dimensional coordinate system when, the third coordinate representation be (r, θ)；If radar fix system When for three-dimensional system of coordinate, then the third coordinate representation is (r, θ, h).

For step 2, when radar tracks target to be tracked, the position of the available target to be tracked, and Position acquired every time can also be recorded.According to the position recorded, the motion profile of the target to be tracked can be obtained, And motion profile can be stored.

Specifically, radar according to the preset time interval, obtains the position of target to be tracked, it is believed that every to obtain one The position of secondary target to be tracked, that is, obtain the single-frame images of the position of a display target to be tracked, and by acquired single frames Image is stored in binary large object (binary large object, abbreviation BLOB) chained list, by the list for being associated with before and after frames Frame image, and then the motion profile of target to be tracked can be formed, it can will be formed by motion profile and be stored in target chained list In.

For motion profile, therefore the corresponding target to be tracked of each motion profile is gone back when storing motion profile It may include a mark, which is the mark of target to be tracked corresponding to the motion profile.Be conducive to distinguish in this way Radar monitors each target in region.

After radar determines target to be tracked, the movement of target to be tracked can be got from the motion profile stored Track, also, the every position for obtaining primary target to be tracked of radar, can position according to acquisition and established movement before Track, and then new motion profile is obtained, and new motion profile is stored.In this way, just completing to target to be tracked Motion profile update.

For step 3, the preset duration at interval can be customized setting, can be in order to improve the accuracy of prediction By the smaller of preset duration setting.For example, preset duration is 1 second, the time point for obtaining first position is 12 points, then, target Time point is 12 points of time points for spending 1 second.

4-coordinate is the prediction coordinate of target to be tracked, be can be according to the foundation that the motion profile of update is predicted Preset prediction rule, the preset prediction rule can be customized setting.For example, prediction rule can be straight trip rule Then.

Specifically, it is believed that target to be tracked is straight trip movement, therefore motion profile quasi-ization that can will be updated As straight line, then, the position predicted is located at: target to be tracked direction of advance and intend the straight line of chemical conversion and prolong On long line, after the extended line belonging to the position for determining prediction, it can be determined to be located at the extension according to object time point 4-coordinate on line.

Obtained 4-coordinate is the first coordinate being regarded as in the radar fix system according to determined by first position. Certainly, polar coordinate representation can be for 4-coordinate and the first coordinate.

On the basis of above-mentioned Fig. 1 and Fig. 1 corresponding embodiment, the embodiment of the present invention also provides a kind of target following side Method, as shown in figure 4, this method comprises the following steps:

S401 detects whether that there is candidate tracking target enters preset monitoring area, if so, executing step S402.

Wherein, preset monitoring area is the region that radar is covered and is monitored, and the quantity of monitoring area can be One, it can also be multiple.

When monitoring area is multiple, i.e., the region of radar monitoring is as composed by multiple regions, and radar is simultaneously to each Monitoring area is monitored.As long as there is candidate tracking target to enter any one monitoring area, radar, which can be detected, has tracking Target enters preset monitoring area.

For example, preset monitoring area is made of a-quadrant, B area and the region C, also, a-quadrant, B area and the region C phase It is individual region between mutually, then, radar is simultaneously monitored a-quadrant, B area and the region C.When candidate tracks target When A enters a-quadrant, then radar, which can be detected, enters monitoring area in the presence of candidate tracking target.

The mark of candidate tracking target is added in preset tracking queue by S402.

For candidate's tracking target, each candidate corresponding mark of tracking target, also, each candidate tracking target Mark it is different.

Wherein, tracking queue can be preset, the mark of the candidate tracking target for being stored in monitoring area Know.Therefore, which can be tracked target pair after detecting the candidate tracking target into monitoring area every time by radar The mark answered is stored to tracking queue；It, can be directly from the time in tracking queue and when radar it needs to be determined that when target to be tracked It is chosen in choosing tracking target.

The mode of tracking queue storage mark customized can be set, and a kind of storage mode has multiple in monitoring area In the case of, classification storage is carried out according to different regions.This storage mode is conducive to the candidate tracking mesh of each monitoring area Mark distinguishes, also, more convenient for obtaining the candidate tracking target from a certain specific region.

