CN110969048A - Target tracking method and device, electronic equipment and target tracking system - Google Patents
Target tracking method and device, electronic equipment and target tracking system Download PDFInfo
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Abstract
The invention discloses a target tracking method, a target tracking device, electronic equipment and a target tracking system, wherein the method comprises the following steps: acquiring an image of a target to be tracked; searching an image matched with the image of the target to be tracked from the images acquired by at least one image acquisition device; determining the image acquisition equipment acquiring the matched image; and acquiring the position information of the position of the image acquisition equipment. According to the target tracking method provided by the embodiment of the invention, the image acquisition equipment is matched through the image of the target to be tracked, and the position information of the position where the image acquisition equipment is located is obtained, and the position information corresponding to the image of the target to be tracked can be uniquely determined by utilizing the position information of the image acquisition equipment, so that the target can be accurately tracked after the position information of the position where the image acquisition equipment is located is obtained, and the target tracking accuracy is improved.
Description
Technical Field
The invention relates to the technical field of image processing, in particular to a target tracking method, a target tracking device, electronic equipment and a target tracking system.
Background
With the continuous improvement of the construction of safe cities, the application of information-based police service has become a main line for the construction of all regions. The outdoor high-definition face bayonet system, the WIFI electronic fence system, the unmanned aerial vehicle, and the data acquisition and real-time return of the fixed-point image, the vehicle-mounted image, the vehicle bayonet and the network ticket purchasing information are rich and diverse in data resources.
The inventor finds that in the research process of the existing target tracking method, monitoring data of each video monitoring device is generally called to track suspicious personnel or suspicious vehicles, and information in the video monitoring data is screened to obtain images of the suspicious targets; and finally, determining the position of the suspected target by using the image background of the suspected target. However, since the image background is affected by light, image definition, brightness and other factors, the determination of the position of the suspected object may be misjudged, and the tracking accuracy is low.
Disclosure of Invention
In view of this, embodiments of the present invention provide a target tracking method, an apparatus, an electronic device, and a target tracking system, so as to solve the problem in the prior art that target tracking accuracy is low.
According to a first aspect, an embodiment of the present invention provides a target tracking method, including:
acquiring an image of a target to be tracked;
searching an image matched with the image of the target to be tracked from the images acquired by at least one image acquisition device;
determining the image acquisition equipment acquiring the matched image;
and acquiring the position information of the position of the image acquisition equipment.
According to the target tracking method provided by the embodiment of the invention, the image acquisition equipment is matched through the image of the target to be tracked, and the position information of the position where the image acquisition equipment is located is obtained, and the position information corresponding to the image of the target to be tracked can be uniquely determined by utilizing the position information of the image acquisition equipment, so that the target can be accurately tracked after the position information of the position where the image acquisition equipment is located is obtained, and the target tracking accuracy is improved.
With reference to the first aspect, in a first embodiment of the first aspect, the method further includes: acquiring tracking range information;
the searching for the image matched with the image of the target to be tracked from the images acquired by the at least one image acquisition device comprises:
and searching an image matched with the image of the target to be tracked from the images acquired by at least one image acquisition device in the tracking range.
According to the target tracking method provided by the embodiment of the invention, the range of the searched image acquisition equipment is reduced by acquiring the tracking range information, so that the searched data volume can be reduced, and the target tracking efficiency is further improved.
With reference to the first aspect, in a second embodiment of the first aspect, the method further includes: acquiring tracking time period information;
the searching for the image matched with the image of the target to be tracked from the images acquired by the at least one image acquisition device comprises:
and searching an image matched with the image of the target to be tracked from the images acquired by at least one image acquisition device in the tracking time period.
According to the target tracking method provided by the embodiment of the invention, the time range of the searched image acquisition equipment for acquiring the image is narrowed by acquiring the tracking time period information, so that the searched data volume can be reduced, and the target tracking efficiency is further improved.
With reference to the first aspect, in a third embodiment of the first aspect, the method further includes: acquiring tracking range information and tracking time period information;
the searching for the image matched with the image of the target to be tracked from the images acquired by the at least one image acquisition device comprises:
and searching an image matched with the image of the target to be tracked from the images acquired by at least one image acquisition device in the tracking range in the tracking time period.
