CN113645397A - Tracking method, device and system for moving target object - Google Patents
Tracking method, device and system for moving target object Download PDFInfo
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- CN113645397A CN113645397A CN202010346485.5A CN202010346485A CN113645397A CN 113645397 A CN113645397 A CN 113645397A CN 202010346485 A CN202010346485 A CN 202010346485A CN 113645397 A CN113645397 A CN 113645397A
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- 238000012544 monitoring process Methods 0.000 description 13
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/67—Focus control based on electronic image sensor signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
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Abstract
The invention discloses a tracking method and a tracking device for a moving target object and a tracking system for the moving target object. And for the detected moving target object, determining the distance between the moving target object and the image pickup device, determining the zoom magnification of the image pickup device based on the distance, and controlling the image pickup device to track and shoot the moving target object at the zoom magnification. Further, in the tracking shooting process, the zooming and the rotation of the holder are controlled by combining the distance between the moving target object and the camera equipment and the position and the size of the moving target object in the field range of the camera equipment, and the moving target object is kept in the field center area of the camera equipment through continuous feedback, so that the moving target object which moves rapidly and is far away is tracked.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of holder control, in particular to a method and a device for tracking a moving target object and a system for tracking the moving target object.
[ background of the invention ]
The cradle head is a supporting device for mounting and fixing a camera and is divided into a fixed cradle head and an electric cradle head. The fixed tripod head is suitable for the condition that the monitoring range is not large, the horizontal and pitching angles of the camera can be adjusted after the camera is installed on the fixed tripod head, and the adjusting mechanism can be locked after the best working posture is achieved. The electric pan-tilt is suitable for scanning and monitoring a large range, and can enlarge the monitoring range of the camera.
In the prior art, according to the technical scheme disclosed in patent document CN107147839A entitled "control method and apparatus for monitoring pan tilt for identifying any camera motorized zoom lens", a camera and a monitoring pan tilt are associated according to a zoom driving range, so that when the focal length of the camera motorized zoom lens is enlarged, the speed of the monitoring pan tilt is reduced, and when the focal length of the camera motorized zoom lens is reduced, the speed of the monitoring pan tilt is increased. The zoom magnification and the rotation speed of the monitoring holder are accurately related (namely the speed of the monitoring holder is inversely proportional to the zoom magnification), so that the rotation speed (including the up-down rotation speed or the left-right rotation speed) of the monitoring holder is controlled.
However, this technical solution has a disadvantage that if the monitoring platform needs to track a target object (such as an unmanned aerial vehicle) which is far away and moves fast, if the distance of the target object is too far, the pixel area occupied by the target object in the field of view of the camera is too small, and the specific form of the target object is easily lost or unclear. However, if the monitoring pan/tilt head controls the camera to zoom, the target object may quickly fly away from the field of view at a smaller field angle, resulting in a failure in locking the target object.
[ summary of the invention ]
In view of this, embodiments of the present invention provide a method and an apparatus for tracking a moving target object, and a system for tracking a moving target object, so as to solve the technical problem that a monitoring pan-tilt in the prior art is difficult to track a target object that moves fast and has a long distance.
In one aspect, an embodiment of the present invention provides a method for tracking a moving target object, where when a detected moving target object is detected, a distance between the moving target object and an image capture device is determined; determining a zoom magnification of the image pickup apparatus based on the distance; and controlling the image pickup device to track and shoot the moving target object at the zoom magnification.
Optionally, the controlling the image pickup apparatus to track and shoot the moving target object at the zoom magnification includes: judging whether the moving target object is positioned in a central area of a field of view on an image shot by the camera equipment at the zoom magnification; if yes, adjusting the rotation speed of a holder of the camera equipment from a first speed to a second speed, wherein the second speed is equal to the first speed, or the second speed is equal to the pixel speed of the moving target object on an image shot by the camera equipment; if not, adjusting the rotation speed of the holder of the camera equipment from a first speed to a third speed, wherein the third speed is greater than the first speed.
Optionally, the controlling the image pickup apparatus to track and shoot the moving target object at the zoom magnification includes: judging whether the pixel area of the moving target object on the image shot by the camera equipment is within a preset range or not; and if not, adjusting the zoom magnification of the image pickup equipment according to the proportion of the pixel area on the image.
