CN110245641A - A kind of target tracking image pickup method, device, electronic equipment - Google Patents
A kind of target tracking image pickup method, device, electronic equipment Download PDFInfo
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- CN110245641A CN110245641A CN201910541188.3A CN201910541188A CN110245641A CN 110245641 A CN110245641 A CN 110245641A CN 201910541188 A CN201910541188 A CN 201910541188A CN 110245641 A CN110245641 A CN 110245641A
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Abstract
The embodiment of the present invention provides a kind of target tracking image pickup method, device, electronic equipment, which comprises carries out a target detection to the received image data of institute by image recognition, obtains at least an alternative target and its location information；By the alternative target and its characteristic matching of location information in the consecutive image received, the motion sequence in the consecutive image of the alternative target is obtained；The motion profile of the alternative target is obtained according to the motion sequence, and shooting is tracked according to the motion profile.The tracking shooting that the embodiment of the present invention more real-time can complete moving target.
Description
Technical field
The present embodiments relate to image technique fields more particularly to a kind of target tracking image pickup method, device, electronics to set
It is standby.
Background technique
With the development of portable filming apparatus, more and more users carry out video bat using portable filming apparatus.It utilizes
Portable filming apparatus shoots video, as occurred moving target in photographed scene, then user is needed to manually adjust portable shooting dress
The tracking moving target is set, to just can guarantee the motion conditions of complete documentation moving target.
But the filming apparatus with target tracking function usually only can be realized the shooting of the tracking to face, it can not be to people
Target object other than face is tracked shooting.And when occurring multiple moving targets in photographed scene, from moving target
Tracking is when switching to another moving target, it will usually Caton occur and influence the tracking effect of moving target.And photographed scene
In static target when becoming motion state suddenly, can not also realize the tracking moved to it in time.
Therefore, how the technology that the more real-time tracking shooting for completing moving target becomes prior art urgent need to resolve is asked
Topic.
Summary of the invention
In view of this, the embodiment of the present invention provides a kind of target tracking image pickup method, device, electronic equipment, to solve or
Person part solves the above problems.
According to a first aspect of the embodiments of the present invention, a kind of target tracking image pickup method is provided, which comprises logical
It crosses image recognition and target detection is carried out to the received image data of institute, obtain at least an alternative target and its location information；It is connecing
By the alternative target and its characteristic matching of location information in the consecutive image received, the continuous of the alternative target is obtained
Motion sequence in image；The motion profile of the alternative target is obtained according to the motion sequence, and according to the movement rail
Mark is tracked shooting.
According to a second aspect of the embodiments of the present invention, a kind of target tracking filming apparatus is provided, described device includes: mesh
Determining module is marked, for carrying out target detection to the received image data of institute by image recognition, obtains an at least alternative target
And its location information；Characteristic matching module, for being believed in the consecutive image received by the alternative target and its position
The characteristic matching of breath obtains the motion sequence in the consecutive image of the alternative target；Shooting module is tracked, for according to
Motion sequence obtains the motion profile of the alternative target, and is tracked shooting according to the motion profile.
According to a third aspect of the embodiments of the present invention, a kind of electronic equipment is provided, comprising: processor, memory, communication
Interface and communication bus, the processor, the memory and the communication interface are completed mutual by the communication bus
Communication；For the memory for storing an at least executable instruction, the executable instruction makes the processor execute such as the
The corresponding operation of method described in one side.
According to a fourth aspect of the embodiments of the present invention, a kind of computer storage medium is provided, computer is stored thereon with
Program realizes method as described in relation to the first aspect when the program is executed by processor.
According to embodiments of the present invention, the embodiment of the present invention carries out an image recognition to the received image data of institute, detect to
A few alternative target and its location information.Therefore, used by detection of the embodiment of the present invention to alternative target in image data
Image recognition is different from the motion detection in usual multi-target tracking field, and image recognition can detecte the movement mesh obtained in image
Mark and non-athletic target.The embodiment of the present invention will pass through the alternative target and its location information in the consecutive image received
Characteristic matching, obtain the motion sequence in the consecutive image of the alternative target, according to the motion sequence obtain it is described standby
The motion profile of target is selected, and shooting is tracked according to the motion profile.Therefore, it is standby to obtain at least one for the embodiment of the present invention
The motion sequence of target is selected, when guaranteeing the alternative target of replacement tracking shooting, realization target tracking that can be smooth is shot.
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
The some embodiments recorded in inventive embodiments can also obtain according to these attached drawings for those of ordinary skill in the art
Obtain other attached drawings.
Fig. 1 is the step flow chart according to a kind of target tracking image pickup method of the embodiment of the present invention one；
Fig. 2 is the step flow chart according to a concrete methods of realizing of the embodiment of the present invention one；
Fig. 3 is the step flow chart according to step S104 in a kind of target tracking image pickup method of the embodiment of the present invention two；
Fig. 4 is the step flow chart according to step S104 in a kind of target tracking image pickup method of the embodiment of the present invention three；
Fig. 5 is the step flow chart according to step S106 in a kind of target tracking image pickup method of the embodiment of the present invention four；
Fig. 6 is the structural block diagram according to a kind of target tracking filming apparatus of the embodiment of the present invention six；
Fig. 7 is the structural frames according to characteristic matching module in a kind of target tracking filming apparatus of the embodiment of the present invention seven
Figure；
Fig. 8 is the structural frames according to characteristic matching module in a kind of target tracking filming apparatus of the embodiment of the present invention eight
Figure；
Fig. 9 is according to the structural frames for tracking shooting module in a kind of target tracking filming apparatus of the embodiment of the present invention nine
Figure；
Figure 10 is the structural schematic diagram according to a kind of electronic equipment of the embodiment of the present invention ten.
