CN110248059A - A kind of object tracking device and method - Google Patents
A kind of object tracking device and method Download PDFInfo
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- CN110248059A CN110248059A CN201910432784.8A CN201910432784A CN110248059A CN 110248059 A CN110248059 A CN 110248059A CN 201910432784 A CN201910432784 A CN 201910432784A CN 110248059 A CN110248059 A CN 110248059A
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- mirror surface
- camera lens
- image
- seat stand
- object tracking
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000033001 locomotion Effects 0.000 claims abstract description 11
- 238000004364 calculation method Methods 0.000 claims abstract description 8
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 96
- 230000003287 optical effect Effects 0.000 claims description 21
- 230000005540 biological transmission Effects 0.000 claims description 16
- 230000001788 irregular Effects 0.000 claims description 10
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- 238000012937 correction Methods 0.000 claims description 7
- 238000000926 separation method Methods 0.000 claims description 6
- 230000008054 signal transmission Effects 0.000 claims description 4
- 238000004422 calculation algorithm Methods 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 2
- 238000011426 transformation method Methods 0.000 claims description 2
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- 230000011514 reflex Effects 0.000 abstract description 5
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- 239000002360 explosive Substances 0.000 description 4
- 238000012360 testing method Methods 0.000 description 4
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- 238000009434 installation Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
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- 238000006243 chemical reaction Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
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Classifications
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B17/00—Details of cameras or camera bodies; Accessories therefor
- G03B17/02—Bodies
- G03B17/17—Bodies with reflectors arranged in beam forming the photographic image, e.g. for reducing dimensions of camera
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/95—Computational photography systems, e.g. light-field imaging systems
- H04N23/957—Light-field or plenoptic cameras or camera modules
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- Multimedia (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
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- Studio Devices (AREA)
Abstract
The invention discloses a kind of object tracking devices, by the way that camera lens and reflecting mirror are arranged on seat stand, utilize the reflex of reflecting mirror, surrounding scene is enabled to form image in camera lens, picture pick-up device is moved by the seat stand that can be moved and completes alignment tracking, there is no visual angle limitations, and if using more camera lenses, also need not more camera lenses work at the same time, reduce demand to ardware model number and parameter.The invention discloses a kind of object tracking methods, utilize the reflex of reflecting mirror, surrounding scene is enabled to form image sequence in camera lens, by comparing the image in image sequence, judged using threshold value, obtain the image of object to be tracked, the positioning for completing tracking object is calculated by coordinate, and then movement instruction is issued to seat stand, so that the camera alignment tracking object of picture pick-up device, image is acquired with camera lens due to matching by reflecting mirror, without calculating and being superimposed the data of a plurality of lenses, calculation method is simple and fast.
Description
Technical field
The invention belongs to object automatic tracing apparatus field, especially a kind of object tracking device and method.
Background technique
Tracing equipment conventional at present is usually that mobile phone or plate etc. are mounted on holder, passes through the utilization of software and ties
The front camera that mobile phone or plate carry is closed, or combines active tracking technique, Lai Shixian holder automatically tracks.Wherein certainly
Motion tracking is when being tracked, using dynamic recognition technique, when object does not have face mobile phone camera or mobile phone
Tracking effect is poor when camera clarity is imperfect；In addition the holder product of mobile phone camera or single camera, by
Can all there be the fixed FOV (field angle) of visual angle limitation i.e. one of certain specification in camera itself, if object leaves camera
Visual angle, holder just can not work normally；Conventional products, cannot be real-time due to the form using a camera combination stepper motor
The real-time condition of moving object is acquired, and is fed back in real time to motor, so will appear slow in reacting wait now when tracking object
As.
Thus occur placing camera on tracing equipment at present, be carried out using the camera of tracing equipment itself installation
It is tracked after identification, due to directly acquiring scene image using camera, thus is had to the number of camera required again.Such as
Fruit uses the product of 3 or less cameras, since the visual angle of camera itself limits, is not capable of real-time acquisition the real-time of moving object
Situation, and fed back in real time to motor, so will appear phenomena such as slow in reacting when tracking object；If using multi-cam
Product, being not only due to multiple cameras causes production cost to rise, and need by preferably processing chip processing camera shooting
The image of head acquisition further results in production cost rising.
Summary of the invention
The working principle of follow-up mechanism of the present invention are as follows: camera lens and reflecting mirror are set on seat stand, utilize the anti-of reflecting mirror
The effect of penetrating, camera lens obtain the image comprising tracking target by mirror surface, transport picture pick-up device by the seat stand that can be moved
It moves and completes alignment tracking.Due to using reflecting mirror, it is able to achieve the reflection of extensive angle, thus if using 3 or less camera lenses,
There is no visual angle limitations, and if using more camera lenses, also need not more camera lenses work at the same time, reduce to ardware model number and parameter
Demand.
The working principle of method for tracing of the present invention are as follows: using the reflex of reflecting mirror, enable surrounding scene shape in camera lens
Judged by comparing the image in image sequence using threshold value at image sequence, obtain the image of object to be tracked, is led to
It crosses coordinate and calculates the positioning for completing tracking object, and then movement instruction is issued to seat stand, so that the camera of picture pick-up device is aligned
Track object.Image is acquired with camera lens due to matching by reflecting mirror, without calculating and being superimposed the data of a plurality of lenses, calculation method
It is simple and fast.
To solve the above-mentioned problems, the present invention proposes a kind of object tracking device and method.
The technical scheme adopted by the invention is that:
A kind of object tracking device, including camera lens, mirror surface and the seat stand that can be moved, the seat stand is clapped for connecting
Equipment is taken the photograph, camera lens and mirror surface are arranged on seat stand, and mirror surface is for spread F OV and at least partly mirror surface is convex
It rises, camera lens obtains the image comprising tracking target by mirror surface, obtains tracking position by the position of tracking target in the picture
It sets, seat stand moves to trace location and makes capture apparatus alignment tracking target.
Further, the trace location is obtained by camera lens or the seat stand by being provided with control device obtains or by clapping
Equipment is taken the photograph to obtain.Tracking function is realized by different structure, can be by device stepping according to the cost of different structure, and root
Different operating experiences is obtained according to the device of different class.
Preferably, the camera lens is provided with control module, control module is provided with signal transmission unit, and signal transmission is single
Member exports trace location to seat stand.The calculating of tracking and the output of signal are realized by the control module built in camera lens, camera lens is straight
Control seat stand is connect, simplifies seat stand structure, seat stand lightweight and micromation can be made.
Preferably, the seat stand is provided with control device, control device is provided with elementary area and transmission unit, image
Unit obtains trace location by the image of camera lens, and elementary area provides trace location by transmission unit for the movement of seat stand.
Control device is installed on seat stand, existing pick-up lens and circuit board can be used, without hardware configuration is changed, technique is simple
It is single, while the communication matching degree between all parts is high, is less prone to and matches bad situation.