Optionally, the determining whether the area of the pixel of the moving target object on the image captured by the image capturing device is within a preset range includes: determining the minimum circumscribed rectangle area of the moving target object on the image shot by the camera equipment; and judging whether the pixel area of the moving target object on the image shot by the camera equipment is within a preset range or not based on the ratio of the minimum circumscribed rectangle area to a preset pixel area.
Optionally, the adjusting the zoom magnification of the image capturing apparatus according to the proportion of the pixel area on the image includes: if the ratio of the minimum circumscribed rectangle area to the preset pixel area is smaller than a first preset ratio and the zooming magnification is smaller than the maximum zooming magnification of the camera equipment, zooming the zooming magnification; if the ratio of the minimum circumscribed rectangle area to the preset pixel area is larger than a second preset ratio, and the zooming magnification is larger than the minimum zooming magnification of the camera equipment, reducing the zooming magnification; wherein the second preset proportion is greater than the first preset proportion.
Optionally, the adjusting the zoom magnification of the image capturing apparatus according to the proportion of the pixel area on the image further includes: if the ratio of the minimum external rectangular area to the preset pixel area is smaller than a first preset ratio and the zooming magnification is the maximum zooming magnification of the image pickup apparatus, or if the ratio of the minimum external rectangular area to the preset pixel area is larger than a second preset ratio and the zooming magnification is the minimum zooming magnification of the image pickup apparatus, the zooming magnification of the image pickup apparatus is maintained.
On the other hand, an embodiment of the present invention further provides a tracking apparatus for a moving target object, including: the distance measuring module is used for determining the distance between the moving target object and the camera equipment aiming at the detected moving target object; a zoom magnification determination module for determining a zoom magnification of the image pickup apparatus based on the distance; and the tracking shooting module is used for controlling the camera equipment to track and shoot the moving target object at the zoom magnification.
On the other hand, an embodiment of the present invention further provides a tracking system for a moving target object, including: the system comprises a holder, a camera device and a radar device; the holder is used for carrying the camera equipment and the radar equipment; wherein the radar device is used for detecting a moving target object; and the cradle head controls the camera equipment according to the tracking method of the moving target object.
Optionally, the radar apparatus is further configured to measure a distance between the moving target object and the image pickup apparatus.
In still another aspect, an embodiment of the present invention further provides a computer-readable storage medium, where the storage medium stores a computer program, and the computer program is configured to execute the above tracking method for a moving target object.
In another aspect, an embodiment of the present invention further provides an electronic device, where the electronic device includes: a processor; a memory for storing the processor-executable instructions; and the processor is used for reading the executable instruction from the memory and executing the instruction to realize the tracking method of the moving target object.
The technical scheme at least has the following beneficial effects:
according to the tracking method of the moving target object provided by the embodiment of the invention, when the moving target object is detected, the distance between the moving target object and the image pickup device is determined, and then the zoom magnification of the image pickup device is determined based on the distance, so that the image pickup device is controlled to track and shoot the moving target object at the zoom magnification. Since the zoom magnification of the image pickup apparatus is adjusted in conjunction with the distance between the moving target object and the image pickup apparatus, the moving target object that moves at a long distance and fast can be stably tracked and photographed.
Further, in the process of tracking and shooting the moving target object, whether the moving target object is located in the center area of the field of view or not on the image shot by the camera equipment is determined according to the fact that the moving target object is located in the center area of the field of view, so that the rotation speed of a holder carrying the camera equipment is adjusted, and the moving target object is guaranteed to be moderate in position on the image shot by the camera equipment. And adjusting the zooming magnification of the camera equipment according to whether the pixel area of the moving target object on the image shot by the camera equipment is within a preset range or not so as to ensure that the size of the moving target object on the image shot by the camera equipment is proper. Therefore, the zooming and the rotation of the holder are controlled by combining the distance between the moving target object and the camera equipment and the position and the size of the moving target object in the field of view of the camera equipment, and the moving target object is kept in the field of view center area of the camera equipment by continuous feedback, so that the moving target object which moves rapidly and has a long distance is tracked.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an embodiment of a tracking system for a moving target object according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating a tracking method for a moving target object according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an embodiment of a tracking apparatus for a moving target object according to an embodiment of the present invention.