Specific embodiment
In order to make those skilled in the art more fully understand the technical solution in the embodiment of the present invention, below in conjunction with the present invention
Attached drawing in embodiment, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described reality
Applying example only is a part of the embodiment of the embodiment of the present invention, instead of all the embodiments.Based on the implementation in the embodiment of the present invention
The range of protection of the embodiment of the present invention all should belong in example, those of ordinary skill in the art's every other embodiment obtained.
Below with reference to attached drawing of the embodiment of the present invention the embodiment of the present invention will be further explained specific implementation.
Embodiment one
Referring to Fig.1, a kind of step flow chart of according to embodiments of the present invention one target tracking image pickup method is shown.
The target tracking image pickup method of the embodiment of the present invention the following steps are included:
Step S102: target detection is carried out to the received image data of institute by image recognition, obtains at least one alternative mesh
Mark and its location information.
Since common multi-target tracking is the popular direction in one, the field CV, it is widely used in robot navigation, intelligence prison
Control the fields such as video, industrial detection, aerospace.Main task is to find the object moved in image sequence, and by different frame
Moving object correspond, finally provide the motion profile of different objects.One complete multiple-target system need to include
The modules such as detection, tracking, track.It but is for example, by frame differential method, background subtraction in the Multitarget Tracking
The modes such as method realize the acquisition of alternative target, and its detected alternative target is moving target, and the accuracy positioned
It is low.
In one concrete application of the embodiment of the present invention, referring to fig. 2, step of embodiment of the present invention S102 specifically:
Alternative target and its location information in received image data, the alternative mesh are obtained using image recognition algorithm
Mark includes moving target and/or static target.
Therefore, image recognition used by detection of the embodiment of the present invention to alternative target in image data is different from usual
The motion detection in multi-target tracking field, image recognition can detecte moving target and the non-athletic target obtained in image.
Specifically, described image is identified by the realization of RCNN, SSD, YOLO scheduling algorithm, since recognizer itself belongs to this
Field common knowledge, therefore details are not described herein.
Specifically, described image identification further includes recognition of face, and the embodiment of the present invention is determined described standby by recognition of face
Select the identity information of target.The identity information includes user identity ID, and the alternative mesh can be determined by the identity information
Target tracks priority level.
Location information described in the embodiment of the present invention includes center point coordinate and/or encirclement frame size.
The generally rectangular frame of frame is surrounded described in the embodiment of the present invention, the frame size of surrounding includes surrounding the width and height of frame
Degree.
Step S104: by the alternative target and its characteristic matching of location information in the consecutive image received,
Obtain the motion sequence in the consecutive image of the alternative target.
The embodiment of the present invention realized in the consecutive image received using Hungary Algorithm through the alternative target and
The characteristic matching of its location information.
Hungary Algorithm is a kind of combinatorial optimization algorithm that Task Allocation Problem is solved in polynomial time, and is pushed
Later original Dual Method.In Hungary Algorithm, the distance between different alternative targets calculation and selected
Target signature has important influence to the accuracy of matching result.The embodiment of the present invention selects satisfactory target signature to carry out
Characteristic matching, the motion sequence in consecutive image to obtain the alternative target.
Step S106: the motion profile of the alternative target is obtained according to the motion sequence, and according to the movement rail
Mark is tracked shooting.
The embodiment of the present invention is applied to image acquisition equipment to obtain the fortune of the alternative target according to the motion sequence
Dynamic rail mark, and shooting is tracked according to the motion profile.
The embodiment of the present invention obtains the motion profile of alternative target, when the alternative target of replacement tracking shooting, it is only necessary to
Motion profile is replaced, therefore the realization target tracking shooting that the embodiment of the present invention can be smooth.
Due to the error introduced in the tracing process of alternative target detection and alternative target, the movement of the alternative target
Track fluctuation needs to be smoothed, to obtain the motion profile of smooth alternative target.The smoothing processing method includes:
Mean filter, median filtering, gaussian filtering, Kalman filtering etc..
According to embodiments of the present invention, the embodiment of the present invention carries out an image recognition to the received image data of institute, detect to
A few alternative target and its location information.Therefore, used by detection of the embodiment of the present invention to alternative target in image data
Image recognition is different from the motion detection in usual multi-target tracking field, and image recognition can detecte the movement mesh obtained in image
Mark and non-athletic target.The embodiment of the present invention will pass through the alternative target and its location information in the consecutive image received
Characteristic matching, obtain the motion sequence in the consecutive image of the alternative target, according to the motion sequence obtain it is described standby
The motion profile of target is selected, and shooting is tracked according to the motion profile.Therefore, it is standby to obtain at least one for the embodiment of the present invention
The motion sequence of target is selected, when guaranteeing the alternative target of replacement tracking shooting, realization target tracking that can be smooth is shot.
