CN110443834A - A kind of distributed object tracking system - Google Patents
A kind of distributed object tracking system Download PDFInfo
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- CN110443834A CN110443834A CN201810420840.1A CN201810420840A CN110443834A CN 110443834 A CN110443834 A CN 110443834A CN 201810420840 A CN201810420840 A CN 201810420840A CN 110443834 A CN110443834 A CN 110443834A
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- 238000004458 analytical method Methods 0.000 claims abstract description 39
- 238000003384 imaging method Methods 0.000 claims abstract description 21
- VEMKTZHHVJILDY-UHFFFAOYSA-N resmethrin Chemical compound CC1(C)C(C=C(C)C)C1C(=O)OCC1=COC(CC=2C=CC=CC=2)=C1 VEMKTZHHVJILDY-UHFFFAOYSA-N 0.000 claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims description 17
- 230000002688 persistence Effects 0.000 claims description 6
- 230000002159 abnormal effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 206010000117 Abnormal behaviour Diseases 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/292—Multi-camera tracking
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Abstract
The invention discloses a kind of distributed object tracking systems, include: multiple image analysing computer devices, wherein each image analysing computer device analysis its object in a received at least real-time imaging crossfire to generate the analysis result of at least one object that can be tracked；An and cluster management service unit, it is connected to multiple image analysing computer device, wherein the cluster management service unit includes a tracing module to concatenate track of the analysis result of at least one object being tracked caused by the multiple image analysing computer device to track at least one object.
Description
Technical field
The present invention relates to object tracking system, especially a kind of distributed object tracking system.
Background technique
Existing image analysing computer device is mostly the image analysing computer for being directed to the single scene of single video camera, respective image analysing computer
The analysis result of device is independent, and the analysis for the different video cameras that can not connect as a result, reach the object tracing across video camera in turn.Cause
This, industry needs the analysis of the different video cameras that can connect as a result, reaching the distribution of the object tracing across video camera in turn
The object tracking system of formula.
Summary of the invention
A purpose of the invention is to provide a kind of distributed object tracking system, can concatenate multiple image analysing computer devices
Multiple real-time imaging crossfires object analysis as a result, with the track of real-time tracing an object, the wherein money of image analysing computer device
Source point can be utilized to do the signature analysis of object to reduce system cost.
A purpose of the invention is to provide a kind of distributed object tracking system, can concatenate trans-regional multiple images
The object analysis of multiple real-time imaging crossfires of analytical equipment is as a result, an object track trans-regional with real-time tracing, to provide
The service of subsequent event search and abnormal behaviour alarm.
A kind of distributed object tracking system is proposed in one embodiment of the invention, includes: multiple image analysing computer devices,
Wherein each image analysing computer device be connected to an at least camera with analyze that an at least camera is transmitted at least one
Object in real-time imaging crossfire is to generate the analysis result of at least one object being tracked；And one cluster management service dress
It sets, is connected to multiple image analysing computer device, wherein the cluster management service unit concatenates in the multiple image analysing computer device
Each image analysing computer device caused by the analysis result of at least one object being tracked be tracked at least with generating this
The track of an object.
In one embodiment, each image analysing computer device receives multiple real-time imaging crossfires, wherein each image analysing computer fills
Set comprising a tracing module with concatenate the multiple real-time imaging crossfire at least one object signature analysis result to generate this
The subslot of at least one object, wherein the tracing module of the cluster management service unit concatenates the multiple image analysing computer device institute
The multiple subslot generated is to track the track of at least one object.
In one embodiment, which includes a people, which includes the face feature of the people.
In one embodiment, which includes a luggage case, which includes the feature of the luggage case.
In one embodiment, multiple image analysing computer device is distributed in one and detects region, and wherein this is detected in region extremely
A few special object is scheduled not to be tracked.
In one embodiment, it includes a station that this, which detects region, and the staff at the station is scheduled not to be tracked.
In one embodiment, if this detect a certain special object in region more than a predetermined time length all not by
It detects, then assert that the special object has left this and detected region, chased after in real time to no longer be done by multiple image analysing computer device
Track.
In one embodiment, if the object persistence being tracked for detecting in region hangs out in this and detects in region
One specific region and be more than a predetermined time length, then issue abnormal event of staying.
