CN113223087B - Target object geographic coordinate positioning method and device based on video monitoring - Google Patents

Target object geographic coordinate positioning method and device based on video monitoring Download PDF

Info

Publication number
CN113223087B
CN113223087B CN202110770365.2A CN202110770365A CN113223087B CN 113223087 B CN113223087 B CN 113223087B CN 202110770365 A CN202110770365 A CN 202110770365A CN 113223087 B CN113223087 B CN 113223087B
Authority
CN
China
Prior art keywords
camera
target object
azimuth angle
geographic coordinate
angle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202110770365.2A
Other languages
Chinese (zh)
Other versions
CN113223087A (en
Inventor
姜孝兵
谢刚
张煜辉
方小双
李倩
程沛
刘泽泉
明威
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Geospace Information Technology Co Ltd
Original Assignee
Wuda Geoinformatics Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Wuda Geoinformatics Co ltd filed Critical Wuda Geoinformatics Co ltd
Priority to CN202110770365.2A priority Critical patent/CN113223087B/en
Publication of CN113223087A publication Critical patent/CN113223087A/en
Application granted granted Critical
Publication of CN113223087B publication Critical patent/CN113223087B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B31/00—Predictive alarm systems characterised by extrapolation or other computation using updated historic data
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Emergency Management (AREA)
  • Business, Economics & Management (AREA)
  • Computing Systems (AREA)
  • Geometry (AREA)
  • Multimedia (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Image Analysis (AREA)

Abstract

The invention is suitable for the field of natural resource investigation and monitoring, and provides a method and a device for positioning geographic coordinates of a target object based on video monitoring.