The target tracking image pickup method of the present embodiment can be by any suitable electronic equipment with data-handling capacity
It executes, including but not limited to: server, mobile terminal (such as tablet computer, mobile phone) and PC machine etc. are also possible to an installation
Image processing unit on an electronic device, such as the image processing unit being mounted on unmanned aerial vehicle (UAV) control device, are mounted on photography
Image processing unit etc. on device, the image processing apparatus are also possible to tripod head equipment.
Embodiment two
The embodiment of the present invention two includes a kind of above-mentioned steps S102 --- step of target tracking image pickup method described in S106
Rapid flow chart.
Referring to Fig. 3, step S104 described in the embodiment of the present invention the following steps are included:
Step S1042: color combining feature and depth characteristic pass through the alternative target in the consecutive image received
And its characteristic matching of location information.
Since color characteristic and depth characteristic are capable of providing more accurate matching result, the embodiment of the present invention is special by color
Sign carries out characteristic matching with depth characteristic jointly.
Specifically, the color characteristic is color histogram.
In order to further increase the stability of characteristic matching, the accuracy of matching result, selection of the embodiment of the present invention are improved
The pixel point feature of the alternative target nucleus.The nucleus be apart from the alternative target center point coordinate away from
From the pixel for being less than pre-determined distance threshold value.The distance threshold is those skilled in the art rule of thumb and sets
It is fixed.
Step S1044: same alternative target is closed in the position of different moments according to the result of the characteristic matching
Connection, obtains the motion sequence in the consecutive image of the alternative target.
Specifically, same alternative target is associated by the embodiment of the present invention in the position of different moments, to obtain institute
State motion sequence of the same alternative target in consecutive image.Due to the position of the corresponding target in a track whithin a period of time
Sequence is set, the motion profile of the alternative target is obtained by motion sequence class of the same alternative target in consecutive image.
According to embodiments of the present invention, the embodiment of the present invention carries out an image recognition to the received image data of institute, detect to
A few alternative target and its location information.Therefore, used by detection of the embodiment of the present invention to alternative target in image data
Image recognition is different from the motion detection in usual multi-target tracking field, and image recognition can detecte the movement mesh obtained in image
Mark and non-athletic target.The embodiment of the present invention will pass through the alternative target and its location information in the consecutive image received
Characteristic matching, obtain the motion sequence in the consecutive image of the alternative target, according to the motion sequence obtain it is described standby
The motion profile of target is selected, and shooting is tracked according to the motion profile.Therefore, it is standby to obtain at least one for the embodiment of the present invention
The motion sequence of target is selected, when guaranteeing the alternative target of replacement tracking shooting, realization target tracking that can be smooth is shot.
The target tracking image pickup method of the present embodiment can be by any suitable electronic equipment with data-handling capacity
It executes, including but not limited to: server, mobile terminal (such as tablet computer, mobile phone) and PC machine etc. are also possible to an installation
Image processing unit on an electronic device, such as the image processing unit being mounted on unmanned aerial vehicle (UAV) control device, are mounted on photography
Image processing unit etc. on device, the image processing apparatus are also possible to tripod head equipment.
Embodiment three
The embodiment of the present invention three includes a kind of above-mentioned steps S102 --- step of target tracking image pickup method described in S106
Rapid flow chart.
Referring to fig. 4, step S104 described in the embodiment of the present invention the following steps are included:
Step S1042: color combining feature and depth characteristic pass through the alternative target in the consecutive image received
And its characteristic matching of location information.
Since color characteristic and depth characteristic are capable of providing more accurate matching result, the embodiment of the present invention is special by color
Sign carries out characteristic matching with depth characteristic jointly.
Specifically, the color characteristic is color histogram.
In order to further increase the stability of characteristic matching, the accuracy of matching result, selection of the embodiment of the present invention are improved
The pixel point feature of the alternative target nucleus.The nucleus be apart from the alternative target center point coordinate away from
From the pixel for being less than pre-determined distance threshold value.The distance threshold is those skilled in the art rule of thumb and sets
It is fixed.
Step S1043: the matching result that characteristic distance in the characteristic matching is more than default characteristic threshold value is carried out secondary
Characteristic matching verifying, is modified the result of the characteristic matching.
Specifically, after the embodiment of the present invention obtains preliminary matching result, it will do it quadratic character matching verifying.It is described
Matching result of the quadratic character matching verifying using other features such as texture, distance to characteristic distance more than default characteristic threshold value
It is verified, to realize the accuracy rate for improving characteristic matching while guaranteeing characteristic matching real-time.
Step S1044: same alternative target is closed in the position of different moments according to the result of the characteristic matching
Connection, obtains the motion sequence in the consecutive image of the alternative target.
Specifically, same alternative target is associated by the embodiment of the present invention in the position of different moments, to obtain institute
State motion sequence of the same alternative target in consecutive image.Due to the position of the corresponding target in a track whithin a period of time
Sequence is set, the motion profile of the alternative target is obtained by motion sequence class of the same alternative target in consecutive image.
