CN114071015A - Method, device, medium and equipment for determining linkage snapshot path - Google Patents

Method, device, medium and equipment for determining linkage snapshot path Download PDF

Info

Publication number
CN114071015A
CN114071015A CN202111331663.8A CN202111331663A CN114071015A CN 114071015 A CN114071015 A CN 114071015A CN 202111331663 A CN202111331663 A CN 202111331663A CN 114071015 A CN114071015 A CN 114071015A
Authority
CN
China
Prior art keywords
target
path
snapshot
determining
mode
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.)
Granted
Application number
CN202111331663.8A
Other languages
Chinese (zh)
Other versions
CN114071015B (en
Inventor
曾文彬
林杰
陈多明
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.)
Zhejiang Uniview Technologies Co Ltd
Original Assignee
Zhejiang Uniview Technologies 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 Zhejiang Uniview Technologies Co Ltd filed Critical Zhejiang Uniview Technologies Co Ltd
Priority to CN202111331663.8A priority Critical patent/CN114071015B/en
Publication of CN114071015A publication Critical patent/CN114071015A/en
Application granted granted Critical
Publication of CN114071015B publication Critical patent/CN114071015B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • 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
    • H04N23/61—Control of cameras or camera modules based on recognised objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Abstract

The embodiment of the application discloses a method, a device, a medium and equipment for determining a linkage snapshot path. Wherein, the method comprises the following steps: identifying a target to be snapshotted from the acquired panoramic image; detecting the target position of a target to be snapshotted, and constructing target data based on the target to be snapshotted and the target position of the target to be snapshotted; caching target data for the detail cameras to take a snapshot one by one; determining a current target which is captured by the detail camera and the remaining targets which are not captured in the cached target data; determining a path optimization snapshot mode for the remaining targets according to the target position of the current target and the target positions of the remaining targets; and calculating the path by adopting a path calculation rule corresponding to the path optimization snapshot mode, and sending the obtained calculation result to the detail camera for the detail camera to snapshot one by one according to the calculation result. According to the technical scheme, the scene adaptability of the panoramic camera can be enhanced, the linkage snapshot effect is improved, and scientific maintenance of the panoramic camera is realized.

Description

Method, device, medium and equipment for determining linkage snapshot path
Technical Field
The embodiment of the application relates to the technical field of monitoring, in particular to a method, a device, a medium and equipment for determining a linkage snapshot path.
Background
In a monitoring scene, linked capturing is one of important functions of a panoramic camera equipped with a detail camera. By running the target detection algorithm on the panoramic camera, the location of the target can be located. And then the panoramic camera is linked with the detail camera, so that the detail camera can zoom in the target picture and take a snapshot through the movement of the position and/or the angle.
In the prior art, a panoramic camera is generally sorted according to the time for identifying a target to be captured, and a capturing motion path of a detail camera is generated according to the sorting and the target position of the target to be captured. The panoramic camera can be linked with the detail camera, so that the detail camera can be rapidly moved to each target position according to the target position provided by the panoramic camera and can be used for capturing.
However, in practical application scenarios, the high-frequency rotation of the detail camera easily causes wear of the moving equipment in the detail camera, and the service life of the detail camera is greatly shortened. Meanwhile, the large-amplitude rotation easily causes the defects of low working efficiency of the detail camera, low applicability to the monitoring scene with large target number and the like.
Disclosure of Invention
The embodiment of the application provides a method, a device, a medium and equipment for determining a linkage snapshot path, which can divide the path optimization snapshot mode of the remaining targets through the target position of the current target and the target positions of the remaining targets, thereby enhancing the scene adaptability of a panoramic camera while improving the working efficiency of the panoramic camera and realizing scientific maintenance of the panoramic camera.
In a first aspect, an embodiment of the present application provides a method for determining a linkage snapshot path, where the method is performed by a panoramic camera, and the panoramic camera is configured with a detail camera, and the method includes:
identifying a target to be snapshotted from the acquired panoramic image;
detecting the target position of the target to be snapshotted, constructing target data based on the target to be snapshotted and the target position of the target to be snapshotted, and caching the target data;
determining a current target snapped by the detail camera and the remaining targets which are not snapped in the cached target data;
determining a path optimization snapshot mode for the residual targets according to the target positions of the current target and the target positions of the residual targets;
and calculating a path by adopting a path calculation rule corresponding to the path optimization snapshot mode, and sending an obtained calculation result to the detail camera for the detail camera to snapshot the remaining targets one by one according to the calculation result.