Description

Target object geographic coordinate positioning method and device based on video monitoring
Technical Field
The invention belongs to the field of natural resource investigation and monitoring, and particularly relates to a method and a device for positioning geographic coordinates of a target object based on video monitoring.
Background
"make a good treasure, make reasonable use of land and protect cultivated land practically" is a basic national policy. In the process of natural resource investigation and monitoring, the requirements of real-time monitoring, identification, positioning, early warning and land occupation prevention are very urgent.
The technical scheme at present is that a tower camera or a video pole is utilized to monitor land illegal behaviors in real time, and a monitoring camera is generally arranged on an outdoor tower and the video pole, but the current scheme can only achieve video monitoring, cannot achieve an intelligent identification target of a target object, cannot achieve accurate geographical positioning of the target object, and cannot achieve real-time early warning and protection. At present, the obtained video image is transmitted back to a background through a network by a camera, background technicians analyze a video stream, confirm illegal target objects and finally inform relevant departments to process the illegal target objects, the illegal activities are monitored by manually staring at video pictures all the time, under the condition of full coverage, the number of the cameras in one district and county exceeds 100, the manual monitoring mode has high labor cost, the body of monitoring personnel is greatly damaged, and the whole process consumes time and labor.
In particular, even if the number of a tower or a video pole that is currently capturing a target object is known, the range of the target object, particularly an image with a large field of view, can be roughly determined only from the content shown in the image, and much effort is required to search for the target object at an actual location. Therefore, it is necessary to provide a technical solution for automatically locating the geographic coordinates of the target object according to the captured image, so as to enhance the survey and monitoring of natural resources.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a method and an apparatus for locating geographic coordinates of a target object based on video monitoring, which are used to solve the technical problem that automatic identification, location, and early warning of the target object cannot be achieved in the prior art.
In one aspect, the method for locating the geographic coordinates of the target object based on video monitoring comprises the following steps:
acquiring the position information of a camera relative to the ground;
the method comprises the steps that a camera acquires a video picture image in real time, and pixel coordinates of a target object are calculated for the currently acquired image;
calculating the vertical azimuth angle and the horizontal azimuth angle of the target object relative to the camera;
and calculating the geographic coordinates of the target object according to the position information of the camera and the vertical azimuth angle and the horizontal azimuth angle.
Further, the method comprises the following steps:
and carrying out spatial analysis on the geographic coordinate of the target object and the farmland data, if the target object operates on the farmland or the basic farmland, indicating that the current target object possibly has illegal behaviors of destroying the farmland, and setting the geographic coordinate of the current target object as an early warning point.
Further, if the early warning points calculated for multiple times are in the same area, the early warning points are judged to be repeated.
Further, the position information of the camera relative to the ground is
Figure 250584DEST_PATH_IMAGE001
Wherein
Figure 499907DEST_PATH_IMAGE002
Being the coordinates of the ground plane on which the camera is located,
Figure 887026DEST_PATH_IMAGE003
for the elevation of the camera from the ground, the camera being vertically oriented at an azimuth angle of
Figure 443778DEST_PATH_IMAGE004
Horizontal azimuth angle of the camera is
Figure 599953DEST_PATH_IMAGE005
(ii) a The specific process of calculating the geographic coordinates of the target object is as follows:
calculating the horizontal distance of the target object from the camera
Figure 226368DEST_PATH_IMAGE006
，
Figure 835204DEST_PATH_IMAGE007
；
Calculating geographic coordinates of a target object
Figure 195647DEST_PATH_IMAGE008
Wherein
Figure 206329DEST_PATH_IMAGE009
。
Further, the vertical azimuth angle of the camera
Figure 111968DEST_PATH_IMAGE010
Horizontal azimuth angle of the camera
Figure 887726DEST_PATH_IMAGE011
(ii) a Wherein
Figure 333751DEST_PATH_IMAGE012
The vertical azimuth angle of the current central ray of the camera,
Figure 667780DEST_PATH_IMAGE013
half the current vertical viewing angle of the camera, H is half the image height,
Figure 993588DEST_PATH_IMAGE014
is the half angle of the current horizontal view angle of the camera, W is half the picture width,
Figure 577016DEST_PATH_IMAGE015
is the pixel coordinates of the target object in the image.
In another aspect, the video surveillance-based target object geographic coordinate locating device comprises:
a position information acquisition unit for acquiring position information of the camera relative to the ground;
the pixel coordinate calculation unit is used for acquiring a video picture image in real time by the camera and calculating the pixel coordinate of the target object for the currently acquired image;