According to embodiments of the present invention, the embodiment of the present invention carries out an image recognition to the received image data of institute, detect to
A few alternative target and its location information.Therefore, used by detection of the embodiment of the present invention to alternative target in image data
Image recognition is different from the motion detection in usual multi-target tracking field, and image recognition can detecte the movement mesh obtained in image
Mark and non-athletic target.The embodiment of the present invention will pass through the alternative target and its location information in the consecutive image received
Characteristic matching, obtain the motion sequence in the consecutive image of the alternative target, according to the motion sequence obtain it is described standby
The motion profile of target is selected, and shooting is tracked according to the motion profile.Therefore, it is standby to obtain at least one for the embodiment of the present invention
The motion sequence of target is selected, when guaranteeing the alternative target of replacement tracking shooting, realization target tracking that can be smooth is shot.
The target tracking image pickup method of the present embodiment can be by any suitable electronic equipment with data-handling capacity
It executes, including but not limited to: server, mobile terminal (such as tablet computer, mobile phone) and PC machine etc. are also possible to an installation
Image processing unit on an electronic device, such as the image processing unit being mounted on unmanned aerial vehicle (UAV) control device, are mounted on photography
Image processing unit etc. on device, the image processing apparatus are also possible to tripod head equipment.
Example IV
The embodiment of the present invention four includes a kind of above-mentioned steps S102 --- step of target tracking image pickup method described in S106
Rapid flow chart.
Referring to Fig. 5, step S106 described in the embodiment of the present invention the following steps are included:
Step S1062: user instruction or the tracking priority of determination select in the alternative target based on the received
Determining tracking target.
Specifically, user can be by selecting the encirclement frame or clicking to wait user instructions in at least one alternative mesh
Determining tracking target is selected in mark.
Specifically, to the alternative target determine tracking priority after, can also according to tracking priority it is described at least
Determining tracking target is selected in one alternative target.
The tracking priority is not limited in determining by the subscriber identity information that recognition of face obtains, and user can also be with
By instruction, the tracking priority is directly set.
Step S1064: driving can carry out the cradle head control image acquisition equipment of trajectory track according to the tracking target
Motion profile is tracked shooting.
Since the image acquisition equipment visual field is small, after tracking target moves out the image acquisition equipment visual field, can not continue to chase after
Track target trajectory.Therefore, addition of embodiment of the present invention holder enables image acquisition equipment that tracking target is followed to be moved, and makes to track
Target is in always in the field range of image acquisition equipment, and covert enlarged image obtains the field range of equipment, is tracked
The more complete track of target.
According to embodiments of the present invention, the embodiment of the present invention carries out an image recognition to the received image data of institute, detect to
A few alternative target and its location information.Therefore, used by detection of the embodiment of the present invention to alternative target in image data
Image recognition is different from the motion detection in usual multi-target tracking field, and image recognition can detecte the movement mesh obtained in image
Mark and non-athletic target.The embodiment of the present invention will pass through the alternative target and its location information in the consecutive image received
Characteristic matching, obtain the motion sequence in the consecutive image of the alternative target, according to the motion sequence obtain it is described standby
The motion profile of target is selected, and shooting is tracked according to the motion profile.Therefore, it is standby to obtain at least one for the embodiment of the present invention
The motion sequence of target is selected, when guaranteeing the alternative target of replacement tracking shooting, realization target tracking that can be smooth is shot.
The target tracking image pickup method of the present embodiment can be by any suitable electronic equipment with data-handling capacity
It executes, including but not limited to: server, mobile terminal (such as tablet computer, mobile phone) and PC machine etc. are also possible to an installation
Image processing unit on an electronic device, such as the image processing unit being mounted on unmanned aerial vehicle (UAV) control device, are mounted on photography
Image processing unit etc. on device, the image processing apparatus are also possible to tripod head equipment.
Embodiment five
Referring to Fig. 6, a kind of structural block diagram of according to embodiments of the present invention five target tracking filming apparatus is shown.
The target tracking filming apparatus of the embodiment of the present invention includes:
Target determination module 601 obtains extremely for carrying out target detection to the received image data of institute by image recognition
A few alternative target and its location information.
Characteristic matching module 602, for passing through the alternative target and its location information in the consecutive image received
Characteristic matching, obtain the motion sequence in the consecutive image of the alternative target.
Shooting module 603 is tracked, for obtaining the motion profile of the alternative target according to the motion sequence, and according to
The motion profile is tracked shooting.
Since common multi-target tracking is the popular direction in one, the field CV, it is widely used in robot navigation, intelligence prison
Control the fields such as video, industrial detection, aerospace.Main task is to find the object moved in image sequence, and by different frame
Moving object correspond, finally provide the motion profile of different objects.One complete multiple-target system need to include
The modules such as detection, tracking, track.It but is for example, by frame differential method, background subtraction in the Multitarget Tracking
The modes such as method realize the acquisition of alternative target, and its detected alternative target is moving target, and the accuracy positioned
It is low.
In one concrete application of the embodiment of the present invention, target determination module of the embodiment of the present invention 601 is specifically used for:
Alternative target and its location information in received image data, the alternative mesh are obtained using image recognition algorithm
Mark includes moving target and/or static target.
Therefore, image recognition used by detection of the embodiment of the present invention to alternative target in image data is different from usual
The motion detection in multi-target tracking field, image recognition can detecte moving target and the non-athletic target obtained in image.
Specifically, described image is identified by the realization of RCNN, SSD, YOLO scheduling algorithm, since recognizer itself belongs to this
Field common knowledge, therefore details are not described herein.