In a second aspect, an embodiment of the present application provides an apparatus for determining a linkage snapshot path, where the apparatus is configured on a panoramic camera, and the panoramic camera is configured with a detail camera, and the apparatus includes:
the target to be snapshot identifying module is used for identifying a target to be snapshot from the acquired panoramic image;
the target data construction module is used for detecting the target position of the target to be snapshotted, constructing target data based on the target to be snapshotted and the target position of the target to be snapshotted, and caching the target data;
the target determining module is used for determining a current target which is captured by the detail camera and the remaining targets which are not captured in the cached target data;
the path optimization snapshot mode division module is used for determining the path optimization snapshot modes of the residual targets according to the target positions of the current target and the target positions of the residual targets;
and the path calculation module is used for calculating paths by adopting path calculation rules corresponding to the path optimization snapshot mode, and sending the obtained calculation results to the detail camera for the detail camera to snapshot the remaining targets one by one according to the calculation results.
In a third aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements a method for determining a linkage snapshot path according to an embodiment of the present application.
In a fourth aspect, an embodiment of the present application provides an electronic device, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the computer program to implement the method for determining a linked snapshot path according to the embodiment of the present application.
According to the technical scheme provided by the embodiment of the application, the target position of the target to be snapped is detected by identifying the target to be snapped from the obtained panoramic image. And then, constructing target data based on the target to be snapped and the target position of the target to be snapped. And the target data is cached for the detail cameras to take a snapshot one by one, and the current target taken by the detail cameras and the residual targets which are not taken by the cached target data are determined. And further determining a path optimization snapshot mode for the residual targets according to the target positions of the current target and the target positions of the residual targets. And finally, calculating the path by adopting a path calculation rule corresponding to the path optimization snapshot mode, and sending the obtained calculation result to the detail camera for the detail camera to snapshot one by one according to the calculation result. According to the technical scheme, the scene adaptability of the panoramic camera can be enhanced, the target can be quickly and accurately captured, and the scientific maintenance of the panoramic camera is realized while the linkage capture effect is improved.
Drawings
Fig. 1A is a flowchart of a method for determining a linkage snapshot path according to an embodiment of the present application;
fig. 1B is a schematic diagram of a target position of a snapshot target according to an embodiment of the present application;
fig. 1C is a schematic diagram of a movement route of a target captured in a horizontal movement priority manner according to an embodiment of the present application;
fig. 1D is a schematic diagram of a movement route of a target captured in a vertical movement priority mode according to an embodiment of the present application;
fig. 1E is a schematic diagram of a movement route of a target captured in a balanced manner according to an embodiment of the present application;
fig. 2 is a flowchart of a method for determining a linkage snapshot path according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a device for determining a linkage snapshot path according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some of the structures related to the present application are shown in the drawings, not all of the structures.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the steps as a sequential process, many of the steps can be performed in parallel, concurrently or simultaneously. In addition, the order of the steps may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.
Example one
Fig. 1A is a flowchart of a method for determining a linkage snapshot path according to an embodiment of the present application, where the present embodiment is applicable to any linkage snapshot scenario, and the method may be executed by a device for determining a linkage snapshot path according to an embodiment of the present application, where the device may be implemented by software and/or hardware, and may be integrated in an electronic device.
As shown in fig. 1A, the method for determining the linkage snapshot path includes:
and S110, identifying the target to be snapped from the acquired panoramic image.
The present solution may be performed by a panoramic camera, which is configured with a detail camera. The panoramic camera has a wide viewing range, and may be a fixed camera such as a wide-angle fixed-focus lens. The detail camera may be a movable camera for viewing details in variable magnification, for example, a pan-tilt camera capable of zooming in and out in a large magnification.