Preferably, further including data outputting unit and data transmission unit, the camera lens is connected by data outputting unit
Capture apparatus is connect, capture apparatus connects seat stand by data transmission unit, and image is inputted capture apparatus by data outputting unit, number
Trace location is exported to seat stand according to transmission unit.It, can be most by handling image and calculating using the processor of capture apparatus itself
Limits reduce cost.
Further, the number of shots is that 1 and camera lens by the cooperation with mirror surface obtain the image of scene
Angular range is 60 degree of -360 degree.Using the single-lens capture that wide-angle scene can be realized with mirror surface, viewfinder range and more
Camera lens is consistent, and there is no visual angle limitations, while the chip used the type high without price of arranging in pairs or groups, and is further decreasing
Guarantee the image of acquirement wide-angle while production cost again.
Further, the seat stand includes pedestal platform, workbench and moving component, moving component one end linker seat stand and
Other end connecting working table, workbench can the movements of opposite base platform by moving component.
Further, the pedestal platform includes pedestal and bracket, and bracket is connect with pedestal, and camera lens is set on the base,
Camera lens projects to the setting of the position on bracket mirror surface.
Preferably, the pedestal platform includes that pedestal, bracket and auxiliary mirror surface, bracket are connect with pedestal, mirror surface
It is arranged on bracket, camera lens and auxiliary mirror surface are set on the base, and auxiliary mirror surface is arranged on the outside of camera lens and does not cover
Camera lens.Secondary reflection is realized by setting spoke mirror surface, the image that two width match is formed, due to the imaging of the same space point
The optical path different from two carries out super-resolution rebuilding by fusion two images, forms clearly image.
Preferably, the auxiliary mirror surface is the hyperboloid mirror surface of intermediate aperture, mirror surface is conical mirror surface.
Preferably, the pedestal platform further includes connector and intermediate mirror surface, connector is connect with pedestal or bracket, intermediate
Mirror surface and connector connect and are arranged between camera lens and mirror surface, and intermediate mirror surface is parallel with camera lens, and intermediate mirror surface opens up logical
Hole, the through hole section of intermediate mirror surface are greater than the maximum cross-section of camera lens, the center line weight of optical center line and the through-hole of intermediate mirror surface
Merge and optical center line is overlapped with mirror surface center line.Optical path using intermediate mirror in face of auxiliary mirror surface carries out secondary counter
It penetrates, so that the field depth of the inner ring and outer rings of image is almost the same, eliminates the image defocus as brought by multiple mirror surfaces
Situation.
Preferably, the auxiliary mirror surface is the hyperboloid mirror surface of intermediate aperture, mirror surface is conical mirror surface,
Intermediate mirror surface is annular plane mirror.
Preferably, the mirror surface is conical mirror surface or polygonal pyramid shape mirror surface or rotational symmetry optical aspherical surface mirror
Face.
A kind of object tracking method, comprising the following steps:
S1, camera lens obtain the image of scene by the cooperation with mirror surface；
S2, by current frame image with before in a frame image or current frame image with before in a few frame images calculation
Method average value is compared, and image change is more than that the region of threshold value is marking area；
S3 carries out the trace location that seat stand is calculated according to marking area；
S4 issues seat stand and instructs according to trace location, and seat stand moves so that capture apparatus alignment target position.
Further, the calculation method in the S3 are as follows:
The first step is defined image, define zero degree direction, according to any point A in marking area with it is another in image
Coordinate relationship between point O, obtains vector OA；
Second step, it is C that subpoint of the rotation center of seat stand on camera lens, which is formed by picture point in the picture, according to mark
Surely vector CO is measured；
Rotating vector CA=CO+OA is calculated in third step；
4th step, angle is θ between the direction and image zero degree direction of CA, and initial zero degree angle is δ, then target steering angle ψ
=δ+θ.
By selected point A and point O, it is added to obtain vector CA with vector CO using vector OA, for correcting eccentricity issues, really
Even if protecting the picture point of the rotation center of optical center picture point in the picture and seat stand in the picture not coincide, can also obtain just
True rotating vector.
Preferably, alignment, initial zero degree are completed in the direction axes alignment ψ of the camera of capture apparatus in the S4
Angle δ=alpha+beta, wherein α is image zero degree direction and seat stand zero degree angular separation, and β is image zero degree direction and camera zero degree
Angular separation.
Further, algorithm filtering is done in the region for being more than threshold value to image change, and filtered region is marking area.
Further, in the S3, the coordinate of the tracking target that camera lens obtains in the picture is (x, y), is turned by coordinate
Scaling method correction show that the calibration coordinate of tracking target in the picture is (x ˊ, y ˊ), calculates trace location using calibration coordinate.
Further, the threshold value in the S2 by image luminance difference or brightness range difference or color difference or luminance difference, brightness
Range differences, color difference any combination obtain.
Further, described image is round, annular, irregular fan-shaped or irregular polygon.
The present invention compared with the existing technology has the following advantages that and effect:
1, the setting camera lens on seat stand and reflecting mirror of the invention enable surrounding scene exist using the reflex of reflecting mirror
Image is formed in camera lens, moves picture pick-up device by the seat stand that can be moved and completes alignment tracking.Due to using reflecting mirror,
It is able to achieve the reflection of extensive angle, thus if will not have visual angle limitation using 3 or less camera lenses, and if using more mirrors
Head, also need not more camera lenses work at the same time, without preferable processing chip.
2, the present invention utilizes the reflex of reflecting mirror, enables surrounding scene form image sequence in camera lens, by comparing
Image in image sequence, is judged using threshold value, obtains the image of object to be tracked, and is eliminated using coordinates transformation method anti-
The distortion phenomenon for penetrating mirror surface, the coordinate after obtaining correction are calculated the positioning for completing tracking object by coordinate, and then sent out seat stand
Movement instruction out, so that the camera alignment tracking object of picture pick-up device.Scene figure is acquired with camera lens due to matching by reflecting mirror
Picture, without calculating and being superimposed the data of a plurality of lenses, calculation method is simple and fast.
3, the present invention can use the structure of multiple reflection mirror surface, realize secondary reflection by auxiliary mirror surface, form two width
The image to match carries out oversubscription by fusion two images since the imaging of the same space point is from two different optical paths
Resolution is rebuild, and forms clearly image, while carrying out secondary reflection to the optical path of auxiliary mirror surface again using intermediate mirror surface, so that
The field depth of the inner ring and outer rings of image is almost the same, eliminates the image defocus situation as brought by multiple mirror surfaces, into
And obtain panoramic picture high-definition.
4, the present invention can be calibrated using test pattern, and camera lens obtains standard picture by reflecting mirror, by the two into
After row compares, the correction matrix of mirror surface is calculated, coordinate conversion is carried out to image later using correction matrix, is eliminated
The distortion phenomenon of mirror surface, and the calculation amount of correction matrix is few, and the calculation amount of coordinate conversion is few, reduces correction and calculates to hard
The demand of part.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.