According to the target tracking method provided by the embodiment of the invention, the data size of the search is reduced and the target tracking efficiency is improved from the two aspects of the search range and the search time through the tracking range information and the tracking time period information.
With reference to the first aspect, in a fourth embodiment of the first aspect, the method further includes:
acquiring the shooting time of the matched image;
and drawing the motion trail of the target to be tracked according to the shooting time and the position information.
According to the target tracking method provided by the embodiment of the invention, the motion trail is drawn by utilizing the shooting time and the position information of the image acquisition equipment, the motion of the target to be tracked can be accurately and visually shown, and the follow-up prediction of the track of the target to be tracked can be conveniently carried out according to the motion trail.
With reference to the fourth implementation manner of the first aspect, in the fifth implementation manner of the first aspect, the drawing a motion trajectory of the target to be tracked according to the shooting time and the position information includes:
constructing a scene coordinate system;
marking the position information in the scene coordinate system;
and sequentially connecting the position information according to the sequence of the shooting time to form the motion trail.
According to a second aspect, an embodiment of the present invention further provides a target tracking apparatus, including:
the first acquisition module is used for acquiring an image of a target to be tracked;
the searching module is used for searching an image matched with the image of the target to be tracked from the image acquired by at least one image acquisition device;
the determining module is used for determining the image acquisition equipment acquiring the matched image;
and the second acquisition module is used for acquiring the position information of the position where the image acquisition equipment is located.
According to the target tracking device provided by the embodiment of the invention, the image acquisition equipment is matched through the image of the target to be tracked, and the position information of the position where the image acquisition equipment is located is obtained, and the position information corresponding to the image of the target to be tracked can be uniquely determined by utilizing the position information of the image acquisition equipment, so that the target can be accurately tracked after the position information of the position where the image acquisition equipment is located is obtained, and the target tracking accuracy is improved.
According to a third aspect, an embodiment of the present invention further provides an electronic device, including:
a memory and a processor, the memory and the processor being communicatively connected to each other, the memory having stored therein computer instructions, and the processor executing the computer instructions to perform the object tracking method according to the first aspect of the present invention or any embodiment of the first aspect.
According to a fourth aspect, the present invention further provides a computer-readable storage medium, which stores computer instructions for causing a computer to execute the first aspect of the present invention or the target tracking method described in any implementation manner of the first aspect.
According to a fifth aspect, an embodiment of the present invention further provides a target tracking system, including:
at least one image acquisition device having a location identification of a location at which it is located;
the electronic device according to the fourth aspect of the present invention, wherein the electronic device is communicatively connected to the at least one image capturing device.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flow diagram of a target tracking method according to an embodiment of the invention;
FIG. 2 is a flow diagram of a target tracking method according to an embodiment of the invention;
FIG. 3 is a flow diagram of a target tracking method according to an embodiment of the invention;
FIG. 4 is a block diagram of a target tracking device according to an embodiment of the present invention;
FIG. 5 is a block diagram of a target tracking device according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a hardware structure of an electronic device according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a hardware structure of a target tracking system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the target to be tracked in the present invention may be a person, a vehicle, or other targets.
An embodiment of the present invention provides a target tracking method, as shown in fig. 1, the method includes:
and S11, acquiring an image of the target to be tracked.
The electronic device may acquire the image of the target to be tracked through a web page request, may input the image into the electronic device from the outside, or may acquire the image in other manners, and only needs to ensure that the electronic device can acquire the image of the target to be tracked, which is not limited to a certain acquisition manner.
S12, searching for an image matching with the image of the target to be tracked from the images acquired by the at least one image acquisition device.
The electronic device can acquire and store the acquired images from at least one image acquisition device in real time, and when target tracking is needed, the images acquired by the corresponding image acquisition devices are extracted from the memory; or the image acquisition equipment stores the acquired image in the local, and the electronic equipment extracts the image from the corresponding image acquisition equipment when the target tracking is required; the image acquisition device stores the acquired image in a third party (for example, a cloud platform), and when the electronic device needs to perform target tracking, the electronic device extracts a corresponding image of the image acquisition device from the cloud platform.