[ detailed description ] embodiments
For better understanding of the technical solutions of the present invention, the following detailed descriptions of the embodiments of the present invention are provided with reference to the accompanying drawings.
It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. 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.
For convenience of describing the tracking method of the moving target object provided by the embodiment of the present invention, a tracking system of the moving target object applied to the tracking method is first described in detail.
Fig. 1 is a schematic structural diagram of an embodiment of a tracking system for a moving target object according to an embodiment of the present invention.
Referring to fig. 1, the tracking system includes: a pan/tilt head 11, an image pickup apparatus 12, and a radar apparatus 13. Wherein the pan/tilt head 11 can mount the image pickup apparatus 12 and the radar apparatus 13. Cloud platform 11 can the horizontal rotation and the vertical rotation, and along with cloud platform 11's rotation can drive camera equipment 12 with radar equipment 13 rotates.
The radar device 13 is used to detect the position of a moving target object. The pan/tilt head 11 adjusts the rotational speed and the lens orientation of the image pickup device 13 based on the position of the moving target object so that the image pickup device 12 can track-shoot the moving target object. Optionally, the orientation of the radar device and the orientation of the camera device may be the same, so that when the radar device 13 detects a moving target object, the camera device may directly shoot the pan-tilt, and the pan-tilt does not need to adjust the orientation of the lens.
The image pickup apparatus 12 is an image pickup apparatus having a zoom lens. If the image pickup apparatus 12 has a distance measurement function, the distance between the moving target object and the image pickup apparatus 12 can be measured. For example, if the image pickup apparatus 12 is a monocular camera, the distance between a moving target object and the image pickup apparatus 12 may be measured using the principle of monocular visual ranging. If the camera device 12 is a binocular camera, the distance between the moving target object and the camera device 12 may be measured by using a binocular vision ranging principle.
The pan/tilt head 11 adjusts the zoom magnification of the image pickup apparatus 12 based on the distance measured by the image pickup apparatus 12, so that the image pickup apparatus 12 keeps a moving target object in a central area within the field of view of the image pickup apparatus 13 during tracking shooting of the moving target object, thereby realizing tracking of a moving target object which moves fast and has a long distance.
Further, the distance between the moving target object and the imaging apparatus 12 (or the pan/tilt head 11) may also be measured using the ranging function of the radar apparatus 13. Furthermore, the pan/tilt head 11 can adjust the zoom ratio of the image pickup apparatus 12 according to the distance between the moving target object measured by the radar apparatus and the image pickup apparatus 12, so that the radar apparatus 13 and the image pickup apparatus 12 are linked under the control of the pan/tilt head 11, and the pan/tilt head 11 can be assisted by the radar apparatus 13 to adjust the zoom ratio of the image pickup apparatus 12.
In the tracking system for the moving target object provided in this embodiment, the pan/tilt head 11 can more effectively control the image capturing apparatus 13 by detecting the position of the moving target object and measuring the distance between the moving target object and the pan/tilt head (or the image capturing apparatus), so as to ensure the central area of the moving target object in the field of view of the image capturing apparatus 12, thereby realizing tracking of the moving target object which moves fast and has a long distance.
Fig. 2 is a flowchart illustrating a tracking method for a moving target object according to an embodiment of the present invention. Referring to fig. 2, the tracking method includes:
And step 203, controlling the image pickup device to track and shoot the moving target object at the zoom magnification.
It should be noted that the tracking method described in this embodiment is applied to a pan/tilt head or a processor that can communicate with the pan/tilt head.
The following describes the tracking method according to the present embodiment in detail with reference to the tracking system of a moving target object shown in fig. 1.
As described in step 201, for a detected moving target object, the distance between the moving target object and the image pickup apparatus is determined.
Specifically, in a tracking system of a moving target object, the moving target object may be detected by the radar apparatus (or the image pickup apparatus). When a moving target object is detected, the holder controls the lens of the image pickup apparatus to turn to the moving target object. Because the moving target object is in a moving state, along with the movement of the moving target object, the radar device feeds back the position of the moving target object detected in real time to the pan-tilt head, so that the pan-tilt head adjusts the lens orientation of the camera device based on the position of the moving target object, and the camera device can track and shoot the moving target object.