Fig. 1 is the structural schematic diagram of embodiment 1；
Fig. 2 is the explosive view of Fig. 1；
Fig. 3 is another structural schematic diagram of embodiment 1；
Fig. 4 is another structural schematic diagram of embodiment 1；
Fig. 5 is another structural schematic diagram of embodiment 1；
Fig. 6 is the structural schematic diagram of embodiment 2；
Fig. 7 is the explosive view of embodiment 3；
Fig. 8 is the explosive view of embodiment 4；
Fig. 9 is the explosive view of embodiment 5；
Figure 10 is the structural schematic diagram of embodiment 6；
Figure 11 is the structural schematic diagram of embodiment 7；
Figure 12 is the flow diagram of embodiment 8；
Figure 13 be embodiment 8 previous frame coordinate schematic diagram；
Figure 14 is the current frame coordinate schematic diagram of embodiment 8；
Figure 15 is the test pattern schematic diagram of embodiment 9；
Figure 16 is the image of the test pattern of embodiment 9 after reflection.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.
Embodiment 1:
As shown in Figs. 1-5, a kind of object tracking device, including camera lens 1, mirror surface and the seat stand that itself can be moved,
The seat stand connects capture apparatus (such as mobile phone, plate etc.), and camera lens 1 and mirror surface are fixed on seat stand.
Common lens, fish eye lens, wide-angle lens head etc., such as the model EF 50mm of Canon Inc. can be used in camera lens 1
The product of f/1.8STM, the nearest focal distance of the product are 35cm；In another example the model MK-6.5mm f/ of Mei Ke company
2.0 product, the nearest focal distance of the product are 22cm.The quantity of camera lens 1 is at least 1, using single in the present embodiment
Wide-angle lens, FOV are 60 degree.
Conical mirror surface 2 or polygonal pyramid shape mirror surface (such as triangular pyramid mirror surface 3, hexagonal pyramid mirror surface 4 can be used in mirror surface
Deng) or rotational symmetry optical aspherical surface mirror surface 5 (such as paraboloid mirror surface, elliptical mirror, hyperbola face mirror surface etc.), protrusion be
For tapered protrusion or parabolical protrusion or elliptical shaped lobes or hyperbola protrusion etc..Wherein, the circular cone body section of conical mirror surface 2
For obtuse triangle, such as 91 degree or 120 degree or 170 degree etc.；The middle section of triangular pyramid mirror surface 3 is obtuse triangle, such as 91
Degree or 120 degree or 170 degree etc.；The middle section of hexagonal pyramid mirror surface 4 is obtuse triangle, such as 91 degree or 120 degree or 170 degree etc.；
Paraboloid mirror surface, elliptical mirror, hyperbola face mirror surface etc. can be used in rotational symmetry optical aspherical surface mirror surface 5.In the present embodiment
The first structure uses radius of turn for 120 degree of 10cm of conical mirror surface 2, and second of structure is using a length of 12cm's in bottom edge
120 degree of triangular pyramid mirror surface 3, the third structure use 120 degree of the hexagonal pyramid mirror surface 4 of a length of 7cm in bottom edge, and the 4th kind of structure is adopted
With paraboloid mirror surface (parabolical expression formula is x2=16y, x=8cm, y=4cm).
Seat stand includes pedestal platform, workbench 9 and moving component, the moving component one end linker seat stand and other end connects work
Make platform 9.Pedestal platform can be moved for camera lens 1 and mirror surface, workbench 9 to be arranged by moving component work.Wherein, pedestal
Platform is made of pedestal 6, bracket 7 and control device, and pedestal 6 can be for cylinder table, fang platform, ladder platform, rotary table etc., and bracket 7 can be with
For cylinder table, fang platform, ladder platform, rotary table etc., pedestal 6 and the cross-sectional shape of bracket 7 can be the same or different, pedestal 6
It is fixed between bracket 7 by least one component, which can be using structures such as straight-bar, curved bar, net, block, covers, and camera lens 1 is solid
It is scheduled on pedestal 6, control device is fixed on pedestal 6 or bracket 7 or component, and control device is provided with elementary area and transmission is single
Member, elementary area and camera lens 1 communicate, and transmission unit and moving component communicate, and mirror surface is fixed on bracket 7 and reflecting mirror
The quantity in face is at least 1；Workbench 9 is used for establishing shot equipment, and workbench 9 can be cylinder table, fang platform, ladder platform, circle
Platform etc.；Moving component can be fixed at one in three positions, be respectively: bracket 7 is internal or external, 6 inside of pedestal or
On external, component, moving component includes motor and belt pulley or motor and gear shaft or motor and worm and gear or electricity
Machine and retarder or other structures that workbench 9 can be made to rotate.It is the circle straight-bar of 15cm that 2 length are used in the present embodiment
The diameter of 8 connection pedestals 6 and bracket 7, circle straight-bar 8 is 1cm, and pedestal 6 uses diameter for the cylinder table of 25cm, and bracket 7 is using straight
Diameter is the cylinder table of 25cm, and 1 mirror surface is fixed in 7 lower surface of bracket, is opened up at the top of bracket 7 fixed in groove and the groove
1 has the servo motor 12 of worm screw 10,6 inner hollow of pedestal, and 6 upper surface aperture of pedestal simultaneously places 1 camera lens 1 in hole,
The center of circle straight-bar 8 and pedestal 6 is away from being 9cm, and the translucent cover 15 with a thickness of 0.1cm, workbench 9 are installed in 6 edge of pedestal
It uses diameter for the cylinder table of 25cm, is opened up at the top of workbench 9 in the square groove for placing capture apparatus and 9 bottom of workbench
Fix 1 turbine 11 at the heart, turbine 11 and worm screw 10 are intermeshed, and control device is used with (such as the type of image processor 13
Number chip for being MDIN241) and wireless module 14 circuit board, image processor 13 and camera lens 1 communicates, wireless module 14 with watch
Take the communication of motor 12.
When work, device is placed in scene, capture apparatus is fixed on workbench 9, and the scene within the scope of 360 degree is through anti-
That penetrates mirror surface is reflected into camera lens 1, and the FOV of camera lens 1 is 60 degree, and camera lens 1 has obtained the figure of 360 degree of scenes by mirror surface
Picture, people or object in scene are tracking target, when track target it is mobile after, image processor 13 obtains work after tracking target is mobile
Make the angle that platform 9 needs to rotate, the i.e. angle of rotation required for the camera alignment tracking target by capture apparatus, this is tracking
The angle information is transferred to servo motor 12 by position, wireless module 14, and servo motor 12 works, and passes through turbine 11 and worm screw 10
It drives workbench 9 to rotate to trace location, so that the camera of capture apparatus is directed at tracking target, complete tracking.