The electronic device searches an image matched with the image of the target to be tracked from the image acquired by the at least one image acquisition device by using the image of the target to be tracked, namely, inquires which image acquisition device or image acquisition devices acquire the image matched with the image of the target to be tracked in each image acquisition device.
And S13, determining the image acquisition equipment acquiring the matched image.
The electronic device determines a corresponding image capturing device using the matched image after finding an image matching the image of the target to be tracked in S12.
For example, when the image acquisition device locally stores the acquired image, the electronic device may determine the corresponding image acquisition device when performing image matching; when the electronic device stores the image acquired by at least one image acquisition device in the memory, the electronic device can distinguish the plurality of image acquisition devices by using the identifier, so as to determine the corresponding image acquisition device.
And S14, acquiring the position information of the position of the image acquisition equipment.
After the electronic device determines the image acquisition device corresponding to the matched image, the position of the target to be tracked can be determined by utilizing the position information of the position where the image acquisition device is located.
For example, the position information of the position where the image acquisition device is located may be the number of the image acquisition device, and the electronic device stores the geographic position corresponding to the number of each image acquisition device in advance, so that the specific geographic position can be determined by using the number of the image acquisition device; the position information of the position of the image acquisition equipment can be the coordinates of the image acquisition equipment, and the electronic equipment stores the geographical position corresponding to the coordinates of each image acquisition equipment in advance, so that the specific geographical position can be determined by using the coordinates of the image acquisition equipment; the position information of the position where the image acquisition device is located can also be a number and coordinates, and the geographic position is determined by combining the number and the coordinates.
According to the target tracking method provided by the embodiment, the image acquisition device is matched through the image of the target to be tracked, and the position information of the position where the image acquisition device is located is obtained, and the position information corresponding to the image of the target to be tracked can be uniquely determined by using the position information of the image acquisition device, so that the target can be accurately tracked after the position information of the position where the image acquisition device is located is obtained, and the target tracking accuracy is improved.
An embodiment of the present invention further provides a target tracking method, as shown in fig. 2, the method includes:
and S21, acquiring an image of the target to be tracked. Please refer to S11 in fig. 1, which is not described herein again.
S22, tracking range information and tracking time period information are acquired.
When the electronic equipment acquires the image of the target to be tracked, the tracking range information and the tracking time period information are acquired. The tracking range information is position range information planned in advance, and the tracking time period information is time period information planned in advance.
S23, searching for an image matching with the image of the target to be tracked from the images acquired by the at least one image acquisition device.
After the electronic device acquires the tracking range and the tracking time period information, searching an image matched with the image of the target to be tracked from the images acquired by at least one image acquisition device in the tracking range in the tracking time period.
Specifically, firstly, screening out image acquisition equipment in a tracking range from a plurality of image acquisition equipment by utilizing the tracking range; then, extracting images acquired in the tracking time period from the screened image acquisition devices in the tracking range by utilizing the tracking time period information; and finally, searching an image matched with the image of the target to be tracked from the extracted image.
And S24, determining the image acquisition equipment acquiring the matched image. Please refer to S14 in fig. 1, which is not described herein again.
And S25, acquiring the position information of the position of the image acquisition equipment. Please refer to S15 in fig. 1, which is not described herein again.
Compared with the embodiment shown in fig. 1, according to the target tracking method provided by the embodiment, the data amount of the search is reduced and the target tracking efficiency is improved from two aspects of the search range and the search time through the tracking range information and the tracking time period information.
As an alternative implementation manner of this embodiment, only the tracking range may be acquired in S22; in addition, in S23, an image that matches the image of the target to be tracked may be found from the images acquired by at least one image acquisition device within the tracking range.
As another optional implementation manner of this embodiment, only the tracking period information may be acquired in S22; in addition, in S23, an image that matches the image of the target to be tracked may be searched for from among images acquired by at least one of the image acquisition devices during the tracking period.
An embodiment of the present invention further provides a target tracking method, as shown in fig. 3, the method includes:
and S31, acquiring an image of the target to be tracked.
Please refer to S21 in fig. 2 for details, which are not described herein.
S32, searching for an image matching with the image of the target to be tracked from the images acquired by the at least one image acquisition device.