Further, the distance between the moving target object and the image pickup apparatus is measured using a ranging function of the image pickup apparatus or a ranging function of the radar apparatus. The specific implementation manner of the radar device for the ranging of the moving target object may refer to a radar ranging principle, and is not described herein again.
The zoom magnification of the image capture device is determined based on the distance, as described in step 202.
Specifically, in order to enable the camera device to shoot the moving target object in a tracking mode, the size of the moving target object on a shot image is moderate, and the image is clear, the holder determines the zoom magnification of the camera device according to the distance between the moving target object and the camera device.
In the present embodiment, the image pickup apparatus is an image pickup apparatus having a zoom lens. Those skilled in the art understand that the image pickup apparatus with the zoom lens can adjust the zoom magnification to obtain corresponding focal lengths, and different focal lengths correspond to different field angles, and the field angles are in inverse proportion to the focal lengths, that is, the larger the focal length is, the smaller the field angle is, the smaller the range of the image pickup apparatus is; the smaller the focal length, the larger the angle of view, and the larger the range that the imaging apparatus captures.
Therefore, the shooting range can be changed by varying the focal length without changing the shooting distance by the zoom lens of the image pickup apparatus, thereby achieving a reasonable composition of the shooting picture. Since the moving target object is in a moving state, a distance between the moving target object and the image pickup apparatus (or the pan/tilt head) may change during the movement. Therefore, the zoom magnification of the image pickup apparatus is adjusted according to the detected distance between the moving target object and the image pickup apparatus (or the pan/tilt head), so that the size, the position and the definition of the moving target object in the field of view are all satisfied on the image captured by the image pickup apparatus at the zoom magnification.
In this embodiment, the numerical correspondence between the distance and the zoom magnification of the image capturing apparatus is not limited, and in practical applications, the holder may determine a specific numerical correspondence between the zoom magnification and the distance according to different zoom lenses of the image capturing apparatus.
The image pickup apparatus is controlled to track-photograph the moving target object at the zoom magnification as described in step 203.
In this embodiment, since the moving target object is in a moving state, in the process of controlling the image capturing device to track and shoot the moving target object, the pan/tilt head needs to adjust the zoom ratio of the image capturing device, the rotation rate of the pan/tilt head, and the like according to the position and the movement rate of the moving target object, so that the image capturing device can track the moving target object which moves fast and has a long distance.
Specifically, the step 203 includes:
step 2031 of determining whether the moving target object is located in a field center area on an image captured by the image capture apparatus at the zoom magnification.
The position and the area size of the central area of the field of view can be preset, and then the image obtained by the camera device is detected, so that whether the moving target object is located in the set central area of the field of view is determined.
And step 2032, if yes, adjusting the rotation speed of the pan/tilt head of the image pickup apparatus from the first speed to the second speed.
The first speed here indicates the rotational speed of the head before adjustment. The second rate here may be equal to the first rate, i.e. keeping the current rotational rate of the head constant; alternatively, the second rate may be equal to the pixel rate of the moving target object.
Specifically, the image capturing device obtains a video stream in the process of tracking and capturing the moving target object, the video stream includes a plurality of image frames, and a pixel rate of the moving target object on an image captured by the image capturing device can be calculated from a pixel position difference corresponding to the moving target object on two consecutive image frames and a time interval between the two image frames.
Step 2033, if not, adjusting the rotation speed of the pan/tilt head of the image pickup apparatus from the first speed to a third speed.
Wherein the third rate is greater than the first rate. Step 2033 has various adjustment modes, for example, a fixed value larger than 0 may be added to the current rotational speed of the pan/tilt head, or a fixed value larger than 1 may be multiplied, and the obtained sum or product value is used as the adjusted rotational speed of the pan/tilt head. Or, a corresponding relationship between the variable k and the pixel rate of the moving target object may be predefined, and the variable k is positively correlated with the pixel rate of the moving target object, so that in step 2033, the value of k is determined according to the currently determined pixel rate of the moving target object and the corresponding relationship, and a value obtained by multiplying the current rotational rate of the pan/tilt head by k (k >1) is used as the adjusted rotational rate of the pan/tilt head.