Embodiment 2:
As shown in fig. 6, a kind of object tracking device, including camera lens 1, mirror surface and the seat stand that itself can be moved, institute
Seat stand connection capture apparatus (such as mobile phone, plate etc.) is stated, camera lens 1 and mirror surface are fixed on seat stand.
Common lens, fish eye lens, wide-angle lens head etc., such as the model EF 50mm of Canon Inc. can be used in camera lens 1
The product of f/1.8STM, the nearest focal distance of the product are 35cm；In another example the model MK-6.5mm f/ of Mei Ke company
2.0 product, the nearest focal distance of the product are 22cm.The quantity of camera lens 1 is at least 1, using single in the present embodiment
Wide-angle lens, FOV are 70 degree.
Conical mirror surface 2 or polygonal pyramid shape mirror surface (such as triangular pyramid mirror surface 3, hexagonal pyramid mirror surface 4 can be used in mirror surface
Deng) or rotational symmetry optical aspherical surface mirror surface 5 (such as paraboloid mirror surface, elliptical mirror, hyperbola face mirror surface etc.).Wherein,
The circular cone body section of conical mirror surface 2 is obtuse triangle, such as 91 degree or 120 degree or 170 degree etc.；In triangular pyramid mirror surface 3
Section is obtuse triangle, such as 91 degree or 120 degree or 170 degree etc.；The middle section of hexagonal pyramid mirror surface 4 is obtuse triangle, example
Such as 91 degree or 120 degree or 170 degree；Paraboloid mirror surface, elliptical mirror, double can be used in rotational symmetry optical aspherical surface mirror surface 5
Curvilinear plane mirror surface etc..Paraboloid mirror surface (parabolical expression formula for x2=3y, x=3cm, y=3cm) is used in the present embodiment.
Seat stand includes pedestal platform, workbench 9 and moving component, the moving component one end linker seat stand and other end connects work
Make platform 9.Pedestal platform can be moved for camera lens 1 and mirror surface, workbench 9 to be arranged by moving component work.Wherein, pedestal
Platform is made of pedestal 6, bracket 7 and control device, and pedestal 6 can be for cylinder table, fang platform, ladder platform, rotary table etc., and bracket 7 can be with
For cylinder table, fang platform, ladder platform, rotary table etc., pedestal 6 and the cross-sectional shape of bracket 7 can be the same or different, pedestal 6
It is fixed between bracket 7 by least one component, which can be using structures such as straight-bar, curved bar, net, block, covers, and camera lens 1 is solid
It is scheduled on pedestal 6, control device is fixed on pedestal 6 or bracket 7 or component, and control device is provided with elementary area and transmission is single
Member, elementary area and camera lens 1 communicate, and transmission unit and moving component communicate, and mirror surface is fixed on bracket 7 and reflecting mirror
The quantity in face is at least 1；Workbench 9 is used for establishing shot equipment, and workbench 9 can be cylinder table, fang platform, ladder platform, circle
Platform etc.；Moving component can be fixed at one in three positions, be respectively: bracket 7 is internal or external, 6 inside of pedestal or
On external, component, moving component includes motor and belt pulley or motor and gear shaft or motor and worm and gear or electricity
Machine and retarder or other structures that workbench 9 can be made to rotate.Using the transparent connection with a thickness of 0.2cm in the present embodiment
16 connection pedestal 6 of cover and bracket 7, pedestal 6 use diameter for the cylinder table of 25cm, and bracket 7 uses diameter for the cylinder table of 25cm,
The identical mirror surface of 3 models, and three's being equidistant away from optical center, each reflecting mirror are fixed in 7 lower surface of bracket
Face and the center of bracket 7 open up groove and the groove center fix 1 servo motor, watch away from being 5cm at the top of bracket 7
Motor top connection retarder is taken, retarder fixes with groove inner wall, 6 inner hollow of pedestal, 6 upper surface aperture of pedestal and in hole
1 camera lens 1 of interior placement, workbench 9 uses diameter for the cylinder table of 25cm and 9 bottom center of workbench fix 1 with subtract
The axis of fast device connection, turbine 11 and worm screw 10 are intermeshed, and control device is used with (such as the model of image processor 13
The chip of MDIN241) and wireless module 14 circuit board, image processor 13 and camera lens 1 communicates, wireless module 14 and servo electricity
Machine 12 communicates.
Embodiment 3:
As shown in fig. 7, a kind of object tracking device, including camera lens 1, mirror surface and the seat stand that itself can be moved, institute
Seat stand connection capture apparatus (such as mobile phone, plate etc.) is stated, camera lens 1 and mirror surface are fixed on seat stand.
Camera lens 1 using Built-in Image processor 13 and wireless module 14 camera, by image processor and camera
Circuit connection, and by the circuit connection of wireless module 14 and image processor 13.The quantity of camera lens 1 is at least 1, the present embodiment
Middle to use single wide-angle lens, FOV is 80 degree.
Conical mirror surface 2 or polygonal pyramid shape mirror surface (such as triangular pyramid mirror surface 3, hexagonal pyramid mirror surface 4 can be used in mirror surface
Deng) or rotational symmetry optical aspherical surface mirror surface 5 (such as paraboloid mirror surface, elliptical mirror, hyperbola face mirror surface etc.).Wherein,
The circular cone body section of conical mirror surface 2 is obtuse triangle, such as 91 degree or 120 degree or 170 degree etc.；In triangular pyramid mirror surface 3
Section is obtuse triangle, such as 91 degree or 120 degree or 170 degree etc.；The middle section of hexagonal pyramid mirror surface 4 is obtuse triangle, example
Such as 91 degree or 120 degree or 170 degree；Paraboloid mirror surface, elliptical mirror, double can be used in rotational symmetry optical aspherical surface mirror surface 5
Curvilinear plane mirror surface etc..Paraboloid mirror surface (parabolical expression formula for x2=16y, x=8cm, y=4cm) is used in the present embodiment.