The image acquisition equipment at the front end sends acquired images to the cloud platform in real time or at intervals of preset time, and when the electronic equipment needs to track a target, the electronic equipment extracts the images acquired by the corresponding image acquisition equipment from the cloud platform.
Specifically, when the cloud platform stores the image acquisition devices at the front end, the storage area may be divided according to the number of the image acquisition devices, that is, each image acquisition device corresponds to one storage space of the cloud platform, and all images acquired by the subsequent image acquisition devices are all stored in the storage space.
Please refer to S22 in fig. 2 for details, which are not described herein.
And S33, determining the image acquisition equipment acquiring the matched image. Please refer to S23 in fig. 2 for details, which are not described herein.
And S34, acquiring the position information of the position of the image acquisition equipment.
Where coordinates are programmed in advance for all image capturing devices, which may be (x, y, z), for example. Therefore, when the storage area of the cloud platform is divided, the coordinates of the image acquisition device can be used for distinguishing, namely one coordinate corresponds to one storage space.
Therefore, after the electronic device determines the image acquisition device corresponding to the acquired matched image, the electronic device can determine the position information of the corresponding image acquisition device by using the coordinates stored in the cloud platform.
For the rest, please refer to S24 in the embodiment shown in fig. 2, which is not described herein again.
And S35, acquiring the shooting time of the matched image.
When the images acquired by the image acquisition equipment are stored in the cloud platform, the shooting time of the acquired images can be stored together, or the shooting time of the images is marked on the acquired images. After finding out the image matched with the image of the target to be tracked, the electronic equipment acquires the time marked on the matched image and determines the time when the image acquisition equipment acquires the matched image.
And S36, drawing the motion trail of the target to be tracked according to the shooting time and the position information.
After the electronic device determines the position information (coordinates of the image acquisition device) of the corresponding image acquisition device and the time of the matched image, the electronic device can draw the motion trail of the target to be tracked by using the coordinates of the image acquisition device and the shooting time.
And S361, constructing a scene coordinate system.
The electronic equipment firstly constructs a scene coordinate system for drawing a motion trail subsequently. For example, when the position information of the image acquisition device is marked by using a three-dimensional coordinate, the constructed scene coordinate system is a three-dimensional scene coordinate system; when the position information of the image acquisition equipment is marked by two-dimensional coordinates, the constructed scene coordinate system is a two-dimensional scene coordinate system.
S362 marks position information in the scene coordinate system.
After the scene coordinate system is established, the electronic equipment marks in the scene coordinate system by using the determined position information of the image acquisition equipment. Specifically, the coordinates of each image pickup device are marked in the scene coordinate system. After the position information marking is completed, coordinate points of the image acquisition devices are marked in the scene coordinate system.
And S363, sequentially connecting the position information according to the sequence of the shooting time to form a motion track.
Specifically, each coordinate point in the scene coordinate system corresponds to a matched image, and the matched image corresponds to a shooting time, so that the electronic device sequentially connects the position information marked in the scene coordinate system by using the sequence between shooting of the matched images, and the motion trajectory of the target to be tracked can be formed.
Compared with the embodiment shown in fig. 2, the target tracking method provided by the embodiment draws the motion trail by using the shooting time and the position information of the image acquisition device, can accurately and intuitively show the motion of the target to be tracked, and can predict the track of the target to be tracked conveniently according to the motion trail.
As an optional implementation manner of this embodiment, before S32, the method includes: s22 for the embodiment shown in fig. 2; further, in S32, an image that matches the image of the target to be tracked may be searched for from among images acquired by at least one of the image acquisition devices within the tracking range during the tracking period.
As another alternative to this embodiment, before S32, only the tracking range may be acquired; in addition, in S32, an image that matches the image of the target to be tracked may be searched for from the images captured by at least one of the image capturing devices in the tracking range.
As another alternative of this embodiment, before S32, only the tracking period information may be acquired; in addition, in S32, an image that matches the image of the target to be tracked may be searched for from among images acquired by at least one of the image acquisition devices during the tracking period.
As another optional implementation manner of this embodiment, the electronic device may present the queried image that matches with the image of the target to be tracked, that is, present the matched image captured by the front-end image capturing device on the electronic device.