For example, monitoring area includes a-quadrant, B area and the region C, then, the candidate tracking target institute in a-quadrant is right The mark answered is stored in same storage location A, and mark corresponding to the candidate tracking target in B area is stored in same storage Mark corresponding to candidate tracking target in the region C is stored in same storage location C by position B.

Another storage mode can store each mark stored in tracking queue according to preset rules, in advance If rule may is that mark sequence from small to large, mark sequence from big to small, priority of each candidate tracking target etc. Any one of, this storage mode obtains candidate tracking target, and then tracking efficiency can be improved in which can be convenient.

For example, what is stored in tracking queue is identified as number, include in tracking queue candidate tracking target A, it is candidate with Track target B and candidate tracking target C, wherein the number of candidate's tracking target A is 54, and the number of candidate's tracking target B is 65, The number of candidate's tracking target C is 20, then, it is stored according to the sequence of mark from small to large, in tracking queue, according to Candidate's tracking target C, candidate track target A, the sequence of candidate tracking target B is stored.

S403 is tracked in the corresponding mark of target from candidate included by tracking queue and is determined target to be tracked.

Because identified target to be tracked is radar in the monitoring area target to be tracked, and in monitoring area Mark corresponding to candidate's tracking target can store in tracking queue, accordingly, it is believed that determining mesh to be tracked every time It is to track in target to choose from candidate included by tracking queue when mark.

It specifically describes in detail in the third embodiment below, this will not be detailed here.

S404 tracks target to be tracked, and according to the preset time interval, obtains the position of target to be tracked, As target position.

After obtaining target position every time, the control instruction for carrying the target position is sent to video camera by S405, so that Receive the camera response control instruction of control instruction.

In the present embodiment, above-mentioned steps S404 and S405 in embodiment corresponding to Fig. 1 S102 and S103 it is identical, This is repeated no more.

The third embodiment, it is described tracked from candidate included by tracking queue determined in the corresponding mark of target to The step of track target (S403), may include:

According to preset priority policy, determination is to be tracked from the mark that candidate included by tracking queue tracks target Target.

Priority policy includes the priority policy of monitoring area and/or the priority policy of candidate tracking target.Preferentially Grade strategy can also use simultaneously only with the priority policy of monitoring area or the priority policy of candidate tracking target The priority policy of the priority policy of monitoring area and candidate tracking target.Wherein, the priority policy of monitoring area may be used also To include a plurality of types of strategies for monitoring area, the priority policy of candidate's tracking target can also include for candidate Track a plurality of types of strategies of target.

Priority plan based on target to be tracked is determined from the mark that candidate included by tracking queue tracks target Slightly can be it is preset, also, based on priority policy can be it is one such, can also be it is therein at least Two kinds.

Also, the priority policy for based on, can be it is constant, in the priority for presetting one or more types After strategy, then the priority policy of default one or more types is used always；It can also be variation, for example, often Compartment every duration can more transducer set priority policy, certainly, type used by every set priority policy is different.

For the priority policy of monitoring area

The priority policy of monitoring area is directed to for the monitoring area of radar, and the monitoring area of radar can wrap Include one or more.In the case that the monitoring area of radar only includes a region, radar can always to a region into The lasting monitoring of row；And in the case that the monitoring area of radar includes multiple regions, radar can be simultaneously to included multiple areas Domain is monitored, but can carry out important level division to each region in advance, in this way, the time in the high region of important level degree Choosing tracking target can be preferentially determined as target to be tracked, and only in the high region of important level degree there is no it is candidate with When track target, target to be tracked just is chosen from the lower region of significance level.It, can be with by the priority policy of monitoring area Emphasis monitoring is carried out to key area, and then can more efficiently determine target to be tracked.

For example, the monitoring area of radar includes: region A, region B, region C and region D, included each region is carried out Important level divides, from the sequence of significance level from high to low are as follows: region A, region D, region C, region B.So, determine to When tracking target, target to be tracked is determined according to the sequence of region A, region D, region C, region B.Specifically, for the first time from region A In candidate tracking target in determine target to be tracked, if there is no candidate tracking target in the A of region, the time from the D of region Target to be tracked is determined in choosing tracking target, if there is no candidate tracking targets in the D of region, from candidate's tracking in the C of region Target to be tracked is determined in target, if there is no candidate tracking targets in the C of region, finally from the candidate tracking mesh in the B of region Target to be tracked is determined in mark.