Specifically, described image identification further includes recognition of face, and the embodiment of the present invention is determined described standby by recognition of face
Select the identity information of target.The identity information includes user identity ID, and the alternative mesh can be determined by the identity information
Target tracks priority level.
Location information described in the embodiment of the present invention includes center point coordinate and/or encirclement frame size.
The generally rectangular frame of frame is surrounded described in the embodiment of the present invention, the frame size of surrounding includes surrounding the width and height of frame
Degree.
The embodiment of the present invention realized in the consecutive image received using Hungary Algorithm through the alternative target and
The characteristic matching of its location information.
Hungary Algorithm is a kind of combinatorial optimization algorithm that Task Allocation Problem is solved in polynomial time, and is pushed
Later original dual device.In Hungary Algorithm, the distance between different alternative targets calculation and selected
Target signature has important influence to the accuracy of matching result.The embodiment of the present invention selects satisfactory target signature to carry out
Characteristic matching, the motion sequence in consecutive image to obtain the alternative target.
The embodiment of the present invention is applied to image acquisition equipment to obtain the fortune of the alternative target according to the motion sequence
Dynamic rail mark, and shooting is tracked according to the motion profile.
The embodiment of the present invention obtains the motion profile of alternative target, when the alternative target of replacement tracking shooting, it is only necessary to
Motion profile is replaced, therefore the realization target tracking shooting that the embodiment of the present invention can be smooth.
Due to the error introduced in the tracing process of alternative target detection and alternative target, the movement of the alternative target
Track fluctuation needs to be smoothed, to obtain the motion profile of smooth alternative target.The smooth processing unit includes:
Mean filter, median filtering, gaussian filtering, Kalman filtering etc..
According to embodiments of the present invention, the embodiment of the present invention carries out an image recognition to the received image data of institute, detect to
A few alternative target and its location information.Therefore, used by detection of the embodiment of the present invention to alternative target in image data
Image recognition is different from the motion detection in usual multi-target tracking field, and image recognition can detecte the movement mesh obtained in image
Mark and non-athletic target.The embodiment of the present invention will pass through the alternative target and its location information in the consecutive image received
Characteristic matching, obtain the motion sequence in the consecutive image of the alternative target, according to the motion sequence obtain it is described standby
The motion profile of target is selected, and shooting is tracked according to the motion profile.Therefore, it is standby to obtain at least one for the embodiment of the present invention
The motion sequence of target is selected, when guaranteeing the alternative target of replacement tracking shooting, realization target tracking that can be smooth is shot.
The target tracking filming apparatus of the present embodiment can be by any suitable electronic equipment with data-handling capacity
It executes, including but not limited to: server, mobile terminal (such as tablet computer, mobile phone) and PC machine etc. are also possible to an installation
Image processing unit on an electronic device, such as the image processing unit being mounted on unmanned aerial vehicle (UAV) control device, are mounted on photography
Image processing unit etc. on device, the image processing apparatus are also possible to tripod head equipment.
Embodiment six
The embodiment of the present invention six includes above-mentioned target determination module 601, characteristic matching module 602, tracking shooting module 603
A kind of structural block diagram of the target tracking filming apparatus.
Referring to Fig. 7, characteristic matching module 602 described in the embodiment of the present invention includes:
Matching unit 6021 passes through institute for color combining feature and depth characteristic in the consecutive image received
State the characteristic matching of alternative target and its location information.
Position associative cell 6023, for the result according to the characteristic matching by same alternative target in different moments
Position is associated, and obtains the motion sequence in the consecutive image of the alternative target.
Since color characteristic and depth characteristic are capable of providing more accurate matching result, the embodiment of the present invention is special by color
Sign carries out characteristic matching with depth characteristic jointly.
Specifically, the color characteristic is color histogram.
In order to further increase the stability of characteristic matching, the accuracy of matching result, selection of the embodiment of the present invention are improved
The pixel point feature of the alternative target nucleus.The nucleus be apart from the alternative target center point coordinate away from
From the pixel for being less than pre-determined distance threshold value.The distance threshold is those skilled in the art rule of thumb and sets
It is fixed.
Specifically, same alternative target is associated by the embodiment of the present invention in the position of different moments, to obtain institute
State motion sequence of the same alternative target in consecutive image.Due to the position of the corresponding target in a track whithin a period of time
Sequence is set, the motion profile of the alternative target is obtained by motion sequence class of the same alternative target in consecutive image.
According to embodiments of the present invention, the embodiment of the present invention carries out an image recognition to the received image data of institute, detect to
A few alternative target and its location information.Therefore, used by detection of the embodiment of the present invention to alternative target in image data
Image recognition is different from the motion detection in usual multi-target tracking field, and image recognition can detecte the movement mesh obtained in image
Mark and non-athletic target.The embodiment of the present invention will pass through the alternative target and its location information in the consecutive image received
Characteristic matching, obtain the motion sequence in the consecutive image of the alternative target, according to the motion sequence obtain it is described standby
The motion profile of target is selected, and shooting is tracked according to the motion profile.Therefore, it is standby to obtain at least one for the embodiment of the present invention
The motion sequence of target is selected, when guaranteeing the alternative target of replacement tracking shooting, realization target tracking that can be smooth is shot.