Since the panoramic camera has an advantage in that a visible range is large, photographing a panoramic image can be completed. After obtaining the panoramic image, the panoramic camera may identify the target to be captured in the panoramic image using a target detection algorithm. According to different application scenes, the target to be snapped can be different, for example, in a monitoring scene of an office building, the target to be snapped can be a human face; in a monitoring scene of road traffic, the target to be snapshotted can be a vehicle, a pedestrian and the like; in a monitoring scene of the warehouse, the object to be captured can be a moving person and object. The target detection algorithm can be a traditional imaging algorithm, such as a HOG + SVM method, or a deep learning algorithm, such as Fast R-CNN, R-FCN, YOLO and the like. The task of the target detection algorithm for identification can be to identify whether a potential target in the panoramic image is a target to be captured or not, and can further identify the motion trend of the target to be captured.
S120, detecting the target position of the target to be snapshotted, constructing target data based on the target to be snapshotted and the target position of the target to be snapshotted, and caching the target data.
After the target to be captured is identified, the panoramic camera may further detect a target position of the target to be captured. The target position can be determined comprehensively by the panoramic camera according to the position of the target to be captured in the panoramic image, the shooting range of the panoramic camera, the attribute of the panoramic camera and other information. After the target position of the target to be snapshotted is obtained, the panoramic camera may construct target data based on the target to be snapshotted and the target position of the target to be snapshotted. The objects to be snapped can be of one type or multiple types. When the target to be snapped is of multiple types, the target data may include a target type. The target position of the target to be snapshotted can be positioned by two-dimensional plane coordinates, or can be positioned by analyzing the panoramic image and converting the plane coordinates of the target to be snapshotted in the panoramic image into PTZ coordinates by adopting a coordinate conversion algorithm so as to be beneficial to the movement of a pan-tilt of the detail camera. The target data may include a type of the target to be captured, a target position of the target to be captured, a target detection time of the target to be captured, and the like.
It can be understood that the panoramic camera may cache target data corresponding to the detected target to be captured. In order to realize timely snapshot, the caching sequence can be in sequence according to the detection time of the target to be snapshot. According to the cached target data, the detail cameras can shoot the targets to be shot one by one.
And S130, determining the current target captured by the detail camera and the residual targets which are not captured in the cached target data.
It should be noted that, after the panoramic camera detects the target to be snapshot, the detailed camera can be linked to perform snapshot operation. When the detail camera carries out snapshot for the first time, the earliest target to be snapshot can be detected from the buffer target data queue for snapshot. When the target data to be cached is gradually enriched, the panoramic camera can scientifically adjust the snapshot sequence of the subsequent detail cameras by determining the current target to be snapshot by the detail cameras and the remaining targets which are not to be snapshot in the cached target data, so that the length of the motion path of the detail cameras is reduced, and the snapshot efficiency is improved.
And S140, determining a path optimization snapshot mode for the residual targets according to the target positions of the current target and the target positions of the residual targets.
The panoramic camera can analyze the position distribution condition of the remaining targets, the distance distribution condition of the current target and the remaining targets, the relative position distribution condition of the current target and the remaining targets and the like according to the target position of the current target and the target positions of the remaining targets, and divides a path optimization snapshot mode to enable the detail camera to take the best path to move when the remaining targets are snapshot.
The path optimization snapshot mode can be divided according to the position distribution condition of the remaining targets, can also be divided according to the relative position distribution condition of the current target and the remaining targets, and can also be distributed according to the distance distribution condition of the current target and the remaining targets.
Assuming that in a person gathering place, the target to be snapped is a human face, the target positions of most of the remaining targets in the panoramic image are gathered on the right side of the target position of the current target, and the target positions of a few of the remaining targets are distributed on the left side of the target position of the current target. The path optimization snapshot mode can be that after the current target is snapshot, the snapshot task of the left targets on the right side of the target position of the current target is completed firstly, and then the snapshot task of the left targets on the left side of the target position of the current target is completed. The panoramic camera may also determine the area centers of the target positions of the remaining targets on the left and right sides of the target position of the current target, and then compare the distance between the target position of the current target and the center of the left and right areas, and if the left area center is closer to the target position of the current target, the path optimization snapshot method may be to complete the snapshot task of the remaining target on the left side of the target position of the current target first, and then to complete the snapshot task of the remaining target on the right side of the target position of the current target. Similarly, if the center of the right area is closer to the current target, the path optimization capturing mode may be to complete the capturing task of the remaining targets on the right side of the target position of the current target first, and then to complete the capturing task of the remaining targets on the left side of the target position of the current target.