For the priority policy of candidate tracking target

The priority policy of candidate's tracking target is monitored space for the candidate tracking target being directed in monitoring area Candidate tracking target in domain may include one or more.When candidate tracking target in monitoring area only includes one, It then can be using this only one candidate tracking target as target to be tracked.

It, can be according to the preferential of preset candidate tracking target when candidate tracking target in monitoring area includes multiple Grade strategy is determined target to be tracked.Wherein, the priority policy of candidate tracking target be according in following information at least Strategy determined by one kind: target is tracked with the presence or absence of specified candidate's tracking target, with the presence or absence of the candidate that tracking is interrupted, is It is no to track target in the presence of the candidate for being currently at tracked state, tracking target in the presence of the candidate for being currently at tracked state In the case where duration, detections of radar to candidate tracking that the candidate tracking target for being currently at tracked state has persistently been tracked The time point of target.Certainly, the priority policy of candidate tracking target is not merely according to above-mentioned 5 kinds of information, can be with Strategy according to other information, herein without limiting.

Above-mentioned five kinds of information based on the priority policy of candidate tracking target is introduced respectively below.

1, with the presence or absence of specified candidate tracking target

It is specified to can be as specified by user, for radar, receives candidate specified by user and track target Mark, and then the candidate can be tracked into target and be determined as target to be tracked.

Certainly, specified candidate tracking target is the target in the monitoring area of radar monitoring.

2, the candidate tracking target interrupted with the presence or absence of tracking

Radar can preset the duration tracked to each target to be tracked, be held when being tracked to target to be tracked When continuous duration reaches preset duration, then it can terminate the tracking to the target to be tracked.Duration is that do not have in a secondary tracking Have the duration being interrupted, after interrupting tracking again secondary tracking same target to be tracked when, then restart timing.

Radar terminates can be because target to be tracked leaves monitoring area to target following to be tracked as a result, can be with It is to reach preset duration because being tracked institute's duration to the target to be tracked.

Tracking, which is interrupted, refers to improper interruption when radar is tracked, for improper interruption, it is believed that in addition to above-mentioned Track terminate two kinds of situations outside, may be considered improper interruption, for example, radar fault and be forced interrupt tracking be it is non-just It is normal to interrupt, as soon as alternatively, user reassigns a candidate tracking target as target to be tracked, in this way, radar interrupts currently Tracking, and specified target to be tracked is tracked again, this is also improper interruption.

When radar breaks in the track, the target to be tracked that tracking is interrupted can be redefined as to candidate tracking target, and And can recorde the mark for the target to be tracked that tracking is interrupted, in this way, radar can be again by note after terminating next secondary tracking Candidate corresponding to the mark of record tracks target and is determined as target to be tracked.

For example, radar is during tracking target A, user specifies target B as target to be tracked, then radar Interrupt tracking to target A, then target B tracked, and record the mark of target A, terminate the tracking to target B it Afterwards, target A can be determined as target to be tracked by radar, and continue to track to target A.

3, with the presence or absence of the candidate tracking target for being currently at tracked state

Be currently at the candidate tracking target of tracked state, target as to be tracked, radar currently tracking to Track target.Because the candidate tracking target in tracking queue is after being determined as target to be tracked, the mark of the target to be tracked Knowledge also is stored in tracking queue, therefore, for radar, even if currently tracking to target to be tracked, when this Target to be tracked still can be considered as candidate tracking target.

When determining the candidate tracking target for existing and being currently at tracked state, radar can according to default rule, Continue to track candidate tracking target, alternatively, choosing candidate tracking target again as target to be tracked.

4, in the case where there is the candidate tracking target for being currently at tracked state, to being currently at tracked state The duration that has persistently tracked of candidate tracking target

Wherein, persistently tracked when it is a length of to same tracking target in unbroken duration persistently tracked, for example, working as The preceding candidate tracking target in the state of being tracked is target A, and since radar do not interrupt starting to carry out the target A tracking Ground persistently track when it is 10 seconds a length of.If when radar interrupts the tracking to target A, then persistently being tracked when duration is 5 seconds Duration also terminate immediately, when radar again tracks target A, then the timing since 0 again.