As another optional implementation manner of this embodiment, S36 may include:
(1) and constructing a scene coordinate system.
(2) And sequencing the acquired shooting time.
Specifically, at each shooting time, there may be a plurality of image capturing apparatuses each capturing an image matching the image of the target to be tracked, and therefore, each shooting time may correspond to the coordinates of the plurality of image capturing apparatuses. And sequencing the shooting time to obtain the coordinates of the image acquisition equipment sequenced according to the shooting time.
(3) And forming a motion track by using the sequenced result.
And according to the sequencing result, sequentially drawing the coordinates of the image acquisition equipment in a scene coordinate system, and connecting the coordinates drawn twice adjacently while drawing the coordinates to form a motion track.
An embodiment of the present invention further provides a target tracking apparatus, as shown in fig. 4, the apparatus includes:
the first obtaining module 41 is configured to obtain an image of a target to be tracked.
And the searching module 42 is used for searching an image matched with the image of the target to be tracked from the images acquired by the at least one image acquisition device.
A determining module 43 for determining the image capturing device which captures the matched image.
And a second obtaining module 44, configured to obtain position information of a position where the image capturing apparatus is located.
The target tracking device provided by this embodiment matches the image of the target to be tracked to obtain the image acquisition device, and obtains the position information of the position where the image acquisition device is located, and the position information corresponding to the image of the target to be tracked can be uniquely determined by using the position information of the image acquisition device, so that after the position information of the position where the image acquisition device is located is obtained, the target can be accurately tracked, and the accuracy of target tracking is improved.
In some optional implementations of this embodiment, as shown in fig. 5, the method further includes:
and a tracking information obtaining module 45, configured to obtain tracking range information and tracking time period information.
In other alternative embodiments of this embodiment, as shown in fig. 5, the method further includes:
and a time acquiring module 46 for acquiring the shooting time of the matched image.
And the drawing module 47 is used for drawing the motion trail of the target to be tracked according to the shooting time and the position information.
Further optionally, as shown in fig. 5, wherein the drawing module 47 includes:
a constructing unit 471, configured to construct a scene coordinate system.
The marking unit 472 is configured to mark the position information in the scene coordinate system.
A sorting unit 473 sorts the shooting times.
And a track unit 474 for sequentially connecting the position information according to the sorting result to form a motion track.
An embodiment of the present invention further provides an electronic device, as shown in fig. 6, the electronic device may include a processor 51 and a memory 52, where the processor 51 and the memory 52 may be connected by a bus or in another manner, and fig. 6 takes the connection by the bus as an example.
The processor 51 may be a Central Processing Unit (CPU). The Processor 51 may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, or combinations thereof.
The memory 52, as a non-transitory computer readable storage medium, may be used for storing non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the target tracking method of the target tracking device in the embodiment of the present invention (for example, the first obtaining module 41, the searching module 42, the determining module 43, and the second obtaining module 44 shown in fig. 4). The processor 51 executes various functional applications and data processing of the processor by running non-transitory software programs, instructions and modules stored in the memory 52, that is, implements the target tracking method in the above-described method embodiments.
The memory 52 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created by the processor 51, and the like. Further, the memory 52 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 52 may optionally include memory located remotely from the processor 51, and these remote memories may be connected to the processor 51 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory 52 and, when executed by the processor 51, perform the object tracking method in the embodiment shown in fig. 1-3.
The details of the electronic device may be understood by referring to the corresponding descriptions and effects in the embodiments shown in fig. 1 to fig. 3, and are not described herein again.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk (Hard Disk Drive, abbreviated as HDD) or a Solid State Drive (SSD), etc.; the storage medium may also comprise a combination of memories of the kind described above.
An embodiment of the present invention further provides a target tracking system, as shown in fig. 7, including:
at least one image acquisition device 61 having a location indication of where it is located.
The electronic device 62 in the embodiment shown in fig. 6, which is communicatively connected to the at least one image acquisition device.
As an optional implementation manner of this embodiment, the target tracking system further includes a cloud platform, and the cloud platform is connected to the at least one image capturing device 61 and is connected to the electronic device 62. The cloud platform is used for storing the image acquired by the image acquisition device 61 connected with the cloud platform and sending the stored image to the electronic device.