S150, calculating a path by adopting a path calculation rule corresponding to the path optimization snapshot mode, and sending an obtained calculation result to the detail camera for the detail camera to snapshot the remaining targets one by one according to the calculation result.
Correspondingly, the path optimization snapshot mode has a corresponding path calculation rule. The panoramic camera can determine a corresponding path calculation rule according to a path optimization snapshot mode, and adopt the path calculation rule to calculate a snapshot motion path of a detail camera pan-tilt. By linking the detail cameras, the panoramic camera can send the computed results to the detail cameras. The detail camera can shoot the remaining targets one by one according to the calculation result.
In a feasible scheme, optionally, the path optimization capturing mode includes a horizontal movement priority mode, a vertical movement priority mode and a balance mode;
correspondingly, the path calculation rule corresponding to the path optimization snapshot mode is adopted to calculate the path, and the method comprises the following steps:
if the target position of the current target is in a horizontal movement priority mode, determining that the horizontal distance from the horizontal position of the target position of the current target to the horizontal positions of the target positions of the rest targets is the shortest, and taking the shortest horizontal distance as a calculation result;
if the current target position is in a vertical movement priority mode, determining that the vertical distance from the vertical position of the target position of the current target to the vertical position of the target position of the remaining targets is the shortest, and taking the shortest as a calculation result;
and if the target position of the current target is in a balanced mode, determining that the distance from the target position of the current target to the target position of the remaining target is shortest, and taking the shortest distance as a calculation result.
Specifically, the path optimization snapshot manner may be divided according to the position distribution of the remaining targets. For example, the path optimization capturing mode may include a horizontal movement priority mode, a vertical movement priority mode, and an equalization mode. The horizontal movement priority mode may be that the positions of the remaining targets are distributed and relatively concentrated in the vertical direction and distributed and relatively dispersed in the upper horizontal direction. The vertical movement priority mode may be that the positions of the remaining targets are distributed and relatively concentrated in the horizontal direction and distributed and relatively dispersed in the vertical direction. The equalization may be such that the positions of the remaining targets are distributed relatively discretely in both the vertical direction and the upper horizontal direction.
If the path optimization snapshot mode is a horizontal movement priority mode, the panoramic camera can calculate the horizontal routes of the target positions of all the remaining targets from the target position of the current target, the routes of the target positions of all the remaining targets from the target position of the current target can include a plurality of routes according to the number of the remaining targets, the horizontal routes of all feasible routes are sequenced, and the shortest route of the horizontal route can be obtained. The panoramic camera may send the route as a result to the detail camera for the detail camera to determine subsequent snap-shot targets.
Correspondingly, if the path optimization snapshot mode is a vertical movement priority mode, the panoramic camera can calculate the vertical routes of the target positions of all the remaining targets from the target position of the current target, the routes of the target positions of all the remaining targets from the target position of the current target can include a plurality of routes according to the number of the remaining targets, the vertical routes of all feasible routes are sequenced, and the shortest route of the vertical routes can be obtained. The panoramic camera may send the route as a result to the detail camera for the detail camera to determine subsequent snap-shot targets.
If the path optimization snapshot mode is a balanced mode, the panoramic camera can calculate the routes of the target positions of all the remaining targets from the target position of the current target, the routes of the target positions of all the remaining targets from the target position of the current target can include a plurality of routes according to the number of the remaining targets, the routes of all feasible routes are sequenced, and the shortest route of the routes can be obtained. The panoramic camera may send the route as a result to the detail camera for the detail camera to determine subsequent snap-shot targets.
According to the scheme, the path optimization snapshot mode is divided into 3 types of a horizontal movement priority mode, a vertical movement priority mode and a balance mode, and the shortest feasible route is selected according to the path optimization snapshot mode. The scheme is beneficial to realizing high-efficiency snapshot of the detail camera, saves the movement distance of the detail camera and reduces the abrasion of the movement equipment of the detail camera.