Seat stand includes pedestal platform, workbench 9 and moving component, the moving component one end linker seat stand and other end connects work
Make platform 9.Pedestal platform can be moved for camera lens 1 and mirror surface, workbench 9 to be arranged by moving component work.Wherein, pedestal
Platform is made of pedestal 6 and bracket 7, pedestal 6 can for cylinder table, fang platform, ladder platform, rotary table etc., bracket 7 can for cylinder table,
Fang platform, ladder platform, rotary table etc., pedestal 6 and the cross-sectional shape of bracket 7 can be the same or different, pedestal 6 and bracket 7 it
Between fixed by least one component, which can be fixed on pedestal 6 using structures, the camera lens 1 such as straight-bar, curved bar, net, block, cover
On, mirror surface is fixed on bracket 7 and the quantity of mirror surface is at least 1；Workbench 9 is used for establishing shot equipment,
Workbench 9 can be cylinder table, fang platform, ladder platform, rotary table etc.；Moving component can be fixed at one in three positions,
Be respectively: bracket 7 is internal or external, pedestal 6 is internal or external, on component, and moving component includes motor and belt pulley or electricity
Machine and gear shaft or motor and worm and gear or motor and retarder or other structures that workbench 9 can be made to rotate.This
1 length is used to connect pedestal 6 and bracket 7 for the circle straight-bar 8 of 15cm in embodiment, the diameter of circle straight-bar 8 is 1cm, and pedestal 6 is adopted
The cylinder table for being 25cm with diameter, bracket 7 use diameter for the cylinder table of 25cm, and 1 mirror surface is fixed in 7 lower surface of bracket,
It is opened up at the top of bracket 7 and fixes 1 servo motor 12 for having diameter 1cm gear in groove and the groove, servo motor 12
The center of gear and groove away from placing 1 camera lens 1 for 1.6cm, 6 inner hollow of pedestal, 6 upper surface aperture of pedestal and in hole,
The center of circle straight-bar 8 and pedestal 6 is away from being 9cm, and the translucent cover 15 with a thickness of 0.1cm, workbench 9 are installed in 6 edge of pedestal
Diameter is used to fix the gear of 1 diameter 2cm, the gear of workbench 9 for the cylinder table of 25cm and 9 bottom center of workbench
It is intermeshed with the gear of servo motor 12, wireless module and servo motor communicate.
Embodiment 4:
As shown in figure 8, a kind of object tracking device, including camera lens 1, mirror surface and the seat stand that itself can be moved, institute
Seat stand connection capture apparatus (such as mobile phone, plate etc.) is stated, camera lens 1 and mirror surface are fixed on seat stand.
Common lens, fish eye lens, wide-angle lens head etc., such as the model EF 50mm of Canon Inc. can be used in camera lens 1
The product of f/1.8STM, the nearest focal distance of the product are 35cm；In another example the model MK-6.5mm f/ of Mei Ke company
2.0 product, the nearest focal distance of the product are 22cm.The quantity of camera lens 1 is at least 1, using single in the present embodiment
Wide-angle lens, FOV are 90 degree.
Conical mirror surface 2 or polygonal pyramid shape mirror surface (such as triangular pyramid mirror surface 3, hexagonal pyramid mirror surface 4 can be used in mirror surface
Deng) or rotational symmetry optical aspherical surface mirror surface 5 (such as paraboloid mirror surface, elliptical mirror, hyperbola face mirror surface etc.).Wherein,
The circular cone body section of conical mirror surface 2 is obtuse triangle, such as 91 degree or 120 degree or 170 degree etc.；In triangular pyramid mirror surface 3
Section is obtuse triangle, such as 91 degree or 120 degree or 170 degree etc.；The middle section of hexagonal pyramid mirror surface 4 is obtuse triangle, example
Such as 91 degree or 120 degree or 170 degree；Paraboloid mirror surface, elliptical mirror, double can be used in rotational symmetry optical aspherical surface mirror surface 5
Curvilinear plane mirror surface etc..Paraboloid mirror surface (parabolical expression formula for x2=16y, x=8cm, y=4cm) is used in the present embodiment.
Seat stand includes pedestal platform, workbench 9 and moving component, the moving component one end linker seat stand and other end connects work
Make platform 9.Pedestal platform can be moved for camera lens 1 and mirror surface, workbench 9 to be arranged by moving component work.Wherein, pedestal
Platform is made of pedestal 6 and bracket 7, pedestal 6 can for cylinder table, fang platform, ladder platform, rotary table etc., bracket 7 can for cylinder table,
Fang platform, ladder platform, rotary table etc., pedestal 6 and the cross-sectional shape of bracket 7 can be the same or different, pedestal 6 and bracket 7 it
Between fixed by least one component, which can be fixed on pedestal 6 using structures, the camera lens 1 such as straight-bar, curved bar, net, block, cover
On, mirror surface is fixed on bracket 7 and the quantity of mirror surface is at least 1；Workbench 9 is used for establishing shot equipment,
Workbench 9 can be cylinder table, fang platform, ladder platform, rotary table etc.；Moving component can be fixed at one in three positions,
Be respectively: bracket 7 is internal or external, pedestal 6 is internal or external, on component, and moving component includes motor and belt pulley or electricity
Machine and gear shaft or motor and worm and gear or motor and retarder or other structures that workbench 9 can be made to rotate.This
Pedestal 6 and bracket 7 are connected using the circle straight-bar 8 that 2 length are 15cm in embodiment, the diameter of circle straight-bar 8 is 1cm, pedestal 6
Use diameter for the cylinder table of 25cm, bracket 7 uses diameter for the cylinder table of 25cm, and 1 reflecting mirror is fixed in 7 lower surface of bracket
Face opens up at the top of bracket 7 and fixes 1 servo motor 12 in groove and the groove, and servo motor 12 has belt wheel and belt wheel
Justify straight-bar 8 away from 1 camera lens 1 is placed for 6cm, 6 inner hollow of pedestal, 6 upper surface aperture of pedestal and in hole in center with groove
With the center of pedestal 6 away from for 9cm, and the installation of 6 edge of pedestal, with a thickness of the translucent cover 15 of 0.1cm, workbench 9 uses diameter
The belt pulley 22 of 1 diameter 2cm is fixed for the cylinder table and 9 bottom center of workbench of 25cm, and by 23 sets of belt in skin
On belt wheel 22 and servo motor 12.
Capture apparatus uses the mobile phone with wireless module, and mobile phone is realized logical by UVC or other wire line protocols and camera lens 1
News, mobile phone are realized by the wireless protocols such as bluetooth or WIFI and servo motor and are communicated.
Embodiment 5:
As shown in figure 9, a kind of object tracking device, including camera lens 1, mirror surface and the seat stand that itself can be moved, institute
Seat stand connection capture apparatus (such as mobile phone, plate etc.) is stated, camera lens 1 and mirror surface are fixed on seat stand.
Common lens, fish eye lens, wide-angle lens head etc., such as the model EF 50mm of Canon Inc. can be used in camera lens 1
The product of f/1.8STM, the nearest focal distance of the product are 35cm；In another example the model MK-6.5mm f/ of Mei Ke company
2.0 product, the nearest focal distance of the product are 22cm.The quantity of camera lens 1 is at least 1, using single in the present embodiment
Fish eye lens, FOV are 120 degree.
Conical mirror surface 2 or polygonal pyramid shape mirror surface (such as triangular pyramid mirror surface 3, hexagonal pyramid mirror surface 4 can be used in mirror surface
Deng) or rotational symmetry optical aspherical surface mirror surface 5 (such as paraboloid mirror surface, elliptical mirror, hyperbola face mirror surface etc.).Wherein,
The circular cone body section of conical mirror surface 2 is obtuse triangle, such as 91 degree or 120 degree or 170 degree etc.；In triangular pyramid mirror surface 3
Section is obtuse triangle, such as 91 degree or 120 degree or 170 degree etc.；The middle section of hexagonal pyramid mirror surface 4 is obtuse triangle, example
Such as 91 degree or 120 degree or 170 degree；Paraboloid mirror surface, elliptical mirror, double can be used in rotational symmetry optical aspherical surface mirror surface 5
Curvilinear plane mirror surface etc..The present embodiment uses paraboloid mirror surface (parabolical expression formula for x2=16y, x=8cm, y=4cm).