A kind of distributed object tracking system is proposed in one embodiment of the invention, includes: a image more than one first point
Analysis apparatus, wherein each image analysing computer device is connected at least one first camera to analyze at least one first camera
The object at least one first real-time imaging crossfire transmitted is tied with one first analysis for generating at least one object being tracked
Fruit；One first across video camera follow-up mechanism is connected to more than first a image analysing computer device, wherein first across the video camera tracking
This is tracked caused by each image analysing computer device described in device serial connection more than first in a image analysing computer device at least one
The first of object analyzes result to generate one first track of at least one object being tracked；A image analysing computer dress more than one second
It sets, wherein each image analysing computer device analysis is connected at least one second camera to analyze at least one second camera
The object at least one second real-time imaging crossfire transmitted is analyzed with generate at least one object being tracked one second
As a result；One second across video camera follow-up mechanism is connected to more than second a image analysing computer device, and wherein this second is chased after across video camera
This is tracked at least caused by each image analysing computer device in more than second a image analysing computer devices described in track device serial connection
The second of an object analyzes result to generate one second track of at least one object being tracked；An and cluster management service
Device is connected to first across the video camera follow-up mechanism and is tracked at least with second across the video camera follow-up mechanism with concatenating this
First track and second track of an object.
In one embodiment, the distributed object tracking system is according to a specific target image to track the target.
In one embodiment, which is distributed in one first and detects region, more than second a shadow
Detect region as analytical equipment is distributed in one second, wherein this first detect region and this second detect it is at least one special in region
Determine that object is scheduled not to be tracked.
In one embodiment, which is distributed in one first and detects region, more than second a shadow
Region is detected as analytical equipment is distributed in one second, wherein if administrative all of the cluster management service unit detect region
Interior a certain special object is more than that a predetermined time length is not all detected, then assert that the special object has left the cluster
Administrative all of management service device detect region, thus no longer by more than first a image analysing computer device and more than second a shadow
As analytical equipment does real-time tracing.
In one embodiment, which is distributed in one first and detects region, more than second a shadow
Region is detected as analytical equipment is distributed in one second, wherein as an object persistence being tracked hangs out in the cluster management service
Administrative all of device detect a specific region in region and are more than a predetermined time length, then issue and abnormal stay event.
Detailed description of the invention
Fig. 1 illustrates the schematic diagram of the distributed object tracking system in one embodiment of the invention.
Fig. 2 illustrates the schematic diagram of the distributed object tracking system in one embodiment of the invention.
Fig. 3 illustrates the schematic diagram of the distributed object tracking system in one embodiment of the invention.
Fig. 4 illustrates the schematic diagram of the distributed object tracking system in one embodiment of the invention.
Description of symbols: 101- camera；102- camera；105- image analysing computer device；105a- image analysing computer
Module；106- image analysing computer device；106a- image analysing computer module；110- cluster management service unit；110a- tracing module；
201- camera；202- camera；203- camera；204- camera；205- image analysing computer device；205a- shadow
As analysis module；205b- image analysing computer module；206- image analysing computer device；206a- image analysing computer module；206b- image analysing computer
Module；210- cluster management service unit；210a- tracing module；301- camera；302- camera；303- photography dress
It sets；304- camera；310- image analysing computer device；310a- image analysing computer module；310b- image analysing computer module；310c- is chased after
Track module；311- image analysing computer device；311a- image analysing computer module；311b- image analysing computer module；311c- tracing module；
320- cluster management service unit；320a- tracing module；401- camera；402- camera；403- camera；
404- camera；411- image analysing computer device；412- image analysing computer device；421- image analysing computer device；422- image analysing computer
Device；Across the video camera follow-up mechanism of 431-；431a- tracing module；Across the video camera follow-up mechanism of 432-；432a- tracing module；
440- cluster management service unit；440a- tracing module.
Specific embodiment
For the present invention aforementioned and other technology contents, feature and effect refer to the preferable reality of schema in following cooperation
It applies in the detailed description of example, can clearly present.However it is to be noted that following embodiment is not intended to limit the invention.
A kind of distributed object tracking system is proposed in one embodiment of the invention.Referring to Fig. 1, described distributed
Object tracking system includes: multiple image analysing computer devices 105,106, wherein each image analysing computer device 105,106 is analyzed respectively
The object in real-time imaging crossfire that its corresponding camera 101,102 is absorbed is to generate dividing for the object that can be tracked
Analyse result；And a cluster management service unit 110, it is connected to multiple image analysing computer device 105,106, wherein the cluster pipe
Reason service unit 110 includes that a tracing module 110a is chased after caused by the multiple image analysing computer device 105,106 with concatenating
The analysis result of the object of track is to track the track of the object.
In one embodiment, which includes a people, which includes the face feature of the people.
In one embodiment, which includes a luggage case, which includes the feature of the luggage case.
In one embodiment, multiple image analysing computer device is distributed in one and detects region, and wherein this is detected in region extremely
A few special object is scheduled not to be tracked.