In the case where there is the candidate tracking target for being currently at tracked state, and sets radar and hold each time The duration threshold value of continuous tracking reaches set in the duration persistently tracked to the candidate tracking target for being currently at tracked state When fixed duration threshold value, then the candidate tracking target that can terminate to be currently at this tracked state tracks；And when also When not up to set duration threshold value, then can continue to be currently at this tracked state candidate tracking target carry out with Track.

5, time point of the detections of radar to candidate tracking target

Detections of radar candidate tracks the time point of target, and as candidate tracking target enters the time point of monitoring area, thunder Time point corresponding to target is tracked up to can recorde each candidate, also, radar can also be according to the time point recorded Sequence is ranked up candidate's tracking target, wherein the sequence at the time point recorded can be each candidate tracking target and enter The sequencing of monitoring area.

When priority policy includes the strategy according to determined by detections of radar to the candidate time point for tracking target, radar can To determine target to be tracked according to the sequencing for entering monitoring area.

For example, candidate tracking target A, candidate tracking target B and candidate tracking target C successively enter monitoring area, it is candidate Tracking target A enter monitoring area time point be 12:00, candidate tracking target B enter monitoring area time point be 12: 10, the time point that candidate's tracking target C enters monitoring area is 13:00, then, radar can be first true by candidate's tracking target A It is set to target to be tracked, after terminating the tracking to candidate tracking target A, candidate's tracking target B is determined as again to be tracked Target is tracked, and after terminating the tracking to candidate tracking target B, is finally determined as candidate's tracking target C to be tracked Target is tracked.

For above-mentioned five kinds of information, partial information therein can be chosen as the foundation for determining priority policy, wherein Partial information can be at least one information；Can also by above-mentioned five kinds of information simultaneously as determination priority policy foundation, It is introduced in following specific implementation.

The priority policy of a kind of specific implementation, candidate's tracking target is excellent as determination simultaneously using above-mentioned five kinds of information The strategy of first grade.

Candidate tracking target in tracking queue is screened, it, can be according to preset each when determining target to be tracked The order of information carries out.Wherein, the order of each information can be customized setting.

As shown in figure 5, may include multiple candidate tracking targets in preset tracking queue, in radar it needs to be determined that with When track target, firstly, S501, judges with the presence or absence of the mark of specified candidate tracking target in tracking queue, if so, executing Step S502, if not, executing step S503；The specified candidate tracking target is determined as target to be tracked by S502, S503, judges the mark for the candidate tracking target interrupted in tracking queue with the presence or absence of tracking, if so, step S504 is executed, If not, executing step S505；S504, the candidate tracking target which is interrupted are determined as target to be tracked, S505, judgement With the presence or absence of the mark for the candidate tracking target for being currently at tracked state in tracking queue, if so, executing step S506； S506, judges whether the duration persistently tracked to the candidate tracking target for being currently at tracked state is greater than preset duration threshold Value, if not, step S507 is executed, if so, executing step S508；This is currently at the candidate of tracked state by S507 Tracking target is determined as target to be tracked, S508, according to detections of radar to the time point of each candidate tracking target, from tracking queue The mark of the middle candidate tracking target for choosing the time point farthest from current point in time, and by the selected corresponding candidate of mark Tracking target is determined as target to be tracked.

Example one may include candidate tracking target A, candidate tracking target B and candidate tracking in preset tracking queue Target C, wherein candidate's tracking target A is the candidate tracking target that user specifies, then radar is it needs to be determined that target to be tracked When, candidate's tracking target A is directly determined as target to be tracked.

Example two may include candidate tracking target A, candidate tracking target B and candidate tracking in preset tracking queue Target C, wherein candidate's tracking target B is the candidate tracking target that tracking is interrupted, i.e. radar tracks target to candidate before this B improper interruption during being tracked.So, radar determine candidate tracking target A, candidate tracking target B and it is candidate with There is no when specified candidate tracking target in track target C, candidate's tracking target B can be determined as target to be tracked.