As a specific application example of this embodiment, in the process of tracking a target, the electronic device may acquire an image of the target to be tracked, a tracking range, and tracking time period information by using a web page request; the tracking range is the coordinate of the image acquisition equipment needing to be inquired, and the tracking time period is the snapshot time period of the image acquisition equipment. After the electronic device determines the position information of the image acquisition device corresponding to the image matched with the image of the target to be tracked and the shooting time, the obtained data (the position information and the shooting time) can be stored in a local browser; and constructing a 3D scene coordinate system on the page, and drawing the track of the target to be tracked by using the constructed 3D scene coordinate system.
For the executed target tracking method in the target tracking system, please refer to the target tracking method in any embodiment shown in fig. 1-3; please refer to the description of the embodiment shown in fig. 6 for the electronic device 62, which is not described herein again.
In addition, the hardware parameters of the image capturing device 61 will affect the quality of the captured image, and thus the accuracy of target tracking. Therefore, as a specific implementation manner of the present embodiment, specific parameters of the image capturing device 61 are as follows:
-an image sensor: 200 ten thousand
-a lens: 8-12 mm
Automatic aperture
Minimum illumination
-colour: 0.002Lux
-black and white: 0.0002Lux
Automatic electronic shutter function
-day-night transition mode: ICR color to black
Wide dynamics: 120dB ultra wide dynamic
-backlight compensation: support for
-single scene detection of not less than 16 face pictures
Support for best face snapshot snap-shooting
Support best personnel whole body snapshot.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (10)
1. A target tracking method, comprising:
acquiring an image of a target to be tracked;
searching an image matched with the image of the target to be tracked from the images acquired by at least one image acquisition device;
determining the image acquisition equipment acquiring the matched image;
and acquiring the position information of the position of the image acquisition equipment.
2. The method of claim 1, further comprising: acquiring tracking range information;
the searching for the image matched with the image of the target to be tracked from the images acquired by the at least one image acquisition device comprises:
and searching an image matched with the image of the target to be tracked from the images acquired by at least one image acquisition device in the tracking range.
3. The method of claim 1, further comprising: acquiring tracking time period information;
the searching for the image matched with the image of the target to be tracked from the images acquired by the at least one image acquisition device comprises:
and searching an image matched with the image of the target to be tracked from the images acquired by at least one image acquisition device in the tracking time period.
4. The method of claim 1, further comprising: acquiring tracking range information and tracking time period information;
the searching for the image matched with the image of the target to be tracked from the images acquired by the at least one image acquisition device comprises:
and searching an image matched with the image of the target to be tracked from the images acquired by at least one image acquisition device in the tracking range in the tracking time period.
5. The method of claim 1, further comprising:
acquiring the shooting time of the matched image;
and drawing the motion trail of the target to be tracked according to the shooting time and the position information.
6. The method according to claim 5, wherein the drawing a motion trail of the target to be tracked according to the shooting time and the position information comprises:
constructing a scene coordinate system;
marking the position information in the scene coordinate system;
and sequentially connecting the position information according to the sequence of the shooting time to form the motion trail.
7. An object tracking device, comprising:
the first acquisition module is used for acquiring an image of a target to be tracked;
the searching module is used for searching an image matched with the image of the target to be tracked from the image acquired by at least one image acquisition device;
the determining module is used for determining the image acquisition equipment acquiring the matched image;
and the second acquisition module is used for acquiring the position information of the position where the image acquisition equipment is located.
8. An electronic device, comprising:
a memory and a processor, the memory and the processor being communicatively coupled to each other, the memory having stored therein computer instructions, the processor executing the computer instructions to perform the object tracking method of any of claims 1-6.
9. A computer-readable storage medium storing computer instructions for causing a computer to perform the object tracking method of any one of claims 1-6.
10. An object tracking system, comprising:
at least one image acquisition device having a location identification of a location at which it is located;
the electronic device of claim 8, communicatively coupled with the at least one image capture device.
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| CN201811143759.XA CN110969048A (en) | 2018-09-28 | 2018-09-28 | Target tracking method and device, electronic equipment and target tracking system |
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