In one embodiment, it includes a station that this, which detects region, and the staff at the station is scheduled not to be tracked.
A kind of distributed object tracking system is proposed in one embodiment of the invention.Referring to Fig. 2, described distributed
Object tracking system includes: multiple image analysing computer devices 205,206, wherein each image analysing computer device 205,206 is respectively provided with
Corresponding multiple image analysing computer module 205a, 205b, 206a, 206b with analyze its corresponding multiple camera 201,
202, the object in 203, the 204 real-time imaging crossfires absorbed is to generate the analysis result of the object that can be tracked；And one
Cluster management service unit 210 is connected to multiple image analysing computer device 205,206, wherein the cluster management service unit 210
The analysis for the object being tracked caused by the multiple image analysing computer device 205,206 is concatenated comprising a tracing module 210a
As a result to track the track of the object.
A kind of distributed object tracking system is proposed in one embodiment of the invention.Referring to Fig. 3, described distributed
Object tracking system includes: multiple image analysing computer devices 310,311, wherein each image analysing computer device 310,311 is respectively provided with
Corresponding multiple image analysing computer module 310a, 310b, 311a, 311b with analyze its corresponding multiple camera 201,
202, the object in 203, the 204 real-time imaging crossfires absorbed is to generate the analysis for the object that can be tracked as a result, wherein every
One image analysing computer device 310,311 separately includes corresponding tracing module 310c, 311c to concatenate the multiple real-time shadow
As the analysis result of the object of crossfire is to generate the subslot of at least one object；And a cluster management service unit 320, connection
To multiple image analysing computer device 310,311, wherein the cluster management service unit 320 includes a tracing module 320a to concatenate
Multiple subslot caused by the multiple image analysing computer device 310,311 is to track the track of at least one object.
In one embodiment, distributed object tracking system of the invention can be divided into it is multiple detect region, it is each
Image analysing computer device can it is single detect the real-time imaging crossfire absorbed in region for video camera make human face detection or other
Inhuman object detecting with obtain face characteristic and other for knowing another characteristic, at this, single to detect region tracking described
People or other inhuman objects.In one embodiment, each image analysing computer device can it is single detect in region for it is multiple come
The real-time imaging crossfire absorbed from multiple video cameras of different location makees human face detection or other inhuman objects are detected to take
Face characteristic and other for knowing another characteristic, single to detect region tracking people or other inhuman pairs at this
As.In one embodiment, after doing preliminary human face recognition or process identification, the object that need not be tracked can be excluded.Such as in vehicle
It stands, then listed station employees are not required to be tracked；Or specified only special and object needs are tracked, such as luggage case.
The object being tracked if necessary then records the analysis result of object to be tracked, using as subsequent across detecing
Know that area's tracking is used, analysis result may include characteristics of objects to be tracked.The tracing module of cluster management service unit can
Being connected in series the analysis result for respectively detecting region to track the track of at least one object in region in all detect.
In one embodiment, each image analysing computer device can detect in region for multiple single from different location
The real-time imaging crossfire that multiple video cameras are absorbed make human face detection or other inhuman objects detectings with obtain face characteristic and
Other are for knowing another characteristic, wherein each image analysing computer device includes a tracing module to concatenate the multiple real-time imaging string
The analysis result of at least one object of stream is to generate the subslot of at least one object, and wherein the cluster management service unit chases after
Track module concatenates multiple subslot caused by the multiple image analysing computer device to track the track of at least one object.
In one embodiment, if this detect a certain special object in region more than a predetermined time length all not by
It detects, then assert that the special object has left this and detected region, chased after in real time to no longer be done by multiple image analysing computer device
Track.
In one embodiment, the characteristics of objects of scheduled time span is compared, if an object feature reaches certain score (this
Score can be adjusted according to scene learning dynamics), which is marked as the object that need to be kept track.
In one embodiment, if the object persistence being tracked for detecting in region hangs out in this and detects in region
One specific region and be more than a predetermined time length, then issue abnormal event of staying.