an angle calculation unit for calculating a vertical azimuth angle and a horizontal azimuth angle of the target object with respect to the camera;
and the geographic coordinate calculation unit is used for calculating the geographic coordinate of the target object according to the position information of the camera and the vertical azimuth angle and the horizontal azimuth angle.
Further, the apparatus further comprises:
and the early warning unit is used for carrying out spatial analysis on the geographic coordinate of the target object and the cultivated land data, if the target object operates on cultivated land or basic farmland, the current target object possibly has illegal behaviors of destroying the cultivated land, and the geographic coordinate of the current target object is set as an early warning point.
Further, the early warning unit is further configured to determine that the early warning point is a repeated early warning point if the early warning points calculated for multiple times are in the same area.
Further, the position information of the camera relative to the ground is
Figure 764415DEST_PATH_IMAGE016
Wherein
Figure 749689DEST_PATH_IMAGE017
Being the coordinates of the ground plane on which the camera is located,
Figure 59447DEST_PATH_IMAGE018
for the elevation of the camera from the ground, the camera being vertically oriented at an azimuth angle of
Figure 818587DEST_PATH_IMAGE019
Horizontal azimuth angle of the camera is
Figure 12939DEST_PATH_IMAGE005
(ii) a The geographic coordinate calculation unit includes:
a distance calculation module for calculating the horizontal distance of the target object from the camera
Figure 852719DEST_PATH_IMAGE020
，
Figure 333379DEST_PATH_IMAGE021
；
A geographic coordinate calculation module for calculating geographic coordinates of the target object
Figure 812771DEST_PATH_IMAGE022
Wherein
Figure 669868DEST_PATH_IMAGE023
。
Further, the vertical azimuth angle of the camera
Figure 301838DEST_PATH_IMAGE024
Horizontal azimuth angle of the camera
Figure 904464DEST_PATH_IMAGE025
(ii) a Wherein
Figure 949781DEST_PATH_IMAGE026
The vertical azimuth angle of the current central ray of the camera,
Figure 282673DEST_PATH_IMAGE027
half the current vertical viewing angle of the camera, H is half the image height,
Figure 831466DEST_PATH_IMAGE028
is the half angle of the current horizontal view angle of the camera, W is half the picture width,
Figure 309721DEST_PATH_IMAGE029
is the pixel coordinates of the target object in the image.
The invention has the beneficial effects that: the invention constructs a geographic coordinate calculation model for monitoring a target object, because the position and the posture of a monitoring camera can be fixed, the geodetic plane coordinate and the elevation of the camera can be accurately measured when the camera is installed, the posture of the camera is leveled, and the geographic coordinate of the target object can be directly calculated according to the vertical azimuth angle, the horizontal azimuth angle and the half angle of the visual field angle of the camera, so that the problem that the camera is limited by field calibration is avoided, the operation cost is reduced, the precision loss caused by uncertain factors of field calibration is avoided, and the calculation efficiency and precision are improved; then, by combining the target intelligent identification technology, the problems of monitoring, identification, positioning, early warning and the like of the current natural resource monitoring can be effectively solved, and the labor cost of land law enforcement work is greatly reduced.
Drawings
Fig. 1 is a flowchart of a method for locating geographic coordinates of a target object based on video surveillance according to a first embodiment of the present invention;
FIG. 2 is a diagram of an example of an image captured by a camera;
FIG. 3 is a schematic view of a camera shot;
FIG. 4 is a vertical sectional view of the camera;
FIG. 5 is a schematic view of the camera imaging in the vertical direction;
FIG. 6 is a diagram of an early warning interface;
fig. 7 is a block diagram illustrating a target object geographic coordinate positioning apparatus based on video surveillance according to a second embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
The first embodiment is as follows:
fig. 1 shows a flow of a method for locating geographic coordinates of a target object based on video surveillance according to an embodiment of the present invention, and only the portions related to the embodiment of the present invention are shown for convenience of description.
As shown in fig. 1, the method for locating geographic coordinates of a target object based on video surveillance provided by this embodiment includes the following steps:
and step S1, acquiring the position information of the camera relative to the ground.
It is first necessary to level the camera. The camera is arranged on the iron tower or the video pole, the bubble is centered by using the level pipe, and the camera is ensured to be parallel to the ground level surface.
After the camera is installed and leveled, the position information, namely the position coordinates, of the camera relative to the ground is obtained. For example, the measurement can be performed by an RTK (Real-time kinematic) device, which is a satellite navigation technology and is widely applied in the measurement industry, and the specific measurement method is not described herein. Position coordinates are set as
Figure 576754DEST_PATH_IMAGE030
Wherein
Figure 244496DEST_PATH_IMAGE031
Being the coordinates of the ground plane on which the camera is located,
Figure 805052DEST_PATH_IMAGE018
the elevation of the camera from the ground.