The target tracking filming apparatus of the present embodiment can be by any suitable electronic equipment with data-handling capacity
It executes, including but not limited to: server, mobile terminal (such as tablet computer, mobile phone) and PC machine etc. are also possible to an installation
Image processing unit on an electronic device, such as the image processing unit being mounted on unmanned aerial vehicle (UAV) control device, are mounted on photography
Image processing unit etc. on device, the image processing apparatus are also possible to tripod head equipment.
Embodiment seven
The embodiment of the present invention seven includes above-mentioned target determination module 601, characteristic matching module 602, tracking shooting module 603
A kind of structural block diagram of the target tracking filming apparatus.
Referring to Fig. 8, characteristic matching module 602 described in the embodiment of the present invention includes:
Matching unit 6021 passes through institute for color combining feature and depth characteristic in the consecutive image received
State the characteristic matching of alternative target and its location information.
Secondary Match unit 6022, for being more than the matching knot of default characteristic threshold value to characteristic distance in the characteristic matching
Fruit carries out quadratic character matching verifying, is modified to the result of the characteristic matching.
Position associative cell 6023, for the result according to the characteristic matching by same alternative target in different moments
Position is associated, and obtains the motion sequence in the consecutive image of the alternative target.
Since color characteristic and depth characteristic are capable of providing more accurate matching result, the embodiment of the present invention is special by color
Sign carries out characteristic matching with depth characteristic jointly.
Specifically, the color characteristic is color histogram.
In order to further increase the stability of characteristic matching, the accuracy of matching result, selection of the embodiment of the present invention are improved
The pixel point feature of the alternative target nucleus.The nucleus be apart from the alternative target center point coordinate away from
From the pixel for being less than pre-determined distance threshold value.The distance threshold is those skilled in the art rule of thumb and sets
It is fixed.
Specifically, after the embodiment of the present invention obtains preliminary matching result, it will do it quadratic character matching verifying.It is described
Matching result of the quadratic character matching verifying using other features such as texture, distance to characteristic distance more than default characteristic threshold value
It is verified, to realize the accuracy rate for improving characteristic matching while guaranteeing characteristic matching real-time.
Specifically, same alternative target is associated by the embodiment of the present invention in the position of different moments, to obtain institute
State motion sequence of the same alternative target in consecutive image.Due to the position of the corresponding target in a track whithin a period of time
Sequence is set, the motion profile of the alternative target is obtained by motion sequence class of the same alternative target in consecutive image.
According to embodiments of the present invention, the embodiment of the present invention carries out an image recognition to the received image data of institute, detect to
A few alternative target and its location information.Therefore, used by detection of the embodiment of the present invention to alternative target in image data
Image recognition is different from the motion detection in usual multi-target tracking field, and image recognition can detecte the movement mesh obtained in image
Mark and non-athletic target.The embodiment of the present invention will pass through the alternative target and its location information in the consecutive image received
Characteristic matching, obtain the motion sequence in the consecutive image of the alternative target, according to the motion sequence obtain it is described standby
The motion profile of target is selected, and shooting is tracked according to the motion profile.Therefore, it is standby to obtain at least one for the embodiment of the present invention
The motion sequence of target is selected, when guaranteeing the alternative target of replacement tracking shooting, realization target tracking that can be smooth is shot.
The target tracking filming apparatus of the present embodiment can be by any suitable electronic equipment with data-handling capacity
It executes, including but not limited to: server, mobile terminal (such as tablet computer, mobile phone) and PC machine etc. are also possible to an installation
Image processing unit on an electronic device, such as the image processing unit being mounted on unmanned aerial vehicle (UAV) control device, are mounted on photography
Image processing unit etc. on device, the image processing apparatus are also possible to tripod head equipment.
Embodiment eight
The embodiment of the present invention eight includes above-mentioned target determination module 601, characteristic matching module 602, tracking shooting module 603
A kind of structural block diagram of the target tracking filming apparatus.
Referring to Fig. 9, tracking shooting module 603 described in the embodiment of the present invention includes:
Target determination module 6031, for user instruction based on the received or the tracking priority of determination described alternative
Determining tracking target is selected in target.
Holder drive module 6032, for driving the cradle head control image acquisition equipment that can carry out trajectory track according to
The motion profile of tracking target is tracked shooting.
Specifically, user can be by selecting the encirclement frame or clicking to wait user instructions in at least one alternative mesh
Determining tracking target is selected in mark.
Specifically, to the alternative target determine tracking priority after, can also according to tracking priority it is described at least
Determining tracking target is selected in one alternative target.
The tracking priority is not limited in determining by the subscriber identity information that recognition of face obtains, and user can also be with
By instruction, the tracking priority is directly set.
Since the image acquisition equipment visual field is small, after tracking target moves out the image acquisition equipment visual field, can not continue to chase after
Track target trajectory.Therefore, addition of embodiment of the present invention holder enables image acquisition equipment that tracking target is followed to be moved, and makes to track
Target is in always in the field range of image acquisition equipment, and covert enlarged image obtains the field range of equipment, is tracked
The more complete track of target.