A kind of distributed object tracking system is proposed in one embodiment of the invention.Referring to Fig. 4, described distributed
Object tracking system includes: a image analysing computer device 411,412 more than one first, wherein 411,412 points of each image analysing computer device
The object that do not analyze in the real-time imaging crossfire that its corresponding multiple camera 401,402 is absorbed can be tracked with generating
At least one object one first analysis result；One first across video camera follow-up mechanism 431 is connected to more than first a image point
Analysis apparatus 411,412, wherein first across the video camera follow-up mechanism 431 includes a tracing module 431a to concatenate more than described first
First analysis result of at least one object being tracked caused by a image analysing computer device 411,412 with track this at least one
One first track of object；A image analysing computer device 421,422 more than one second, wherein 421,422 points of each image analysing computer device
Analyse the object in the real-time imaging crossfire that its corresponding multiple camera 403,404 is absorbed with generate can be tracked to
One second analysis result of few an object；One second across video camera follow-up mechanism 432 is connected to more than second a image analysing computer dress
421,422 are set, wherein second across the video camera follow-up mechanism 432 includes a tracing module 432a to concatenate a shadow more than described second
Second analysis result of at least one object being tracked as caused by analytical equipment 421,422 is to track at least one object
One second track；And a cluster management service unit 440, be connected to first across the video camera follow-up mechanism 431 with this
Two across video camera follow-up mechanisms 432, wherein the cluster management service unit 440 includes a tracing module 440a, to concatenate this
First track and second track of at least one object.
It note that each of Fig. 4 image analysing computer device 411,412,421,422, can be the image analysing computer in Fig. 1
Image analysing computer device in device or image analysing computer device or Fig. 3 in Fig. 2.
In one embodiment, the distributed object tracking system is according to a specific target image to track the target.
In one embodiment, which is distributed in one first and detects region, more than second a shadow
Detect region as analytical equipment is distributed in one second, wherein this first detect region and this second detect it is at least one special in region
Determine that object is scheduled not to be tracked.
In one embodiment, which is distributed in one first and detects region, more than second a shadow
Region is detected as analytical equipment is distributed in one second, wherein if administrative all of the cluster management service unit detect region
Interior a certain special object is more than that a predetermined time length is not all detected, then assert that the special object has left the cluster
Administrative all of management service device detect region, thus no longer by more than first a image analysing computer device and more than second a shadow
As analytical equipment does real-time tracing.
In one embodiment, which is distributed in one first and detects region, more than second a shadow
Region is detected as analytical equipment is distributed in one second, wherein as an object persistence being tracked hangs out in the cluster management service
Administrative all of device detect a specific region in region and are more than a predetermined time length, then issue and abnormal stay event.
Cluster management device of the invention can be communicated by internet and multiple image analysing computer device, the cluster management
Device can have an internet address, and multiple image analysing computer device is filled by the internet address of the fixation and the cluster management
Vertical connection is set up so that multiple image analysing computer device is included in its range of management by the cluster management device.Cluster management dress
It sets and a communications protocol (Protocol) can be used to communicate with each other with multiple image analysing computer device.The cluster management device can be with
With a management interface so that user manages multiple image analysing computer device, such as the management interface can show multiple shadow
As the location map of analytical equipment, or by the management interface to input a target image to track the target.
The foundation that object tracing of the invention can refer to, such as face characteristic or humanoid feature are such as worn clothes, figure
Feature, or the device location of the object is detected to exclude unreasonable movement track.
" across video camera follow-up mechanism " in one embodiment of the invention can increase level superposition, so dispersible operation
Resource can also expand and entirely detect region to track object.
" across camera object tracking in real time " of the invention can accomplish real-time event search, and where object just forereaches
Which." across camera object tracking in real time " of the invention can also provide abnormal behaviour alarm, actively to inform that relevant unit can
Doubtful object.It is object that the present invention can also converge a large amount of events whole in real time, can simplify event presentation/storage, accelerate to search afterwards
It seeks.
In one embodiment, image analysing computer device of the invention can control the camera lens of PTZ camera with clapping target pair
As PTZ indicates that the camera lens of video camera can carry out the differences such as left-right rotation (Pan), tilted upward (Tile) and amplification (Zoom)
Function.
In one embodiment, which has the ability of image analysing computer, and the cluster management device is executable should
At least part of work.
In one embodiment, cluster management device of the invention can be in conjunction with image analysing computer device, that is to say, that cluster
Managing device also can have the function of image analysing computer device of the invention, to reduce the cost of system.
In one embodiment, cluster management device of the invention does not have the ability of image analysing computer.
In one embodiment, the tracing module of image analysing computer device of the invention includes an at least central processing unit (CPU).
In one embodiment, the tracing module of image analysing computer device of the invention includes an at least central processing unit (CPU)
With an at least image processor (GPU) or an image processing hardware accelerator.
In one embodiment, the tracing module of image analysing computer device of the invention includes an at least central processing unit (CPU)
With an at least image processing hardware accelerator.
Although the present invention is disclosed above with preferred embodiment above-mentioned, however, it is not to limit the invention, any to be familiar with
Alike those skilled in the art, without departing from the spirit and scope of the present invention, when can make some changes and embellishment, thus it is of the invention special
Subject to sharp protection scope must be defined depending on claim.