Step S2, the camera acquires a video picture image in real time, and calculates the pixel coordinates of the target object for the currently acquired image.
The camera can acquire a video stream in real time, the video is composed of continuous picture images, and the images can be acquired at fixed time. For the currently acquired image, a target object is firstly identified from the image, the target object is generally mechanical equipment such as an excavator, a bulldozer and the like, and the specific identification method can be used for identifying through an artificial intelligence deep learning algorithm. The deep learning mainly comprises the steps of learning a sample picture to generate a classifier, and then inputting a current image into the classifier to automatically identify whether the current image has a target object. Deep learning is also a common identification method at present, and the specific process is not repeated in this step.
Fig. 2 shows an image obtained by a camera, in which an excavator is present, and the identification algorithm can identify whether the excavator is present in the image and the position of the excavator in the image. In the step, the pixel coordinates of the excavator in the image are calculated
Figure 63995DEST_PATH_IMAGE032
. In this embodiment, after the target object is identified, the coordinates of the central pixel of the identification frame may be regarded as the pixel coordinates of the target object in this step. Other ways may be used, such as identifying the middle point of the bottom edge of the frameThe pixel coordinates of the positions are regarded as the pixel coordinates of the target object. The present embodiment includes but is not limited to these ways.
A schematic view of the camera shot as shown in fig. 3. In the figure, the position of the upper end of the main shaft,
Figure 552746DEST_PATH_IMAGE033
is a camera hole of the camera and is provided with a camera,
Figure 742287DEST_PATH_IMAGE034
is composed of
Figure 468935DEST_PATH_IMAGE035
In the projection on the ground plane, the pixel coordinates of the target object are marked P, and the mark 100 is the monitoring range of the camera to the ground.
Step S3, calculating the vertical azimuth angle and the horizontal azimuth angle of the target object relative to the camera.
As shown in fig. 4, M and N are boundary points where the vertical field of view of the camera intersects with the upper and lower sides of the monitoring range, respectively. The minimum angle and the maximum angle of the current vertical visual field are respectively
Figure 633200DEST_PATH_IMAGE036
And
Figure 769433DEST_PATH_IMAGE037
。
Figure 310136DEST_PATH_IMAGE038
Figure 422448DEST_PATH_IMAGE039
in the formula (I), the compound is shown in the specification,
Figure 23194DEST_PATH_IMAGE040
for the ground ray between the ray OM and the camera under the vertical view
Figure 876749DEST_PATH_IMAGE041
The angle of,
Figure 221143DEST_PATH_IMAGE042
for rays ON in vertical field of view and ground rays in camera distance
Figure 719120DEST_PATH_IMAGE043
The angle of,
Figure 162871DEST_PATH_IMAGE044
the vertical azimuth angle of the current central ray of the camera,
Figure 379089DEST_PATH_IMAGE045
at half angle of the current vertical viewing angle, i.e.
Figure 950010DEST_PATH_IMAGE046
Half of that.
As shown in FIG. 5, in the camera imaging, the camera hole is at the center of the formed image
Figure 302494DEST_PATH_IMAGE033
The position in the image is
Figure 182725DEST_PATH_IMAGE048
，
Figure 620660DEST_PATH_IMAGE050
Is the position in the image at the time of imaging of the target object P,
Figure 228227DEST_PATH_IMAGE051
and
Figure 904059DEST_PATH_IMAGE052
respectively, the boundary points of the imaging range of the vertical visual field of the camera on the image. According to the pixel
Figure 17509DEST_PATH_IMAGE053
Coordinates of (2)
Figure 628225DEST_PATH_IMAGE054
Can deduce
Figure 852533DEST_PATH_IMAGE055
And
Figure 179609DEST_PATH_IMAGE056
the specific process of the included angle is as follows:
triangle shape
Figure 401643DEST_PATH_IMAGE057
Calculating a triangle base angle according to triangle corners and theorem as an isosceles triangle:
Figure 548591DEST_PATH_IMAGE058
calculating the length of the triangle waist according to the cosine function:
Figure 763541DEST_PATH_IMAGE059
where H is half the image height.
Calculating pixels according to the cosine theorem
Figure 945123DEST_PATH_IMAGE049
Distance to the camera hole
Figure 603638DEST_PATH_IMAGE060
：
Figure 503460DEST_PATH_IMAGE061
Due to the fact that
Figure 757987DEST_PATH_IMAGE062
，
Figure 794076DEST_PATH_IMAGE063
Thus, therefore, it is
Figure 420229DEST_PATH_IMAGE064
。
Finally, according to the cosine theorem, calculating
Figure 479452DEST_PATH_IMAGE065
And
Figure 36204DEST_PATH_IMAGE066
angle of (2)
Figure 333324DEST_PATH_IMAGE067
：
Figure 130379DEST_PATH_IMAGE068
Wherein H is half of the height of the image,
Figure 739215DEST_PATH_IMAGE069
the half angle of the current vertical viewing angle of the camera,
Figure 350192DEST_PATH_IMAGE070
is the y coordinate of the target object P in the image.
So that the vertical azimuth angle of the camera can be calculated
Figure 360873DEST_PATH_IMAGE071
To do so
Figure 266513DEST_PATH_IMAGE072
，
Figure 362644DEST_PATH_IMAGE073
Thus finally obtaining
Figure 261199DEST_PATH_IMAGE074
。
The horizontal azimuth calculation principle is consistent with the vertical azimuth principle, and the following can be obtained:
Figure 391966DEST_PATH_IMAGE075
。
wherein W is half the image width,
Figure 530824DEST_PATH_IMAGE028
the half angle of the current horizontal viewing angle of the camera,
Figure 51935DEST_PATH_IMAGE076
is the x-coordinate of the target object P in the image.
And step S4, calculating the geographic coordinates of the target object according to the position information of the camera and the vertical azimuth angle and the horizontal azimuth angle.