In another possible scheme, optionally, the path optimization capturing mode includes a horizontal movement priority mode, a vertical movement priority mode and a balance mode;
correspondingly, the path calculation rule corresponding to the path optimization snapshot mode is adopted to calculate the path, and the method comprises the following steps:
if the current target is in a horizontal movement priority mode, determining the sequence with the shortest horizontal distance between the current target and the target position of each residual target one by one as a calculation result;
if the current target is in a vertical movement priority mode, determining the sequence with the shortest vertical distance between the current target and the target position of each remaining target one by one as a calculation result;
and if the target positions are in a balanced mode, determining the sequence with the shortest distance between the current target and each of the rest targets one by one as a calculation result.
According to 3 different path optimization snapshot modes of a horizontal movement priority mode, a vertical movement priority mode and an equilibrium mode, the panoramic camera can sequence the remaining targets according to the distance and send the sequences to the detail camera as a calculation result so that the detail camera can determine the next snapshot target.
If the path optimization snapshot mode is a horizontal movement priority mode, the panoramic camera can calculate the horizontal distance from the horizontal position of the target position of the current target to the horizontal position of the target position of each remaining target, and sort the horizontal distances corresponding to the remaining targets according to the distance. The panoramic camera may directly send the sorting result to the detail camera, or may send the target positions of the remaining targets corresponding to the shortest horizontal distance in the sorting result as the calculation result to the detail camera. The detail camera may select the remaining target with the shortest horizontal distance as the target to be captured next after the current target.
Similarly, if the path optimization snapshot mode is a vertical movement priority mode, the panoramic camera may calculate a vertical distance from the vertical position of the target position of the current target to the vertical position of the target position of each remaining target, and sort the vertical distances corresponding to each remaining target according to the distance. The panoramic camera can directly send the sequencing result to the detail camera, and can also send the target positions of the remaining targets corresponding to the shortest vertical distance in the sequencing result to the detail camera as a calculation result. The detail camera may select the remaining target with the shortest vertical distance as the target to be captured next after the current target.
If the path optimization snapshot mode is a balanced mode, the panoramic camera can calculate the distance from the target position of the current target to the target position of each remaining target, and the distances corresponding to the remaining targets are sorted according to the distance. The panoramic camera may directly send the sorting result to the detail camera, or may send the target positions of the remaining targets corresponding to the shortest distance in the sorting result as the calculation result to the detail camera. The detail camera may select the remaining target with the shortest distance as the target to be captured next after the current target.
According to the scheme, the path optimization snapshot mode is divided into 3 types of a horizontal movement priority mode, a vertical movement priority mode and a balance mode, and the distance sequencing result is determined according to the path optimization snapshot mode. The scheme is beneficial to realizing high-efficiency snapshot of the detail camera, saves the movement distance of the detail camera and reduces the abrasion of the movement equipment of the detail camera.
Fig. 1B is a schematic diagram of a target position of a snapshot target according to an embodiment of the present application. In a specific example, it is assumed that the target position coordinates of the snap-shot target are shown as points a-G in fig. 1B, the target position of the current target is point a, and points B-G are the target positions of the remaining targets. This example presents two preferred methods: full range traversal and shortest distance search.
The method comprises the following steps: full-arrangement traversal, namely firstly calculating the connecting line distance, the horizontal distance and the vertical distance between any two points; with A (X)i，Yi)，B(Xm，Ym) For two examples, the distance AB between two points A-B is calculated by using the Pythagorean theorem:
Figure BDA0003349095290000111
ABlevel of＝|Xm-Xi|；
ABIs perpendicular to＝|Ym-Yi|；
Then, using point A as the starting point and B-G as the permutation and combination, the target including the starting point is 7 in total, and then there are 6! And (4) a path. Correspondingly, if the number of the targets to be snapped including the starting point is N, the total number is (N-1)!
And (4) a path.
And if the path optimization snapshot mode is a horizontal movement priority mode, selecting a path corresponding to the minimum value of the sum of the horizontal distances of all points, namely the path with the shortest horizontal distance, from the optimal path. Fig. 1C is a schematic diagram of a movement route of a target captured in a horizontal movement priority mode according to an embodiment of the present application.