According to embodiments of the present invention, the embodiment of the present invention carries out an image recognition to the received image data of institute, detect to
A few alternative target and its location information.Therefore, used by detection of the embodiment of the present invention to alternative target in image data
Image recognition is different from the motion detection in usual multi-target tracking field, and image recognition can detecte the movement mesh obtained in image
Mark and non-athletic target.The embodiment of the present invention will pass through the alternative target and its location information in the consecutive image received
Characteristic matching, obtain the motion sequence in the consecutive image of the alternative target, according to the motion sequence obtain it is described standby
The motion profile of target is selected, and shooting is tracked according to the motion profile.Therefore, it is standby to obtain at least one for the embodiment of the present invention
The motion sequence of target is selected, when guaranteeing the alternative target of replacement tracking shooting, realization target tracking that can be smooth is shot.
The target tracking filming apparatus of the present embodiment can be by any suitable electronic equipment with data-handling capacity
It executes, including but not limited to: server, mobile terminal (such as tablet computer, mobile phone) and PC machine etc. are also possible to an installation
Image processing unit on an electronic device, such as the image processing unit being mounted on unmanned aerial vehicle (UAV) control device, are mounted on photography
Image processing unit etc. on device, the image processing apparatus are also possible to tripod head equipment.
Embodiment nine
Referring to Fig.1 0, show the structural schematic diagram of according to embodiments of the present invention six a kind of electronic equipment, present invention tool
Body embodiment does not limit the specific implementation of electronic equipment.
As shown in Figure 10, which may include: processor (processor) 1002, communication interface
(Communications Interface) 1004, memory (memory) 1006 and communication bus 1008.
Wherein:
Processor 1002, communication interface 1004 and memory 1006 complete mutual lead to by communication bus 1008
Letter.
Communication interface 1004, for being communicated with other electronic equipments such as terminal device or server.
Processor 1002 can specifically execute the correlation step in above method embodiment for executing program 1010.
Specifically, program 1010 may include program code, which includes computer operation instruction.
Processor 1002 may be central processor CPU or specific integrated circuit ASIC (Application
Specific Integrated Circuit), or be arranged to implement the integrated electricity of one or more of the embodiment of the present invention
Road.The one or more processors that electronic equipment includes can be same type of processor, such as one or more CPU；It can also
To be different types of processor, such as one or more CPU and one or more ASIC.
Memory 1006, for storing program 1010.Memory 1006 may include high speed RAM memory, it is also possible to also
Including nonvolatile memory (non-volatile memory), for example, at least a magnetic disk storage.
Program 1010 specifically can be used for so that processor 1002 executes following operation: received to institute by image recognition
Image data carries out target detection, obtains at least an alternative target and its location information；Pass through in the consecutive image received
The characteristic matching of the alternative target and its location information obtains the motion sequence in the consecutive image of the alternative target；Root
The motion profile of the alternative target is obtained according to the motion sequence, and shooting is tracked according to the motion profile.
In a kind of optional embodiment, program 1010 is also used to obtain received picture number using image recognition algorithm
Alternative target and its location information in, the alternative target include moving target and/or static target.
In a kind of optional embodiment, the location information includes center point coordinate and/or encirclement frame size.
In a kind of optional embodiment, program 1010 is also used to color combining feature and depth characteristic and is receiving
Pass through the alternative target and its characteristic matching of location information in consecutive image；It will be same according to the result of the characteristic matching
Alternative target is associated in the position of different moments, obtains the motion sequence in the consecutive image of the alternative target.
In a kind of optional embodiment, program 1010 is also used to be more than default to characteristic distance in the characteristic matching
The matching result of characteristic threshold value carries out quadratic character matching verifying, is modified to the result of the characteristic matching.
In a kind of optional embodiment, program 1010 is also used to the tracking of user instruction based on the received or determination
Priority selects determining tracking target in the alternative target；The cradle head control image that driving can carry out trajectory track obtains
Equipment is tracked shooting according to the motion profile of the tracking target.
According to embodiments of the present invention, the embodiment of the present invention carries out an image recognition to the received image data of institute, detect to
A few alternative target and its location information.Therefore, used by detection of the embodiment of the present invention to alternative target in image data
Image recognition is different from the motion detection in usual multi-target tracking field, and image recognition can detecte the movement mesh obtained in image
Mark and non-athletic target.The embodiment of the present invention will pass through the alternative target and its location information in the consecutive image received
Characteristic matching, obtain the motion sequence in the consecutive image of the alternative target, according to the motion sequence obtain it is described standby
The motion profile of target is selected, and shooting is tracked according to the motion profile.Therefore, it is standby to obtain at least one for the embodiment of the present invention
The motion sequence of target is selected, when guaranteeing the alternative target of replacement tracking shooting, realization target tracking that can be smooth is shot.
It may be noted that all parts/step described in the embodiment of the present invention can be split as more according to the needs of implementation
The part operation of two or more components/steps or components/steps can also be combined into new component/step by multi-part/step
Suddenly, to realize the purpose of the embodiment of the present invention.