Firstly, the horizontal distance between the target object P and the camera is calculated
Figure 567230DEST_PATH_IMAGE077
，
Figure 240919DEST_PATH_IMAGE078
；
Figure 550677DEST_PATH_IMAGE079
The elevation of the camera from the ground is used, so that the distance L from the target object to the ground projection point of the camera can be calculated according to the vertical azimuth angle. Then is provided with
Figure 293505DEST_PATH_IMAGE080
As the center of circle, make a circle with L as the radius, and then use
Figure 346912DEST_PATH_IMAGE080
And (4) extracting rays of a horizontal azimuth angle, wherein the intersection point is the geographic coordinate of the target object. Therefore, it can be seen that:
geographical coordinates of a target object
Figure 373643DEST_PATH_IMAGE081
Wherein
Figure 854303DEST_PATH_IMAGE082
。
Figure 412323DEST_PATH_IMAGE083
The geodetic coordinates of the location of the camera.
And step S5, monitoring and early warning.
And carrying out spatial analysis on the geographic coordinate of the target object and the farmland data, if the target object operates on the farmland or the basic farmland, indicating that the current target object possibly has illegal behaviors of destroying the farmland, and setting the geographic coordinate of the current target object as an early warning point. Particularly, if the early warning points calculated for multiple times are in the same area, the early warning points are judged to be repeated, and the area is more an area needing to be patrolled. These early warning points may be displayed in a map interface according to geographic coordinates, such as the early warning interface example shown in fig. 6.
Under the monitoring of an iron tower camera and a video pole, the geographical coordinates of a target object are calculated through the ground plane coordinates, the elevation, the vertical azimuth angle, the horizontal azimuth angle, the vertical visual field angle and the horizontal visual field angle of the camera, so that the problems of target positioning and automatic early warning in natural resource monitoring are solved, the full-automatic target identification, positioning and early warning are realized, and the labor cost of the natural resource monitoring is reduced.
Example two:
fig. 7 shows the structure of the target object geographic coordinate positioning apparatus based on video surveillance provided by the embodiment of the present invention, and only the parts related to the embodiment of the present invention are shown for convenience of illustration.
The video monitoring-based target object geographic coordinate positioning device provided by the embodiment comprises:
a position information acquisition unit 1 for acquiring position information of a camera relative to the earth;
the pixel coordinate calculation unit 2 is used for acquiring a video picture image in real time by the camera and calculating the pixel coordinate of a target object for the currently acquired image;
an angle calculation unit 3 for calculating a vertical azimuth angle and a horizontal azimuth angle of the target object with respect to the camera;
and the geographic coordinate calculation unit 4 is used for calculating the geographic coordinate of the target object according to the position information of the camera and the vertical azimuth angle and the horizontal azimuth angle.
As a preferred structure, the apparatus further comprises:
and the early warning unit 5 is used for carrying out spatial analysis on the geographical coordinates of the target object and the cultivated land data, if the target object operates on cultivated land or basic farmland, the current geographical coordinates of the target object are set as early warning points, and illegal behaviors of destroying the cultivated land are indicated. The early warning unit is also used for judging as a repeated early warning point if the early warning points calculated for multiple times are in the same area.
The functional units 1 to 5 correspondingly implement steps S1 to S5 in the first embodiment, and detailed implementation procedures thereof are not described again.
In the above configuration, the position information of the camera with respect to the ground is
Figure 892590DEST_PATH_IMAGE084
Wherein
Figure 852455DEST_PATH_IMAGE085
Being the coordinates of the ground plane on which the camera is located,
Figure 441700DEST_PATH_IMAGE018
for the elevation of the camera from the ground, the camera being vertically oriented at an azimuth angle of
Figure 221437DEST_PATH_IMAGE086
Horizontal azimuth angle of the camera is
Figure 803597DEST_PATH_IMAGE087
(ii) a The geographic coordinate calculation unit includes:
a distance calculation module for calculating the horizontal distance of the target object from the camera
Figure 617969DEST_PATH_IMAGE088
，
Figure 378115DEST_PATH_IMAGE089
；
A geographic coordinate calculation module for calculating geographic coordinates of the target object
Figure 910727DEST_PATH_IMAGE090
Wherein
Figure 109627DEST_PATH_IMAGE091
。
Vertical azimuth angle of the camera
Figure 466922DEST_PATH_IMAGE092
Horizontal azimuth angle of the camera
Figure 460285DEST_PATH_IMAGE093
(ii) a Wherein
Figure 152298DEST_PATH_IMAGE094
The vertical azimuth angle of the current central ray of the camera,
Figure DEST_PATH_IMAGE095
half the current vertical viewing angle of the camera, H is half the image height,
Figure 154889DEST_PATH_IMAGE028
is the half angle of the current horizontal view angle of the camera, W is half the picture width,
Figure 865225DEST_PATH_IMAGE096
is the pixel coordinates of the target object in the image.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims (6)