Seat stand includes pedestal platform, workbench 9 and moving component, the moving component one end linker seat stand and other end connects work
Make platform 9.Pedestal platform can be moved for camera lens 1 and mirror surface, workbench 9 to be arranged by moving component work.Wherein, pedestal
Platform is made of pedestal 6, bracket 7 and control device, and pedestal 6 can be for cylinder table, fang platform, ladder platform, rotary table etc., and bracket 7 can be with
For cylinder table, fang platform, ladder platform, rotary table etc., pedestal 6 and the cross-sectional shape of bracket 7 can be the same or different, pedestal 6
It is fixed between bracket 7 by least one component, which can be using structures such as straight-bar, curved bar, net, block, covers, and camera lens 1 is solid
It is scheduled on pedestal 6, control device is fixed on pedestal 6 or bracket 7 or component, and control device is provided with elementary area and transmission is single
Member, elementary area and camera lens 1 communicate, and transmission unit and moving component communicate, and mirror surface is fixed on bracket 7 and reflecting mirror
The quantity in face is at least 1；Workbench 9 is used for establishing shot equipment, and workbench 9 includes lifting platform 18 and turntable 19, lifting
Platform 18 can be cylinder table, fang platform, ladder platform, rotary table etc., and turntable 19 can be cylinder table, fang platform, ladder platform, rotary table etc.；
Moving component can be fixed at one in three positions, be respectively: bracket 7 is internal or external, pedestal 6 is internal or external,
On component, moving component includes the structure that turntable 19 can be made to rotate and the structure that can make the lifting of lifting platform 18.The present embodiment
Middle to connect pedestal 6 and bracket 7 using the circle straight-bar 8 that 2 length are 15cm, the diameter of circle straight-bar 8 is 1cm, and pedestal 6 is using straight
Diameter is the cylinder table of 25cm, and bracket 7 uses diameter for the cylinder table of 25cm, and 1 mirror surface, bracket 7 are fixed in 7 lower surface of bracket
Top opens up and fixes 1 servo motor 12 for having worm screw 10 in groove and the groove, 6 inner hollow of pedestal, table on pedestal 6
1 camera lens 1 is simultaneously placed in face aperture in hole, and the center of circle straight-bar 8 and pedestal 6 is away from being 9cm, and 6 edge of pedestal installation thickness
Degree is the translucent cover 15 of 0.1cm, and turntable 19 uses diameter for the cylinder table of 25cm, and 19 bottom center of turntable fixes 1
Turbine 11 opens up groove at the top of turntable 19 and the groove center fixes 1 servo electric cylinders 24, servo electric cylinders 24 and lifting platform
18 bottoms are fixed, and the square groove for placing capture apparatus is opened up at the top of lifting platform 18, and turbine 11 and worm screw 10 are intermeshed, control
Device uses the circuit board with image processor 13 (such as chip of model MDIN241) and wireless module 14, at image
It manages device 13 and camera lens 1 communicates, wireless module 14 and servo motor 12 and servo electric cylinders 24 communicate.
Embodiment 6:
Embodiment 6 is substantially the same manner as Example 1, and distinctive points are: as shown in Figure 10, in embodiment 6, pedestal platform is by pedestal
6, bracket 7, auxiliary mirror surface 20 and intermediate mirror surface 21 form, and camera lens 1 and auxiliary mirror surface 20 are fixed on pedestal 6, auxiliary
Mirror surface 20 uses hyperboloid mirror surface, and the center of auxiliary mirror surface 20 opens up the through-hole that diameter is 6cm, 21 liang of intermediate mirror surface
End is respectively fixedly connected with round straight-bar 8, and intermediate mirror surface 21 uses through-hole diameter for the annular minute surface of 10cm, and camera lens 1 is located at auxiliary reflection
At the through hole center of mirror surface 20,1 center line of camera lens is overlapped with the center line of the through-hole of intermediate mirror surface 21 and 1 center line of camera lens and
The center line of the through-hole of auxiliary mirror surface 20 is overlapped.
Embodiment 7:
Embodiment 7 is substantially the same manner as Example 1, and distinctive points are: as shown in figure 11, in embodiment 7, mirror surface is used
The convex lens 51 of peak type, for the tool of convex lens 51 of the peak type there are four the identical mountain peak-like convex of shape, peak valley is located at the center of convex lens 51.
Embodiment 8:
As shown in figs. 12-14, a kind of object tracking method, comprising the following steps:
S1, camera lens obtain the image of a series of surrounding scene by the cooperation with mirror surface, the image be it is round or
Annular or irregular fan-shaped or irregular polygon.Paraboloid mirror surface is used in the present embodiment, and (parabolical expression formula is x2=
16y, x=8cm, y=4cm), camera lens uses the common lens of the model EF 50mm f/1.8STM of Canon Inc., seat stand
Rotation center is located on the center line of camera lens, and image is circle, which is s；
S2, by current frame image with before in a frame image be compared (i.e. present frame be n-th frame, by present frame with
N-th-m frame is compared, and wherein n, m are integer and n > m > 0), image change is more than that the region of threshold value is marking area, figure
As variation is using luminance difference or the brightness range difference or color difference of image or luminance difference, brightness range be poor, color difference any combination obtains,
The threshold value is set by the area of image change.In the present embodiment by the brightness of the brightness of n-th frame image and the (n-1)th frame image into
Row relatively (n is integer), obtains the region k in n-th frame image there are brightness change, when the area of k is more than or equal to 1/8 s,
Then region k is marking area；
S3, the first step are defined image, define zero degree direction, according to another in any point A in marking area and image
Coordinate relationship between one point O, obtains vector OA；Second step, subpoint of the rotation center of seat stand on camera lens are formed by
Picture point in image is C, measures vector CO according to calibration；Rotating vector CA=CO+OA is calculated in third step；4th step, CA
Direction and image zero degree direction between angle be θ, image zero degree direction and seat stand zero degree angular separation are α, then target steering angle ψ
=α+θ.In the present embodiment, circular image is defined, zero degree direction is y-axis negative sense, and 90 degree directions are that x-axis is positive, from showing
It writes and chooses a point A (a, b) in the k of region, from the point O (c, d) chosen in present frame (i.e. n-th frame) image outside A point, referred to by O point
It is vector OA to the line segment of A point, it is C that projection of the rotation center of seat stand on camera lens, which is formed by picture point in the picture, then C
Coordinate be (0,0), by C point be directed toward O point line segment be vector CO, then by C point be directed toward A point line segment be rotating vector CA, CA
The direction of=CO+OA, vector CA and the angle of y-axis negative sense are θ, and the intrinsic zero axle line of seat stand itself is formed in the projection of camera lens
The straight line in image be vector CB, then the angle of CB and y-axis negative sense is α, the preassigned zero degree of camera itself matrix
It is vector CD that line, which is formed by the straight line in image in the projection of camera lens, then the angle of CD and y-axis negative sense is β, obtains target
Steering angle ψ=alpha+beta+θ；
S4 issues seat stand and instructs according to trace location, and seat stand movement is by by the axle center pair of the camera of capture apparatus
Complete alignment in the quasi- direction ψ.In the present embodiment, the rotary shaft of seat stand is overlapped with the axis of camera lens, then seat stand is rotated from current location,
Rotation angle is ψ, at this time the direction axes alignment ψ of the camera of capture apparatus, completes alignment.