It is above-mentioned to be realized in hardware, firmware according to the method for the embodiment of the present invention, or be implemented as being storable in note
Software or computer code in recording medium (such as CD ROM, RAM, floppy disk, hard disk or magneto-optic disk), or it is implemented through net
The original storage of network downloading in long-range recording medium or nonvolatile machine readable media and will be stored in local recording medium
In computer code, so that method described herein can be stored in using general purpose computer, application specific processor or can compile
Such software processing in journey or the recording medium of specialized hardware (such as ASIC or FPGA).It is appreciated that computer, processing
Device, microprocessor controller or programmable hardware include can store or receive software or computer code storage assembly (for example,
RAM, ROM, flash memory etc.), when the software or computer code are by computer, processor or hardware access and execute, realize
Target tracking image pickup method described herein.In addition, when general purpose computer accesses the code for realizing the method being shown here
When, general purpose computer is converted to the special purpose computer for being used for executing the method being shown here by the execution of code.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and method and step can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The range of the embodiment of the present invention.
Embodiment that the above embodiments are only used to illustrate the present invention, and the limitation not to the embodiment of the present invention, related skill
The those of ordinary skill in art field can also make various in the case where not departing from the spirit and scope of the embodiment of the present invention
Variation and modification, therefore all equivalent technical solutions also belong to the scope of the embodiment of the present invention, the profession of the embodiment of the present invention
Protection scope should be defined by the claims.
Claims (14)
1. a kind of target tracking image pickup method, which is characterized in that the described method includes:
Target detection is carried out to the received image data of institute by image recognition, obtains an at least alternative target and its position letter
Breath；
By the alternative target and its characteristic matching of location information in the consecutive image received, the alternative mesh is obtained
Motion sequence in target consecutive image；
The motion profile of the alternative target is obtained according to the motion sequence, and bat is tracked according to the motion profile
It takes the photograph.
2. the method according to claim 1, wherein it is described by image recognition to the received image data of institute into
Row target detection obtains at least an alternative target and its location information specifically:
Alternative target and its location information in received image data, the alternative target packet are obtained using image recognition algorithm
Include moving target and/or static target.
3. according to the method described in claim 2, it is characterized in that, the location information includes center point coordinate and/or encirclement
Frame size.
4. the method according to claim 1, wherein it is described in the consecutive image received by described alternative
The characteristic matching of target and its location information, the motion sequence obtained in the consecutive image of the alternative target include:
Color combining feature and depth characteristic pass through the alternative target and its location information in the consecutive image received
Characteristic matching；
Same alternative target is associated in the position of different moments according to the result of the characteristic matching, is obtained described alternative
Motion sequence in the consecutive image of target.
5. according to the method described in claim 4, it is characterized in that, the result according to the characteristic matching will be same alternative
Target is associated in the position of different moments, is also wrapped before obtaining the motion sequence in the consecutive image of the alternative target
It includes:
Quadratic character matching verifying is carried out to the matching result that characteristic distance in the characteristic matching is more than default characteristic threshold value, it is right
The result of the characteristic matching is modified.
6. the method according to claim 1, wherein described obtain the alternative target according to the motion sequence
Motion profile, and shooting is tracked according to the motion profile and includes:
User instruction or the tracking priority of determination select determining tracking target in the alternative target based on the received；
The cradle head control image acquisition equipment that driving can carry out trajectory track is chased after according to the motion profile of the tracking target
Track shooting.
7. a kind of target tracking filming apparatus, which is characterized in that described device includes:
It is standby to obtain at least one for carrying out target detection to the received image data of institute by image recognition for target determination module
Select target and its location information；
Characteristic matching module, for passing through the alternative target and its feature of location information in the consecutive image received
Match, obtains the motion sequence in the consecutive image of the alternative target；
Shooting module is tracked, for obtaining the motion profile of the alternative target according to the motion sequence, and according to the fortune
Dynamic rail mark is tracked shooting.
8. device according to claim 7, which is characterized in that the target determination module is specifically used for:
Alternative target and its location information in received image data, the alternative target packet are obtained using image recognition algorithm
Include moving target and/or static target.
9. device according to claim 8, which is characterized in that the location information includes center point coordinate and/or encirclement
Frame size.
10. device according to claim 7, which is characterized in that the characteristic matching module includes:
Matching unit passes through the alternative mesh for color combining feature and depth characteristic in the consecutive image received
The characteristic matching of mark and its location information；
Position associative cell, for being carried out same alternative target in the position of different moments according to the result of the characteristic matching
Association, obtains the motion sequence in the consecutive image of the alternative target.
11. device according to claim 10, which is characterized in that the characteristic matching module further include:
Secondary Match unit, the matching result for being more than default characteristic threshold value to characteristic distance in the characteristic matching carry out two
Secondary characteristic matching verifying, is modified the result of the characteristic matching.
12. device according to claim 4, which is characterized in that described to obtain the alternative mesh according to the motion sequence
Target motion profile, and shooting is tracked according to the motion profile and includes:
Target determination module selects in the alternative target for user instruction based on the received or the tracking priority of determination
Select determining tracking target；
Holder drive module, for driving the cradle head control image acquisition equipment that can carry out trajectory track according to the tracking target
Motion profile be tracked shooting.
13. a kind of electronic equipment, comprising: processor, memory, communication interface and communication bus, the processor, the storage
Device and the communication interface complete mutual communication by the communication bus；
The memory executes the processor as right is wanted for storing an at least executable instruction, the executable instruction
Ask the corresponding operation of method described in any one of 1-6.
14. a kind of computer storage medium, is stored thereon with computer program, such as right is realized when which is executed by processor
It is required that any method in 1-6.
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