And if the path optimization snapshot mode is a vertical movement priority mode, selecting a path corresponding to the minimum value of the sum of the vertical distances of all points, namely the path with the shortest vertical distance, from the optimal path. Fig. 1D is a schematic diagram of a movement route of a target captured in a vertical movement priority mode according to an embodiment of the present application.
And if the path optimization snapshot mode is an equilibrium mode, selecting a path corresponding to the minimum sum of the link distances between the points, namely the path with the shortest path, from the optimal path. As shown in the following figures; fig. 1E is a schematic diagram of a movement route of a target captured in a balanced manner according to an embodiment of the present application.
The second method comprises the following steps: and the shortest distance search reduces the operation times compared with a full-array traversal method.
And if the path optimization snapshot mode is a horizontal movement priority mode, searching the next snapshot target from the starting point A, and selecting the target position of the remaining target with the shortest horizontal distance to the target position of the previous snapshot target each time until the target positions of all the remaining targets are searched.
And if the path optimization snapshot mode is a vertical movement priority mode, searching the next snapshot target from the starting point A, and selecting the target position of the remaining target with the shortest vertical distance to the target position of the previous snapshot target each time until the target positions of all the remaining targets are searched.
And if the path optimization snapshot mode is a balanced mode, searching the next snapshot target from the starting point A, and selecting the target position of the remaining target with the shortest distance to the target position of the previous snapshot target each time until the target positions of all the remaining targets are searched.
According to the technical scheme provided by the embodiment of the application, the target position of the target to be snapped is detected by identifying the target to be snapped from the obtained panoramic image. And then, constructing target data based on the target to be snapped and the target position of the target to be snapped. And the target data is cached for the detail cameras to take a snapshot one by one, and the current target taken by the detail cameras and the residual targets which are not taken by the cached target data are determined. And further determining a path optimization snapshot mode for the residual targets according to the target positions of the current target and the target positions of the residual targets. And finally, calculating the path by adopting a path calculation rule corresponding to the path optimization snapshot mode, and sending the obtained calculation result to the detail camera for the detail camera to snapshot one by one according to the calculation result. According to the technical scheme, the scene adaptability of the panoramic camera can be enhanced, the target can be quickly and accurately captured, and the scientific maintenance of the panoramic camera is realized while the linkage capture effect is improved.
Example two
Fig. 2 is a flowchart of a method for determining a linkage snapshot path according to a second embodiment of the present invention, which is optimized based on the above-described embodiments.
As shown in fig. 2, the method of this embodiment specifically includes the following steps:
and S210, identifying the target to be snapped from the acquired panoramic image.
S220, detecting the target position of the target to be snapshotted, and converting the target position based on a horizontal field angle and a vertical field angle to obtain a conversion coordinate of the target to be snapshotted.
After the target to be captured is identified, the panoramic camera may detect a target position of the target to be captured, and convert the target position based on a horizontal field angle and a vertical field angle. The target position of the target to be snapped may be represented by coordinates, specifically, may be represented by ten-thousandth coordinates. The ten-thousandth ratio coordinate cannot directly reflect the horizontal and vertical movement conditions of the moving equipment of the detail camera. Therefore, the horizontal field angle and the vertical field angle of the panoramic camera can be introduced to be substituted into the coordinates of the target position, so that the horizontal coordinates and the vertical coordinates can be used for directly reflecting the movement distance of the moving equipment of the detail camera when data are statistically and discretely distributed.
And S230, constructing target data based on the target to be snapshotted and the conversion coordinates, and caching the target data.
S240, determining the current target snapped by the detail camera and the residual targets which are not snapped in the cached target data.
S250, determining the conversion coordinate of the current target and determining the conversion coordinate of the residual targets.
According to the method of S220, the converted coordinates of the current target may be determined, and the converted coordinates of the remaining targets may be determined.
S260, calculating horizontal coordinate evaluation values and vertical coordinate evaluation values of the converted coordinates of the current target and the converted coordinates of the remaining targets.
The panoramic camera may calculate a horizontal coordinate evaluation value and a vertical coordinate evaluation value of the conversion coordinates of the current target and the conversion coordinates of the remaining targets to divide a path optimization snapshot manner for the remaining targets.