1. A target object geographic coordinate positioning method based on video monitoring is characterized by comprising the following steps:
acquiring the position information of a camera relative to the ground;
the method comprises the steps that a camera acquires a video picture image in real time, and pixel coordinates of a target object are calculated for the currently acquired image;
calculating the vertical azimuth angle and the horizontal azimuth angle of the target object relative to the camera;
calculating the geographic coordinates of the target object according to the position information of the camera and the vertical azimuth angle and the horizontal azimuth angle;
wherein the position information of the camera relative to the ground is
Figure 622112DEST_PATH_IMAGE001
Wherein
Figure 70411DEST_PATH_IMAGE002
Being the coordinates of the ground plane on which the camera is located,
Figure 115728DEST_PATH_IMAGE003
for the elevation of the camera from the ground, the vertical azimuth angle of the camera being
Figure 776516DEST_PATH_IMAGE004
Horizontal azimuth angle of the camera is
Figure 122047DEST_PATH_IMAGE005
(ii) a The specific process of calculating the geographic coordinates of the target object is as follows:
calculating the horizontal distance of the target object from the camera
Figure 210089DEST_PATH_IMAGE006
，
Figure 8280DEST_PATH_IMAGE007
；
Calculating geographic coordinates of a target object
Figure 472760DEST_PATH_IMAGE008
Wherein
Figure 675727DEST_PATH_IMAGE009
；
Wherein the vertical azimuth angle of the camera
Figure 934670DEST_PATH_IMAGE010
Horizontal azimuth angle of the camera
Figure 220157DEST_PATH_IMAGE011
(ii) a Wherein
Figure 222749DEST_PATH_IMAGE012
The vertical azimuth angle of the current central ray of the camera,
Figure 277292DEST_PATH_IMAGE013
half the current vertical viewing angle of the camera, H is half the image height,
Figure 972716DEST_PATH_IMAGE014
is the half angle of the current horizontal view angle of the camera, W is half the picture width,
Figure 479920DEST_PATH_IMAGE015
is the pixel coordinates of the target object in the image.
2. The method for video surveillance-based geographic coordinate positioning of a target object as recited in claim 1, further comprising the steps of:
and carrying out spatial analysis on the geographic coordinate of the target object and the farmland data, if the target object operates on the farmland or the basic farmland, indicating that the current target object possibly has illegal behaviors of destroying the farmland, and setting the geographic coordinate of the current target object as an early warning point.
3. The method for locating the geographical coordinates of the target object based on video surveillance as claimed in claim 2, wherein if the pre-warning points calculated multiple times are in the same area, the pre-warning points are determined to be repeated.
4. A video surveillance-based target object geographic coordinate locating apparatus, the apparatus comprising:
a position information acquisition unit for acquiring position information of the camera relative to the ground;
the pixel coordinate calculation unit is used for acquiring a video picture image in real time by the camera and calculating the pixel coordinate of the target object for the currently acquired image;
an angle calculation unit for calculating a vertical azimuth angle and a horizontal azimuth angle of the target object with respect to the camera;
the geographic coordinate calculation unit is used for calculating the geographic coordinate of the target object according to the position information of the camera, the vertical azimuth angle and the horizontal azimuth angle;
wherein the position information of the camera relative to the ground is
Figure 286202DEST_PATH_IMAGE016
Wherein
Figure 195253DEST_PATH_IMAGE017
Being the coordinates of the ground plane on which the camera is located,
Figure 61577DEST_PATH_IMAGE003
for the elevation of the camera from the ground, the vertical azimuth angle of the camera being
Figure 56078DEST_PATH_IMAGE004
Horizontal azimuth angle of the camera is
Figure 666051DEST_PATH_IMAGE005
(ii) a The geographic coordinate calculation unit includes:
a distance calculation module for calculating the horizontal distance of the target object from the camera
Figure 429608DEST_PATH_IMAGE006
，
Figure 466834DEST_PATH_IMAGE018
；
A geographic coordinate calculation module for calculating geographic coordinates of the target object
Figure 948631DEST_PATH_IMAGE019
Wherein
Figure 362295DEST_PATH_IMAGE020
；
Wherein the vertical azimuth angle of the camera
Figure 980358DEST_PATH_IMAGE021
Horizontal azimuth angle of the camera
Figure 454064DEST_PATH_IMAGE022
(ii) a Wherein
Figure 157578DEST_PATH_IMAGE023
The vertical azimuth angle of the current central ray of the camera,
Figure 109354DEST_PATH_IMAGE024
half the current vertical viewing angle of the camera, H is half the image height,
Figure 847503DEST_PATH_IMAGE025
is the half angle of the current horizontal view angle of the camera, W is half the picture width,
Figure 492111DEST_PATH_IMAGE026
is the pixel coordinates of the target object in the image.
5. The video surveillance-based target object geographic coordinate locating apparatus of claim 4, further comprising:
and the early warning unit is used for carrying out spatial analysis on the geographic coordinate of the target object and the cultivated land data, if the target object operates on cultivated land or basic farmland, the current target object possibly has illegal behaviors of destroying the cultivated land, and the geographic coordinate of the current target object is set as an early warning point.
6. The video surveillance-based geographic coordinate positioning apparatus for target objects according to claim 5, wherein the early warning unit is further configured to determine a repeat early warning point if the early warning points calculated multiple times are in the same area.
CN202110770365.2A 2021-07-08 2021-07-08 Target object geographic coordinate positioning method and device based on video monitoring Active CN113223087B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110770365.2A CN113223087B (en) 2021-07-08 2021-07-08 Target object geographic coordinate positioning method and device based on video monitoring