Example three may include candidate tracking target A, candidate tracking target B and candidate tracking in preset tracking queue Target C, wherein candidate's tracking target C is currently to track target by the candidate of radar tracking.So, radar determine it is candidate with Track target A, candidate track target B and candidate tracks and tracks target there is no the candidate specified in target C and be not present in tracking When disconnected candidate tracks target, when can continue to judge whether the duration for persistently having tracked candidate tracking target C is greater than default Long threshold value 10 seconds, if to candidate tracking target C persistently tracked when it is 5 seconds a length of, candidate can be tracked into target C It is determined as target to be tracked.

Example four may include candidate tracking target A, candidate tracking target B and candidate tracking in preset tracking queue Target C, wherein the sequence into monitoring area is candidate tracking target B, candidate tracks target C, candidate tracking target A.That , there is no specified candidate tracking in determining candidate tracking target A, candidate tracking target B and candidate tracking target C for radar Target, the candidate tracking target interrupted there is no tracking and there is no when the candidate tracking target for being currently at tracked state, At the time point that can be then arrived according to each candidate tracking target by detections of radar, determine that candidate tracking target B is target to be tracked.

4th kind of embodiment, on the basis of above-mentioned Fig. 4 corresponding embodiment, radar is continued to monitor to monitoring area , the position of each candidate tracking target is not only monitored, but also can detecte whether candidate tracking target leaves monitoring area, waited Choosing tracking target leaves monitoring area, then candidate tracking target can not be by the monitoring of radar.

Therefore, if having detected, candidate tracking target leaves detection zone, can be by detected candidate tracking mesh Target mark lines up middle deletion from tracking.In this way, the candidate can not be tracked target by radar is determined as target to be tracked, also Target cannot be tracked to the candidate and carry out tracking and monitoring.

For example, monitoring area includes candidate tracking target A, candidate tracking target B and candidate tracking target C, correspondingly, with It include the mark of the mark of candidate tracking target A, the mark of candidate tracking target B and candidate tracking target C in track queue, in thunder Up to when detecting that candidate tracking target A leaves monitoring area, then the mark of candidate tracking target A is deleted from tracking queue, In this way, only including the mark of candidate tracking target B and the mark of candidate tracking target C in tracking queue.

Corresponding to the corresponding embodiment of the method for above-mentioned Fig. 1 and Fig. 1, the embodiment of the present invention also provides a kind of target following dress It sets, as shown in fig. 6, being applied to the radar in linked system, linked system further includes video camera, which includes:

Determining module 610, for determining target to be tracked；

Module 620 is obtained, for tracking to the target to be tracked, and according to the preset time interval, obtains institute The position for stating target to be tracked, as target position；

Sending module 630 sends the control for carrying the target position to video camera after obtaining target position every time Instruction, so that receiving control instruction described in the camera response of control instruction.

Optionally, a kind of embodiment, obtaining module 620 may include:

Optionally, a kind of embodiment, first determines that submodule may include:

On the basis of above-mentioned Fig. 6 and Fig. 6 corresponding embodiment, the embodiment of the present invention also provides a kind of target following dress It sets, as shown in fig. 7, determining module 610 may include:

Detection sub-module 611, for detecting whether there is candidate tracking target enters preset monitoring area；

Submodule 612 is added, if the testing result for the detection sub-module is when being, by the candidate tracking target Mark be added in preset tracking queue；

Second determines submodule 613, for tracking in the corresponding mark of target from candidate included by the tracking queue Determine target to be tracked.

Optionally, a kind of embodiment, second determines that submodule 613 may include:

Optionally, the priority policy of a kind of embodiment, candidate's tracking target is according at least one in following information Strategy determined by kind:

With the presence or absence of specified candidate tracking target；

Time point of the detections of radar to candidate tracking target.

Optionally, a kind of embodiment, determination unit can be specifically used for:

Optionally, a kind of embodiment, device can also include:

The embodiment of the invention also provides a kind of electronic equipment, as shown in figure 8, include processor 810, communication interface 820, Memory 830 and communication bus 840, wherein processor 810, communication interface 820, memory 830 are complete by communication bus 840 At mutual communication；

Memory 830, for storing computer program；

Processor 810 when for executing the computer program stored on memory 830, realizes following steps:

Determine target to be tracked；

Certainly, a kind of electronic equipment provided in an embodiment of the present invention can also be performed any described one in above-described embodiment Kind method for tracking target.It is specifically shown in Fig. 1, Fig. 4 and Fig. 1, Fig. 4 respectively corresponding embodiment, which is not described herein again.