Further, since the pan/tilt head can rotate up and down or rotate left and right, if the pan/tilt head only rotates up and down or only rotates left and right, the rotation rate refers to a rotation rate when the pan/tilt head rotates up and down or a rotation rate when the pan/tilt head rotates left and right. If the cradle head rotates up and down and rotates left and right in the rotating process, the rotating speed comprises the speed component of the up-down rotation and the speed component of the left-right rotation of the cradle head, so that the rotating speed is decomposed according to the direction information of the up-down rotation and the left-right rotation, the speed component of the up-down rotation and the speed component of the left-right rotation can be respectively obtained, and the cradle head is controlled to rotate up and down and rotate left and right according to the corresponding speed components.
Further, the step 203 further includes:
step 2034 of determining whether the area of the pixel of the moving target object on the image captured by the image capturing apparatus is within a preset range.
Step 2035, if not, adjusting the zoom magnification of the image pickup apparatus according to the proportion of the pixel area on the image.
As described above, the zoom lens of the image pickup apparatus can adjust the zoom magnification, and the range of angles of view taken by the image pickup apparatus differs based on the different zoom magnifications, so that the pixel areas of the moving target object on the image taken by the image pickup apparatus differ from each other when taken at different angles of view. If the pixel area is too small or too large, the image pickup apparatus is likely to lose track of or obscure a specific form of the moving target object in the tracking shooting process. Therefore, when the pixel area is judged not to be in the preset range, the zoom magnification of the image pickup device is adjusted according to the proportion of the pixel area on the image.
Specifically, step 2034 includes:
step 20341 of determining a minimum circumscribed rectangular area of the moving target object on the image captured by the image capturing apparatus.
And 20342, judging whether the pixel area of the moving target object on the image shot by the camera device is within a preset range or not based on the ratio of the minimum circumscribed rectangle area to a preset pixel area.
In step 20341, since the external shape of the moving target object is an irregular shape (e.g., a polygon), in order to facilitate comparison of the pixel area of the moving target object on the image captured by the image capturing apparatus with a preset pixel area, the minimum circumscribed rectangular area of the moving target object on the image captured by the image capturing apparatus is used as the pixel area of the moving target object in the image.
In the present embodiment, the minimum circumscribed rectangular area refers to a rectangle whose lower boundary is defined by the maximum abscissa, the minimum abscissa, the maximum ordinate, and the minimum ordinate among the vertices of the moving target object on the image frame captured by the image capturing apparatus. In other words, the minimum circumscribed rectangular area at least includes a pixel area of the moving target object on the image captured by the image capturing apparatus, and is a circumscribed rectangular area that is the smallest area among all pixel areas including the moving target object on the image captured by the image capturing apparatus.
In said step 20342, for example, with AreaobjectA minimum circumscribed rectangular Area (in pixels) representing the moving target object in AreasetRepresenting the area of the preset pixel; and calculating the ratio p of the area of the minimum circumscribed rectangle to the area of the preset pixel according to the following formula.
It can be seen that if p is 1, the minimum circumscribed rectangular area representing the moving target object is equal to the preset pixel area, which is the most ideal state. If p >1 or p <1, it means that the minimum bounding rectangle area of the moving target object is larger than (p >1) or smaller than (p <1) the preset pixel area. In this embodiment, the preset area range is determined by setting a range of p, for example, the range of p may be set to [ 0.8-1.2 ], that is, the calculated p is between 0.8-1.2 (including 0.8 and 1.2), that is, it is determined that the pixel area of the moving target object on the image captured by the image capturing device is within the preset area range.
If the result of the determination in step 2034 is negative, step 2035 is executed to adjust the zoom magnification of the image capturing apparatus according to the proportion of the pixel area in the image.
Specifically, step 2035 comprises:
step 20351, if the ratio of the minimum circumscribed rectangle area to the preset pixel area is smaller than a first preset ratio, and the zoom magnification is smaller than the maximum zoom magnification of the image pickup apparatus, zooming the zoom magnification;
step 20352, if the ratio of the minimum circumscribed rectangle area to the preset pixel area is greater than a second preset ratio, and the zoom magnification is greater than the minimum zoom magnification of the image pickup apparatus, reducing the zoom magnification; wherein the second preset proportion is greater than the first preset proportion.