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110770365.2A CN113223087B (en) 2021-07-08 2021-07-08 Target object geographic coordinate positioning method and device based on video monitoring

Publications (2)

Publication Number Publication Date
CN113223087A CN113223087A (en) 2021-08-06
CN113223087B true CN113223087B (en) 2021-09-21

Family

ID=77081145

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110770365.2A Active CN113223087B (en) 2021-07-08 2021-07-08 Target object geographic coordinate positioning method and device based on video monitoring

Country Status (1)

Country Link
CN (1) CN113223087B (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113518179A (en) * 2021-04-25 2021-10-19 何佳林 Method and device for identifying and positioning objects in large range of video
CN114998425B (en) * 2022-08-04 2022-10-25 吉奥时空信息技术股份有限公司 Target object geographic coordinate positioning method and device based on artificial intelligence
CN115546710A (en) * 2022-08-09 2022-12-30 国网湖北省电力有限公司黄龙滩水力发电厂 Method, device and equipment for locating personnel in hydraulic power plant and readable storage medium
CN116805277B (en) * 2023-08-18 2024-01-26 吉奥时空信息技术股份有限公司 Video monitoring target node pixel coordinate conversion method and system

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110174093A (en) * 2019-05-05 2019-08-27 腾讯科技（深圳）有限公司 Localization method, device, equipment and computer readable storage medium
CN113012215A (en) * 2019-12-20 2021-06-22 华为技术有限公司 Method, system and equipment for space positioning