In this embodiment, optionally, calculating the horizontal coordinate evaluation value and the vertical coordinate evaluation value of the conversion coordinates of the current target and the conversion coordinates of the remaining targets includes:
extracting the horizontal components of the conversion coordinates of the current target and the conversion coordinates of the remaining targets to obtain a horizontal array;
carrying out extreme value elimination processing on the horizontal array to obtain a horizontal array to be calculated;
calculating the standard deviation of the horizontal array to be calculated as a horizontal coordinate evaluation value;
and the number of the first and second groups,
extracting the vertical components of the conversion coordinates of the current target and the conversion coordinates of the remaining targets to obtain a vertical array;
carrying out extreme value elimination processing on the vertical number series to obtain a vertical number series to be calculated;
and calculating the standard deviation of the vertical array to be calculated as a vertical coordinate evaluation value.
In particular, assume that the target location can be described as (P)n，Tn) Horizontal field angle of AhPerpendicular angle of view Av. First, all cached target data, all T's, are fetchednMultiplying factor
Figure BDA0003349095290000151
The panoramic camera can convert the P of the current target and the P of the remaining targetsnT combined into an array, the current target and the remaining targetsnAre combined into another array. The two arrays are sorted respectively, the maximum data and the minimum data are removed, and the influence of the extreme value on statistics is reduced as much as possible, for example, the maximum 10% of all data is used as the maximum data, and the minimum 10% of all data is used as the minimum data. The panoramic camera can use the remaining 80% of the data to calculate the standard deviation of the data, with the smaller the standard deviation the lower the degree of dispersion. The standard deviation formula can be as follows:
Figure BDA0003349095290000152
where μ represents the mean value. After the standard deviation calculation is completed, the panoramic camera can obtain a horizontal coordinate evaluation value sigma PnEvaluation value σ T of vertical coordinaten。
The scheme can eliminate the influence of the extreme value on the horizontal coordinate evaluation value and the vertical coordinate evaluation value, quantitatively evaluate the discrete situation of the target position, and is beneficial to realizing the accurate division of the path optimization snapshot mode.
And S270, determining a path optimization snapshot mode for the residual targets according to the horizontal coordinate evaluation value and the vertical coordinate evaluation value.
The panoramic camera can divide the path optimization capturing modes of the remaining targets according to the horizontal coordinate evaluation value and the vertical coordinate evaluation value. Specifically, the panoramic camera may determine the optimized capturing mode for the path of the remaining target by comparing the horizontal coordinate evaluation value and the vertical coordinate evaluation value of the converted coordinate.
In a preferred embodiment, optionally, the determining a path optimization capturing mode for the remaining targets according to the horizontal coordinate evaluation value and the vertical coordinate evaluation value includes:
if the horizontal coordinate evaluation value is larger than the preset multiple of the vertical coordinate evaluation value, determining that the path optimization snapshot mode is a horizontal movement priority mode;
if the vertical coordinate evaluation value is larger than the preset multiple of the horizontal coordinate evaluation value, determining that the path optimization snapshot mode is a vertical movement priority mode;
and if the difference between the horizontal coordinate evaluation value and the horizontal coordinate evaluation value is within a preset multiple, determining that the path optimization snapshot mode is a balance mode.
Specifically, the preset multiple may be an empirical coefficient k, and the coefficient k may be greater than 1.
When σ Pn>k*σTnIt is assumed that the coordinates of the remaining objects are far more discrete in the horizontal direction than in the vertical direction. In this case, since the movement distance of the motion device of the detail camera in the horizontal direction is much longer than the movement distance in the vertical direction, the path-optimized capturing mode for the remaining targets is set to the horizontal movement priority mode in order to reduce the horizontal movement distance as much as possible.
When sigma Tn>k*σPnAnd when the target is shot, the discrete degree of the coordinates of the remaining targets in the vertical direction is far higher than that in the horizontal direction, and the path optimization snapshot mode of the remaining targets is set to be a vertical movement priority mode in the same way.
If the difference between the horizontal coordinate evaluation value and the horizontal coordinate evaluation value is within the preset multiple, namely the difference is not between the two conditions, the path optimization snapshot mode can be determined to be the equilibrium mode.
According to the scheme, the path optimization snapshot mode of the remaining targets can be divided in a quantitative mode, the accuracy of judging the path optimization snapshot mode is improved, the detail camera can take the optimal path to snapshot the remaining targets, and efficient linkage snapshot is achieved.