In another embodiment provided by the invention, a kind of computer readable storage medium is additionally provided, which can It reads to be stored with instruction in storage medium, when run on a computer, so that computer execution above-mentioned Fig. 1, Fig. 4 and Fig. 1, Any a kind of method for tracking target in the corresponding embodiment of Fig. 4.

The communication bus that above-mentioned electronic equipment is mentioned can be Peripheral Component Interconnect standard (Peripheral Component Interconnect, PCI) bus or expanding the industrial standard structure (Extended Industry Standard Architecture, EISA) bus etc..The communication bus can be divided into address bus, data/address bus, control bus etc..For just It is only indicated with a thick line in expression, figure, it is not intended that an only bus or a type of bus.

Communication interface is for the communication between above-mentioned electronic equipment and other equipment.

Memory may include random access memory (Random Access Memory, RAM), also may include non-easy The property lost memory (Non-Volatile Memory, NVM), for example, at least a magnetic disk storage.Optionally, memory may be used also To be storage device that at least one is located remotely from aforementioned processor.

Above-mentioned processor can be general processor, including central processing unit (Central Processing Unit, CPU), network processing unit (Network Processor, NP) etc.；It can also be digital signal processor (Digital Signal Processing, DSP), it is specific integrated circuit (Application Specific Integrated Circuit, ASIC), existing It is field programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete Door or transistor logic, discrete hardware components.

It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that There is also other identical elements in process, method, article or equipment including the element.

Each embodiment in this specification is all made of relevant mode and describes, same and similar portion between each embodiment Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for device reality For applying example, since it is substantially similar to the method embodiment, so being described relatively simple, related place is referring to embodiment of the method Part explanation.

The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the scope of the present invention.It is all Any modification, equivalent replacement, improvement and so within the spirit and principles in the present invention, are all contained in protection scope of the present invention It is interior.

Claims

1. a kind of method for tracking target, which is characterized in that applied to the radar in linked system, the linked system further includes taking the photograph Camera, which comprises

Determine target to be tracked；

The target to be tracked is tracked, and according to the preset time interval, obtain the position of the target to be tracked, made For target position；

After obtaining target position every time, the control instruction for carrying the target position is sent to video camera, so that receiving control Control instruction described in the camera response of instruction.

2. the method according to claim 1, wherein it is described according to the preset time interval, obtain it is described to The position of track target, as target position, comprising:

According to the coordinate transformation relation between preset radar fix system and camera coordinate system, first coordinate is obtained in institute Corresponding second coordinate in camera coordinate system is stated, and as target position.

3. according to the method described in claim 2, determining radar fix system it is characterized in that, described according to the first position In the first coordinate, comprising:

According to the motion profile updated, the 4-coordinate of the target to be tracked, the 4-coordinate are as follows: in target are predicted Between put coordinate of the target to be tracked in the radar fix system, the object time point are as follows: obtain it is described first After the time point set, interval preset duration time point；

The 4-coordinate is determined as the first coordinate.

4. the method according to claim 1, wherein determination target to be tracked, comprising:

If detecting the presence of candidate tracking target enters the monitoring area, the mark of the candidate tracking target is added to pre- If tracking queue in；

5. according to the method described in claim 4, it is characterized in that, the candidate included by the tracking queue tracks mesh It marks and determines target to be tracked in corresponding mark, comprising:

According to preset priority policy, determination is to be tracked from the mark that candidate included by the tracking queue tracks target Target；Wherein, the priority policy includes the priority policy of monitoring area and/or the priority plan of candidate tracking target Slightly.

6. according to the method described in claim 5, it is characterized in that,

The priority policy of candidate's tracking target is the strategy according to determined by least one of following information:

With the presence or absence of specified candidate tracking target；

In the case where there is the candidate tracking target for being currently at tracked state, to the candidate for being currently at tracked state The duration that tracking target has persistently tracked；

Time point of the detections of radar to candidate tracking target.