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090324058A1 (en) * 2008-06-25 2009-12-31 Sandage David A Use of geographic coordinates to identify objects in images
CN102359780B (en) * 2011-10-26 2014-04-23 中国科学技术大学 Ground target positioning method applied into video monitoring system
KR102077498B1 (en) * 2013-05-13 2020-02-17 한국전자통신연구원 Movement path extraction devices of mutual geometric relations fixed camera group and the method
CN111385467A (en) * 2019-10-25 2020-07-07 视云融聚（广州）科技有限公司 System and method for calculating longitude and latitude of any position of video picture of camera
CN111461994A (en) * 2020-03-30 2020-07-28 苏州科达科技股份有限公司 Method for obtaining coordinate transformation matrix and positioning target in monitoring picture
CN112288975A (en) * 2020-11-13 2021-01-29 珠海大横琴科技发展有限公司 Event early warning method and device

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110174093A (en) * 2019-05-05 2019-08-27 腾讯科技（深圳）有限公司 Localization method, device, equipment and computer readable storage medium
CN113012215A (en) * 2019-12-20 2021-06-22 华为技术有限公司 Method, system and equipment for space positioning

Also Published As

Publication number Publication date
CN113223087A (en) 2021-08-06

Similar Documents

Publication Publication Date Title
CN113223087B (en) Target object geographic coordinate positioning method and device based on video monitoring
CN115597659B (en) Intelligent safety management and control method for transformer substation
WO2022078240A1 (en) Camera precise positioning method applied to electronic map, and processing terminal
CN112147633A (en) Power line safety distance detection method
CN110889327B (en) Intelligent detection method for sewage outlet around water area based on thermal infrared image
CN105865427A (en) Individual geological disaster emergency investigation method based on remote sensing of small unmanned aerial vehicle
KR101891087B1 (en) Evaluation method for stability of rock slope using drone
CN110850723A (en) Fault diagnosis and positioning method based on transformer substation inspection robot system
CN111192321B (en) Target three-dimensional positioning method and device
CN111722642B (en) Inspection method, inspection device and storage medium for photovoltaic power station
CN104320587A (en) Method for automatically obtaining shooting range of outdoor pan-tilt camera
JP2008057994A (en) Water level observation system by image processing
US20130113897A1 (en) Process and arrangement for determining the position of a measuring point in geometrical space
CN113240747B (en) Outdoor structure vibration displacement automatic monitoring method based on computer vision
CN110146030A (en) Side slope surface DEFORMATION MONITORING SYSTEM and method based on gridiron pattern notation
CN109523471A (en) A kind of conversion method, system and the device of ground coordinate and wide angle cameras picture coordinate
CN109269555A (en) System and method is monitored based on unmanned plane and the Safety of Tailings Dam of dimensional Modeling Technology
KR101793262B1 (en) Analysis system for occurrence and growth progression of crack
CN115060343B (en) Point cloud-based river water level detection system and detection method
CN110766170B (en) Image processing-based multi-sensor fusion and personnel positioning method
CN107037403A (en) Object relative positioning method based on augmented reality
US10713527B2 (en) Optics based multi-dimensional target and multiple object detection and tracking method
CN107221006A (en) A kind of communication single pipe tower slant detection method based on unmanned plane imaging platform
CN111753645A (en) Inspection method and inspection device for photovoltaic power station and storage medium
CN113744393B (en) Multi-level slope landslide change monitoring method

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
CP01 Change in the name or title of a patent holder
CP01 Change in the name or title of a patent holder

Address after: 430223 Wuda science and Technology Park, Jiangxia Avenue, Miaoshan community, Donghu Development Zone, Wuhan City, Hubei Province

Patentee after: Geospace Information Technology Co., Ltd.

Address before: 430223 Wuda science and Technology Park, Jiangxia Avenue, Miaoshan community, Donghu Development Zone, Wuhan City, Hubei Province

Patentee before: WUDA GEOINFORMATICS Co.,Ltd.

PE01 Entry into force of the registration of the contract for pledge of patent right
PE01 Entry into force of the registration of the contract for pledge of patent right

Denomination of invention: A method and device for locating geographical coordinates of target objects based on video surveillance

Effective date of registration: 20230320

Granted publication date: 20210921

Pledgee: Bank of China Limited Wuhan Donghu New Technology Development Zone Branch

Pledgor: Geospace Information Technology Co.,Ltd.

Registration number: Y2023980035482