Claims (12)
1. a kind of distributed object tracking system, characterized by comprising:
Multiple image analysing computer devices, wherein each image analysing computer device is connected to an at least camera, to analyze this, at least one is taken the photograph
The object in an at least real-time imaging crossfire that image device is transmitted is to generate the analysis result of at least one object being tracked；With
And
One cluster management service unit is connected to multiple image analysing computer device, and wherein the cluster management service unit concatenates institute
State the analysis result of at least one object being tracked caused by each image analysing computer device in multiple image analysing computer devices
To generate the track of at least one object being tracked.
2. distributed object tracking system as described in claim 1, which is characterized in that each image analysing computer device connects
Multiple cameras are connected to analyze the object in multiple real-time imaging crossfires that multiple camera is transmitted to generate this
The subslot for at least one object being tracked, wherein the cluster management service unit concatenates the multiple image analysing computer device
The subslot caused by each image analysing computer device is to generate the track of at least one object being tracked.
3. distributed object tracking system as described in claim 1, which is characterized in that at least one object includes a people,
The analysis result includes the face feature of the people.
4. distributed object tracking system as described in claim 1, which is characterized in that at least one object includes a luggage
Case, the analysis result include the feature of the luggage case.
5. distributed object tracking system as described in claim 1, which is characterized in that multiple image analysing computer device distribution
Region is detected in one, wherein this detects that at least special object in region is scheduled not to be tracked.
6. distributed object tracking system as claimed in claim 5, which is characterized in that it includes a station that this, which detects region,
The staff at the station is scheduled to be tracked.
7. distributed object tracking system as claimed in claim 5, which is characterized in that if this detect it is a certain in region
Special object is more than that a predetermined time length is not all detected, then assert that the special object has left this and detected region, from
And real-time tracing is no longer done by multiple image analysing computer device.
8. distributed object tracking system as claimed in claim 5, which is characterized in that if this detects the quilt in region
The object persistence of tracking hangs out in this and detects the specific region in region and be more than a predetermined time length, then issues exception
Stay event.
9. a kind of distributed object tracking system, characterized by comprising:
A image analysing computer device more than one first, wherein each image analysing computer device is connected at least one first camera to analyze
The object at least one first real-time imaging crossfire that at least one first camera is transmitted is tracked at least with generating
One first analysis result of an object；
One first across video camera follow-up mechanism is connected to more than first a image analysing computer device, and wherein this first is chased after across video camera
This is tracked at least caused by each image analysing computer device in more than first a image analysing computer devices described in track device serial connection
The first of an object analyzes result to generate one first track of at least one object being tracked；
A image analysing computer device more than one second, wherein each image analysing computer device analysis be connected at least one second camera with
The object analyzed in at least one second real-time imaging crossfire that at least one second camera is transmitted is tracked with generating this
At least one object one second analysis result；
One second across video camera follow-up mechanism is connected to more than second a image analysing computer device, and wherein this second is chased after across video camera
This is tracked at least caused by each image analysing computer device in more than second a image analysing computer devices described in track device serial connection
The second of an object analyzes result to generate one second track of at least one object being tracked；And
One cluster management service unit, be connected to first across the video camera follow-up mechanism and second across the video camera follow-up mechanism with
Concatenate first track and second track of at least one object being tracked.
10. distributed object tracking system as claimed in claim 9, which is characterized in that the distributed object tracing system
System is according to a specific target image to track the target.
11. distributed object tracking system as claimed in claim 9, which is characterized in that more than first a image analysing computer dress
It sets and is distributed in one first and detects region, which is distributed in one second and detects region, wherein if should
The administrative all a certain special objects detected in region of cluster management service unit be more than a predetermined time length all not by
Detect, then assert that the special object has left administrative all of the cluster management service unit and detected region, thus no longer by
More than first a image analysing computer device and more than second a image analysing computer device do real-time tracing.
12. distributed object tracking system as claimed in claim 9, which is characterized in that more than first a image analysing computer dress
It sets and is distributed in one first and detects region, which is distributed in one second and detects region, wherein a such as quilt
The object persistence of tracking hangs out in administrative all of the cluster management service unit and detects in region a specific region and more than one
Scheduled time span then issues exception and stays event.
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| CN103455997A (en) * | 2012-06-04 | 2013-12-18 | 深圳大学 | Derelict detection method and system |
| US20140050455A1 (en) * | 2012-08-20 | 2014-02-20 | Gorilla Technology Inc. | Correction method for object linking across video sequences in a multiple camera video surveillance system |
| JP2016099941A (en) * | 2014-11-26 | 2016-05-30 | 日本放送協会 | System and program for estimating position of object |
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