Specifically, as described in step 2034, supra, with AreaobjectA minimum circumscribed rectangular Area (in pixels) representing the moving target object in AreasetRepresenting the area of the preset pixel; the ratio p of the minimum circumscribed rectangle area to the preset pixel area is calculated according to the following formula:
carrying out the zoom adjustment of the pan-tilt according to the following relation:
wherein, zoomrateIndicating the current zoom magnification, zoom, of the image pickup apparatusmaxRepresenting a maximum zoom magnification, zoom, of the image pickup apparatusminRepresents a minimum zoom magnification of the image pickup apparatus. The first preset proportion and the second preset proportion may be set by the cradle head, for example, the first preset proportion is set to be 0.8, and the second preset proportion is set to be 1.2.
In an optional embodiment, the pan-tilt can determine a zoom rate of the image capturing apparatus according to a difference between a pixel area of the moving target object on an image captured by the image capturing apparatus and a preset pixel area, and adjust a zoom magnification of the image capturing apparatus according to the zoom rate, where the zoom rate is positively correlated with the difference, that is, the larger the difference between the pixel area of the moving target object and the preset pixel area is, the faster the zoom rate is, so that the pixel area of the moving target object on the image can be adjusted to a proper proportion more quickly, thereby facilitating tracking.
In an alternative embodiment, the pan/tilt head may preset a zoom rate, where the zoom rate is a rate of zooming in or out of a zoom magnification. Then, the pan/tilt head zooms in or zooms out the zoom magnification according to the set zoom rate (i.e. constant speed). Further, the zooming speed may also be a non-uniform zooming speed, for example, if the ratio p is far smaller than the first preset ratio, the zooming speed may be gradually decreased from fast to slow (i.e., the zooming speed is gradually decreased) or gradually increased from slow to fast (i.e., the zooming speed is gradually increased) during zooming of the image capturing apparatus by the cradle head.
Further, step 2035 further comprises:
if the ratio of the minimum external rectangular area to the preset pixel area is smaller than a first preset ratio and the zooming magnification is the maximum zooming magnification of the image pickup apparatus, or if the ratio of the minimum external rectangular area to the preset pixel area is larger than a second preset ratio and the zooming magnification is the minimum zooming magnification of the image pickup apparatus, the zooming magnification of the image pickup apparatus is maintained without adjustment.
Specifically, if the zoom magnification has reached the maximum zoom magnification of the image pickup apparatus or the minimum zoom magnification of the image pickup apparatus, and the zoom magnification cannot be adjusted any more, the zoom magnification of the image pickup apparatus is maintained, and the pan-tilt is controlled to rotate at the current rotation rate, so that the image pickup apparatus continues to perform tracking shooting on the moving target object.
In this embodiment, in a specific implementation process of step 203 (i.e., controlling the image capturing apparatus to track and capture the moving target object at the zoom magnification), the execution sequence between step 2031 to step 2033 and step 2034 to step 2035 may be a parallel sequence or a sequential sequence.
That is, according to the moving state of the moving target object, when the moving target object is not in the central area of the field of view in the image captured by the image capture apparatus at the zoom magnification, the rotational speed of the pan/tilt head needs to be adjusted so that the moving target object is in the central area of the field of view; when the area of the pixel of the moving target object on the image captured by the image capturing apparatus is not within the preset range, the zoom magnification of the image capturing apparatus needs to be adjusted.
Therefore, the zooming and the rotation of the holder are controlled by combining the distance between the moving target object and the camera equipment and the position and the size of the moving target object in the field of view of the camera equipment, and the moving target object is kept in the field of view center area of the camera equipment by continuous feedback, so that the moving target object which moves rapidly and has a long distance is tracked.
Fig. 3 is a schematic structural diagram of an embodiment of a tracking apparatus for a moving target object according to an embodiment of the present invention.
Referring to fig. 3, the tracking device 3 includes: a distance measuring module 31 for determining a distance between the moving target object and the image pickup apparatus for the detected moving target object. A zoom magnification determination module 32 configured to determine a zoom magnification of the image pickup apparatus based on the distance. And a tracking shooting module 33, configured to control the image pickup apparatus to track and shoot the moving target object at the zoom magnification.