7. according to the method described in claim 6, it is characterized in that, described according to preset priority policy, from the tracking Candidate included by queue, which tracks, determines target to be tracked in target, comprising:

If there is the mark of specified candidate tracking target in the tracking queue, which is determined as Target to be tracked；

If judging to whether there is in the tracking queue there is no the mark of specified candidate tracking target in the tracking queue The mark for the candidate tracking target that tracking is interrupted；

If there is the mark for the candidate tracking target that tracking is interrupted in the tracking queue, the candidate tracking mesh which is interrupted Mark is determined as target to be tracked；

If the mark for the candidate tracking target interrupted in the tracking queue there is no tracking, judge in the tracking queue whether In the presence of the mark for the candidate tracking target for being currently at tracked state；

If there is the mark for the candidate tracking target for being currently at tracked state in the tracking queue, judge to being currently at Whether the duration that the candidate tracking target for the state of being tracked persistently has tracked is greater than preset duration threshold value；

If the duration persistently tracked is not more than preset duration threshold value, this is currently to the candidate tracking mesh of tracked state Mark is determined as target to be tracked；

If the duration persistently tracked is greater than preset duration threshold value, according to the detections of radar to it is each it is candidate track target when Between point, choose the mark of the candidate tracking target at the time point farthest from current point in time from the tracking queue, and by institute The corresponding candidate tracking target of the mark of selection is determined as target to be tracked.

8. according to the method described in claim 4, it is characterized in that, the method also includes:

When detecting the presence of candidate tracking target and leaving the monitoring area, by the mark of detected candidate tracking target It is deleted from the tracking queue.

9. a kind of target tracker, which is characterized in that applied to the radar in linked system, the linked system further includes taking the photograph Camera, described device include:

Determining module, for determining target to be tracked；

Module is obtained, for being tracked to the target to be tracked, and according to the preset time interval, is obtained described to be tracked The position of target, as target position；

Sending module sends the control instruction for carrying the target position to video camera after obtaining target position every time, with So that receiving control instruction described in the camera response of control instruction.

10. device according to claim 9, which is characterized in that the acquisition module includes:

First obtains submodule, is used for following preset time intervals, obtains the target to be tracked that the radar detection is arrived The position at place, as first position；

Second obtains submodule, for according to the coordinate transformation relation between preset radar fix system and camera coordinate system, First coordinate corresponding second coordinate in the camera coordinate system is obtained, and as target position.

11. device according to claim 10, which is characterized in that described first determines that submodule includes:

Predicting unit, for predicting the 4-coordinate of the target to be tracked according to the motion profile updated, the described 4th is sat It is designated as: coordinate of the target to be tracked described in the object time point in the radar fix system, the object time point are as follows: obtaining The first position time point after, interval preset duration time point；

12. device according to claim 9, which is characterized in that the determining module includes:

Submodule is added, if the testing result for the detection sub-module is when being, by the mark of the candidate tracking target It is added in preset tracking queue；

Second determines submodule, for from candidate included by the tracking queue track in the corresponding mark of target determination to Track target.

13. device according to claim 12, which is characterized in that described second determines that submodule includes:

Determination unit, for according to preset priority policy, the mark of the candidate tracking target included by the tracking queue Target to be tracked is determined in knowledge；Wherein, the priority policy includes the priority policy and/or candidate tracking mesh of monitoring area Target priority policy.

14. device according to claim 13, which is characterized in that the priority policy of candidate's tracking target is according to following Strategy determined by least one of information:

With the presence or absence of specified candidate tracking target；

Time point of the detections of radar to candidate tracking target.

15. device according to claim 14, which is characterized in that the determination unit is specifically used for:

16. device according to claim 12, which is characterized in that described device further include:

Removing module, for when detecting the presence of candidate tracking target and leaving the monitoring area, by detected candidate The mark of tracking target is deleted from the tracking queue.

17. a kind of electronic equipment, which is characterized in that including processor, communication interface, memory and communication bus, wherein processing Device, communication interface, memory complete mutual communication by communication bus；

Memory, for storing computer program；

Processor when for executing the computer program stored on memory, realizes any method of claim 1-8 Step.

18. a kind of computer readable storage medium, which is characterized in that be stored with computer in the computer readable storage medium Program realizes claim 1-8 any method and step when the computer program is executed by processor.