Embodiment 9:
As shown in figs. 12-16, a kind of object tracking method, comprising the following steps:
S1, camera lens 1 obtain the image of a series of surrounding scene by the cooperation with mirror surface, the image be it is round or
Annular or irregular fan-shaped or irregular polygon, in addition prepares a test pattern (as shown in Figure 8), camera lens 1 is also marked
The standard picture of quasi- figure.Used in the present embodiment paraboloid mirror surface (parabolical expression formula for x2=16y, x=8cm, y=
4cm), camera lens uses the common lens of the model EF 50mm f/1.8STM of Canon Inc., and the rotation center of seat stand is located at mirror
On the center line of head, image is circle, which is s, carries out mirror surface calibration by standard picture, obtains calibration matrix P；
S2, by current frame image with before in a frame image be compared (i.e. present frame be n-th frame, by present frame with
N-th-m frame is compared, and wherein n, m are integer and n > m > 0), image change is more than that the region of threshold value is marking area, figure
As variation is using luminance difference or the brightness range difference or color difference of image or luminance difference, brightness range be poor, color difference any combination obtains,
The threshold value is set by the area of image change.By the brightness of the brightness of n-th frame image and the (n-1)th 0 frame images in the present embodiment
It is compared (n is the integer greater than 10), obtains the region k in n-th frame image there are color difference, when the area of k is more than or equal to 1/
When 10 s, then region k is marking area；
S3, the first step defines zero degree direction to being defined after image calibration, according to any point A in marking area and figure
As the coordinate relationship between interior another point O, vector OA is obtained；Second step, subpoint institute shape of the rotation center of seat stand on camera lens
At picture point in the picture be C, vector CO is measured according to calibration；Rotating vector CA=CO+OA is calculated in third step；The
Four steps, angle is θ between the direction and image zero degree direction of CA, and image zero degree direction and seat stand zero degree angular separation are α, then target
Steering angle ψ=α+θ.In the present embodiment, circular image is defined, zero degree direction is y-axis negative sense, 90 degree directions for x-axis just
To the one point A (a, b) of selection from marking area k, A ' coordinate is P* (a, b) after the calibration of A point, from present frame (i.e. n-th frame) image
The middle point O (c, d) chosen outside A point, O ' coordinate is P* (c, d) after the calibration of O point, and the line segment for being directed toward at A ' by O ' is vector O '
A ', it is C that projection of the rotation center of seat stand on camera lens, which is formed by picture point in the picture, and the coordinate of C is (0,0), C point school
C ' coordinate is P* (0,0) after standard, and the line segment for being directed toward at O ' by C ' is vector C ' O ', then the line segment for being directed toward at A ' by C ' is rotation
Steering volume C ' A ', C ' A '=direction of C ' O '+O ' A ', vector C ' A ' and the angle of y-axis negative sense are θ, seat stand itself it is intrinsic zero
It is vector CB that axis, which is formed by the straight line in image in the projection of camera lens, then the angle of CB and y-axis negative sense is α, camera
It is vector CD that the preassigned zero degree line of itself matrix, which is formed by the straight line in image in the projection of camera lens, then CD and y-axis
The angle of negative sense is β, obtains target steering angle ψ=alpha+beta+θ；
S4 issues seat stand and instructs according to trace location, and seat stand movement is by by the axle center pair of the camera of capture apparatus
Complete alignment in the quasi- direction ψ.In the present embodiment, the rotary shaft of seat stand is overlapped with the axis of camera lens, then seat stand is rotated from current location,
Rotation angle is ψ, at this time the direction axes alignment ψ of the camera of capture apparatus, completes alignment.
Embodiment 10:
A kind of object tracking method, comprising the following steps:
S1, camera lens obtain the image of a series of surrounding scene by the cooperation with mirror surface, the image be it is round or
Annular or irregular fan-shaped or irregular polygon.Paraboloid mirror surface is used in the present embodiment, and (parabolical expression formula is x2=
16y, x=8cm, y=4cm), camera lens uses the common lens of the model EF 50mm f/1.8STM of Canon Inc., seat stand
Rotation center is located on the center line of camera lens, and image is circle, which is s；
S2, using face recognition technology capture face characteristic point, by current frame image with before in a frame image into
Row relatively (i.e. present frame is n-th frame, present frame is compared with the n-th-m frame, wherein n, m are integer and n > m > 0), figure
As the region that characteristic point occurs in variation is marking area；
S3, the first step are defined image, define zero degree direction, according to another in any point A in marking area and image
Coordinate relationship between one point O, obtains vector OA；Second step, subpoint of the rotation center of seat stand on camera lens are formed by
Picture point in image is C, measures vector CO according to calibration；Rotating vector CA=CO+OA is calculated in third step；4th step, CA
Direction and image zero degree direction between angle be θ, image zero degree direction and seat stand zero degree angular separation are α, then target steering angle ψ
=α+θ.In the present embodiment, circular image is defined, zero degree direction is y-axis negative sense, and 90 degree directions are that x-axis is positive, from showing
It writes and chooses a point A (a, b) in the k of region, from the point O (c, d) chosen in present frame (i.e. n-th frame) image outside A point, referred to by O point
It is vector OA to the line segment of A point, it is C that projection of the rotation center of seat stand on camera lens, which is formed by picture point in the picture, then C
Coordinate be (0,0), by C point be directed toward O point line segment be vector CO, then by C point be directed toward A point line segment be rotating vector CA, CA
The direction of=CO+OA, vector CA and the angle of y-axis negative sense are θ, and the intrinsic zero axle line of seat stand itself is formed in the projection of camera lens
The straight line in image be vector CB, then the angle of CB and y-axis negative sense is α, the preassigned zero degree of camera itself matrix
It is vector CD that line, which is formed by the straight line in image in the projection of camera lens, then the angle of CD and y-axis negative sense is β, obtains target
Steering angle ψ=alpha+beta+θ；
S4 issues seat stand and instructs according to trace location, and seat stand movement is by by the axle center pair of the camera of capture apparatus
Complete alignment in the quasi- direction ψ.In the present embodiment, the rotary shaft of seat stand is overlapped with the axis of camera lens, then seat stand is rotated from current location,
Rotation angle is ψ, at this time the direction axes alignment ψ of the camera of capture apparatus, completes alignment.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (20)
1. a kind of object tracking device, which is characterized in that including camera lens, mirror surface and the seat stand that can be moved, the seat stand
For connecting capture apparatus, camera lens and mirror surface are arranged on seat stand, and mirror surface is for spread F OV and at least partly anti-
Mirror surface protrusion is penetrated, camera lens obtains the image comprising tracking target by mirror surface, obtained by the position of tracking target in the picture
Trace location out, seat stand move to trace location and make capture apparatus alignment tracking target.