The tracking photographing module 33 includes: a position determination unit 331 configured to determine whether the moving target object is located in a field-of-view center area on an image captured by the image capture apparatus at the zoom magnification. A rotation rate control unit 332, configured to, if the determination result of the position determination unit 331 is yes, adjust a rotation rate of a pan/tilt head of the image capturing apparatus from a first rate to a second rate, where the second rate is equal to the first rate, or the second rate is equal to a pixel rate of the moving target object on an image captured by the image capturing apparatus; if the determination result of the position determination unit 332 is negative, the rotational speed of the pan/tilt head of the image capturing apparatus is adjusted from a first speed to a third speed, where the third speed is greater than the first speed.
The tracking photographing module 33 includes: a pixel area determination unit 333 configured to determine whether a pixel area of the moving target object on the image captured by the image capture apparatus is within a preset range. A zoom magnification adjusting unit 334, configured to adjust a zoom magnification of the image capturing apparatus according to a ratio of the pixel area to the image if the determination result of the pixel area determining unit is negative.
Wherein the pixel area determination unit 333 includes: a minimum circumscribed rectangle area determination unit (not shown in the figure) for determining a minimum circumscribed rectangle area of the moving target object on the image captured by the image capture apparatus. And a proportion determining unit (not shown in the figure) configured to determine whether a pixel area of the moving target object on an image captured by the image capturing device is within a preset range based on a proportion of the minimum circumscribed rectangle area to a preset pixel area.
The zoom magnification adjustment unit 334 includes: and the first adjusting unit (not shown in the figure) is used for amplifying the zooming magnification if the ratio of the minimum external rectangular area to the preset pixel area is smaller than a first preset ratio and the zooming magnification is smaller than the maximum zooming magnification of the camera equipment. A second adjusting unit (not shown in the figure), configured to reduce the zoom magnification if a ratio of the minimum circumscribed rectangle area to the preset pixel area is greater than a second preset ratio, and the zoom magnification is greater than a minimum zoom magnification of the image capturing apparatus; wherein the second preset proportion is greater than the first preset proportion.
The zoom magnification adjustment unit 334 further includes: a third adjusting unit (not shown in the figure), configured to maintain the zoom magnification of the image pickup apparatus if the ratio of the minimum external rectangular area to the preset pixel area is smaller than a first preset ratio and the zoom magnification is the maximum zoom magnification of the image pickup apparatus, or if the ratio of the minimum external rectangular area to the preset pixel area is greater than a second preset ratio and the zoom magnification is the minimum zoom magnification of the image pickup apparatus.
An embodiment of the present invention further provides a computer-readable storage medium, where the storage medium stores a computer program, and the computer program is configured to execute each step in the above-described embodiment of the tracking method for a moving target object.
An embodiment of the present invention further provides an electronic device, where the electronic device includes: a processor; a memory for storing the processor-executable instructions; the processor is configured to read the executable instructions from the memory and execute the instructions to implement the steps in the embodiment of the tracking method for the moving target object.
In summary, according to the tracking method for the moving target object provided by the embodiment of the present invention, when the moving target object is detected, the distance between the moving target object and the image capturing apparatus is determined, and then the zoom magnification of the image capturing apparatus is determined based on the distance, so that the image capturing apparatus is controlled to track and shoot the moving target object at the zoom magnification. Since the zoom magnification of the image pickup apparatus is adjusted in conjunction with the distance between the moving target object and the image pickup apparatus, the moving target object that moves at a long distance and fast can be stably tracked and photographed.