2. object tracking device according to claim 1, which is characterized in that the trace location obtained by camera lens or by
The seat stand for being provided with control device is obtained or is obtained by capture apparatus.
3. object tracking device according to claim 2, which is characterized in that the camera lens is provided with control module, control
Module is provided with signal transmission unit, and signal transmission unit exports trace location to seat stand.
4. object tracking device according to claim 2, which is characterized in that the seat stand is provided with control device, control
Device is provided with elementary area and transmission unit, and elementary area obtains trace location by the image of camera lens, and elementary area passes through
Transmission unit provides trace location for the movement of seat stand.
5. object tracking device according to claim 2, which is characterized in that further include data outputting unit and data transmission
Unit, the camera lens connect capture apparatus by data outputting unit, and capture apparatus connects seat stand, number by data transmission unit
Image is inputted into capture apparatus according to output unit, data transmission unit exports trace location to seat stand.
6. object tracking device according to claim 2, which is characterized in that the number of shots is 1 and camera lens is logical
Crossing the cooperation with mirror surface and obtaining the image angle range of scene is 60 degree of -360 degree.
7. object tracking device according to claim 1, which is characterized in that the seat stand include pedestal platform, workbench and
Moving component, moving component one end linker seat stand and other end connecting working table, moving component can make workbench opposite base
Platform movement.
8. object tracking device according to claim 7, which is characterized in that the pedestal platform includes pedestal and bracket, branch
Frame is connect with pedestal, and camera lens is set on the base, and projects to the setting of the position on bracket mirror surface in camera lens.
9. object tracking device according to claim 7, which is characterized in that the pedestal platform includes pedestal, bracket and auxiliary
Mirror surface, bracket are connect with pedestal, and mirror surface is arranged on bracket, and camera lens and auxiliary mirror surface are set on the base, auxiliary
Mirror surface is arranged on the outside of camera lens and does not cover camera lens.
10. object tracking device according to claim 9, which is characterized in that the auxiliary mirror surface is intermediate aperture
Hyperboloid mirror surface, mirror surface are conical mirror surface.
11. object tracking device according to claim 9, which is characterized in that the pedestal platform further includes connector in
Between mirror surface, connector connect with pedestal or bracket, and intermediate mirror surface and connector connect and be arranged between camera lens and mirror surface,
Intermediate mirror surface is parallel with camera lens, and intermediate mirror surface opens up through-hole, and the through hole section of intermediate mirror surface is greater than the maximum cross-section of camera lens, camera lens
Center line is overlapped with the center line of the through-hole of intermediate mirror surface and optical center line is overlapped with mirror surface center line.
12. object tracking device according to claim 11, which is characterized in that the auxiliary mirror surface is intermediate aperture
Hyperboloid mirror surface, mirror surface are conical mirror surface, and intermediate mirror surface is annular plane mirror.
13. object tracking device according to claim 1, which is characterized in that the mirror surface be conical mirror surface or
Polygonal pyramid shape mirror surface or rotational symmetry optical aspherical surface mirror surface.
14. a kind of object tracking method, which comprises the following steps:
S1, camera lens obtain the image of tracking target by the cooperation with mirror surface；
S2, by current frame image with before in a frame image or current frame image with before in a few frame images algorithm it is flat
Mean value is compared, and image change is more than that the region of threshold value is marking area；
S3 carries out the trace location that seat stand is calculated according to marking area；
S4 issues seat stand and instructs according to trace location, and seat stand moves so that capture apparatus alignment target position.
15. object tracking method according to claim 14, which is characterized in that the calculation method in the S3 are as follows:
The first step is defined image, zero degree direction is defined, according between another point O in any point A in marking area and image
Coordinate relationship, obtain vector OA；
Second step, it is C that subpoint of the rotation center of seat stand on camera lens, which is formed by picture point in the picture, is surveyed according to calibration
Obtain vector CO；
Rotating vector CA=CO+OA is calculated in third step；
4th step, angle is θ between the direction and image zero degree direction of CA, and initial zero degree angle is δ, then target steering angle ψ=δ+
θ。
16. object tracking method according to claim 15, which is characterized in that by the camera of capture apparatus in the S4
The direction axes alignment ψ complete alignment, initial zero degree angle δ=alpha+beta, wherein α is image zero degree direction and seat stand zero degree side
To angle, β is image zero degree direction and camera zero degree angular separation.
17. object tracking method according to claim 14, which is characterized in that be more than threshold to image change in the S2
Algorithm filtering is done in the region of value, and filtered region is marking area.
18. object tracking method according to claim 14, which is characterized in that in the S3, tracking mesh that camera lens obtains
The coordinate of mark in the picture is (x, y), show that the calibration coordinate of tracking target in the picture is by coordinates transformation method correction
(x ', y ') calculates trace location using calibration coordinate.
19. object tracking method according to claim 14, which is characterized in that threshold value in the S2 by image brightness
Difference or brightness range difference or color difference or luminance difference, brightness range be poor, color difference any combination obtains.
20. object tracking method according to claim 14, which is characterized in that described image is round, annular, irregular
Fan-shaped or irregular polygon.
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| CN117726656A (en) * | 2024-02-08 | 2024-03-19 | 开拓导航控制技术股份有限公司 | Target tracking method, device, system and medium based on super-resolution image |
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| CN1786765A (en) * | 2005-12-15 | 2006-06-14 | 中国人民解放军国防科学技术大学 | Omnidirectional vision system |
| CN105467742A (en) * | 2015-12-28 | 2016-04-06 | 北京极图科技有限公司 | Curved surface reflection-type real-time panoramic imaging apparatus |
| CN106650965A (en) * | 2016-12-30 | 2017-05-10 | 触景无限科技（北京）有限公司 | Remote video processing method and apparatus |
| CN108198199A (en) * | 2017-12-29 | 2018-06-22 | 北京地平线信息技术有限公司 | Moving body track method, moving body track device and electronic equipment |
| CN208656913U (en) * | 2018-09-07 | 2019-03-26 | 厦门博聪信息技术有限公司 | Single-lens 180 degree panorama hawkeye tracks video camera |
| CN210351309U (en) * | 2019-05-23 | 2020-04-17 | 杭州他若信息科技有限公司 | Object tracking device |
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