Further, in the process of tracking and shooting the moving target object, whether the moving target object is located in the center area of the field of view or not on the image shot by the camera equipment is determined according to the fact that the moving target object is located in the center area of the field of view, so that the rotation speed of a holder carrying the camera equipment is adjusted, and the moving target object is guaranteed to be moderate in position on the image shot by the camera equipment. And adjusting the zooming magnification of the camera equipment according to whether the pixel area of the moving target object on the image shot by the camera equipment is within a preset range or not so as to ensure that the size of the moving target object on the image shot by the camera equipment is proper. Therefore, the zooming and the rotation of the holder are controlled by combining the distance between the moving target object and the camera equipment and the position and the size of the moving target object in the field of view of the camera equipment, and the moving target object is kept in the field of view center area of the camera equipment by continuous feedback, so that the moving target object which moves rapidly and has a long distance is tracked.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrases "if determined" or "if detected (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when detected (a stated condition or event)" or "in response to a detection (a stated condition or event)", depending on the context.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments provided in the present invention, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions in actual implementation, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) or a Processor (Processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
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, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A tracking method of a moving target object, the tracking method comprising:
determining a distance between the moving target object and the image pickup apparatus for the detected moving target object;
determining a zoom magnification of the image pickup apparatus based on the distance;
and controlling the image pickup device to track and shoot the moving target object at the zoom magnification.
2. The method according to claim 1, wherein the controlling the image pickup apparatus to track-photograph the moving target object at the zoom magnification includes:
judging whether the moving target object is positioned in a central area of a field of view on an image shot by the camera equipment at the zoom magnification;
if yes, adjusting the rotation speed of a holder of the camera equipment from a first speed to a second speed, wherein the second speed is equal to the first speed, or the second speed is equal to the pixel speed of the moving target object on an image shot by the camera equipment;
if not, adjusting the rotation speed of the holder of the camera equipment from a first speed to a third speed, wherein the third speed is greater than the first speed.
3. The method according to claim 1, wherein the controlling the image pickup apparatus to track-photograph the moving target object at the zoom magnification includes:
judging whether the pixel area of the moving target object on the image shot by the camera equipment is within a preset range or not;
and if not, adjusting the zoom magnification of the image pickup equipment according to the proportion of the pixel area on the image.
4. The method according to claim 3, wherein the determining whether the pixel area of the moving target object on the image captured by the image capturing apparatus is within a preset range includes:
determining the minimum circumscribed rectangle area of the moving target object on the image shot by the camera equipment;
and judging whether the pixel area of the moving target object on the image shot by the camera equipment is within a preset range or not based on the ratio of the minimum circumscribed rectangle area to a preset pixel area.
5. The method of claim 4, wherein the adjusting the zoom magnification of the image capture device according to the proportion of the pixel area on the image comprises:
if the ratio of the minimum circumscribed rectangle area to the preset pixel area is smaller than a first preset ratio and the zooming magnification is smaller than the maximum zooming magnification of the camera equipment, zooming the zooming magnification;
if the ratio of the minimum circumscribed rectangle area to the preset pixel area is larger than a second preset ratio and the zooming magnification is larger than the minimum zooming magnification of the camera equipment, reducing the zooming magnification; wherein the second preset proportion is greater than the first preset proportion.
6. The method of claim 5, wherein said adjusting a zoom magnification of the image capture device according to a proportion of the pixel area on the image further comprises:
if the ratio of the minimum external rectangular area to the preset pixel area is smaller than a first preset ratio and the zooming magnification is the maximum zooming magnification of the image pickup apparatus, or if the ratio of the minimum external rectangular area to the preset pixel area is larger than a second preset ratio and the zooming magnification is the minimum zooming magnification of the image pickup apparatus, the zooming magnification of the image pickup apparatus is maintained.
7. A tracking apparatus for a moving target object, comprising:
the distance measuring module is used for determining the distance between the moving target object and the camera equipment aiming at the detected moving target object;
a zoom magnification determination module for determining a zoom magnification of the image pickup apparatus based on the distance;
and the tracking shooting module is used for controlling the camera equipment to track and shoot the moving target object at the zoom magnification.
8. A tracking system for a moving target object, comprising: the system comprises a holder, a camera device and a radar device; the holder is used for carrying the camera equipment and the radar equipment; wherein the radar device is used for detecting a moving target object;
the pan-tilt controls the camera according to the tracking method of the moving target object according to any one of claims 1 to 6.
9. A computer-readable storage medium storing a computer program for executing the tracking method of a moving target object according to any one of claims 1 to 6.
10. An electronic device, the electronic device comprising:
a processor;
a memory for storing the processor-executable instructions;
the processor is used for reading the executable instructions from the memory and executing the instructions to realize the tracking method of the moving target object in any one of the claims 1-6.
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