It should be noted that the target to be snapshotted is continuously updated during the operation of the panoramic camera, and a period can be set according to time, a scene, the movement speed of the target to be snapshotted, the snapshotting difficulty and the like, so that the panoramic camera and the detail camera thereof can realize an optimal path determination strategy during the linkage snapshotting process.
According to the technical scheme provided by the embodiment of the application, the target position of the target to be snapped is detected by identifying the target to be snapped from the obtained panoramic image. And then, constructing target data based on the target to be snapped and the target position of the target to be snapped. And the target data is cached for the detail cameras to take a snapshot one by one, and the current target taken by the detail cameras and the residual targets which are not taken by the cached target data are determined. And further determining a path optimization snapshot mode for the residual targets according to the target positions of the current target and the target positions of the residual targets. And finally, calculating the path by adopting a path calculation rule corresponding to the path optimization snapshot mode, and sending the obtained calculation result to the detail camera for the detail camera to snapshot one by one according to the calculation result. According to the technical scheme, the scene adaptability of the panoramic camera can be enhanced, the target can be quickly and accurately captured, and the scientific maintenance of the panoramic camera is realized while the linkage capture effect is improved.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a device for determining a linkage snapshot path according to a third embodiment of the present invention, where the device is capable of executing a method for determining a linkage snapshot path according to any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method. The apparatus is configured on a panoramic camera configured with a detail camera, as shown in fig. 3, and may include:
a target to be snapshotted identifying module 310, configured to identify a target to be snapshotted from the acquired panoramic image;
a target data construction module 320, configured to detect a target position of the target to be snapshotted, construct target data based on the target to be snapshotted and the target position of the target to be snapshotted, and cache the target data;
a target determining module 330, configured to determine a current target captured by the detail camera and remaining targets that are not captured in the cached target data;
a path optimization snapshot mode dividing module 340, configured to determine, according to the target position of the current target and the target positions of the remaining targets, a path optimization snapshot mode for the remaining targets;
and a path calculation module 350, configured to calculate a path by using a path calculation rule corresponding to the path optimization snapshot manner, and send an obtained calculation result to the detail camera, so that the detail camera performs snapshot on the remaining targets one by one according to the calculation result.
In this embodiment, optionally, the target data constructing module 320 is specifically configured to:
detecting the target position of the target to be snapshotted, and converting the target position based on a horizontal field angle and a vertical field angle to obtain a conversion coordinate of the target to be snapshotted;
and constructing target data based on the target to be snapped and the conversion coordinates.
In this embodiment, optionally, the path optimization snapshot manner dividing module 340 is specifically configured to:
determining the conversion coordinates of the current target and the conversion coordinates of the remaining targets;
calculating a horizontal coordinate evaluation value and a vertical coordinate evaluation value of the conversion coordinates of the current target and the conversion coordinates of the remaining targets;
and determining a path optimization snapshot mode for the residual targets according to the horizontal coordinate evaluation value and the vertical coordinate evaluation value.
On the basis of the above scheme, optionally, the path optimization snapshot manner dividing module 340 is specifically configured to:
extracting the horizontal components of the conversion coordinates of the current target and the conversion coordinates of the remaining targets to obtain a horizontal array;
carrying out extreme value elimination processing on the horizontal array to obtain a horizontal array to be calculated;
calculating the standard deviation of the horizontal array to be calculated as a horizontal coordinate evaluation value;
and the number of the first and second groups,
extracting the vertical components of the conversion coordinates of the current target and the conversion coordinates of the remaining targets to obtain a vertical array;
carrying out extreme value elimination processing on the vertical number series to obtain a vertical number series to be calculated;
and calculating the standard deviation of the vertical array to be calculated as a vertical coordinate evaluation value.
On the basis of the foregoing embodiment, optionally, the path optimization snapshot manner dividing module 340 is specifically configured to:
if the horizontal coordinate evaluation value is larger than the preset multiple of the vertical coordinate evaluation value, determining that the path optimization snapshot mode is a horizontal movement priority mode;
if the vertical coordinate evaluation value is larger than the preset multiple of the horizontal coordinate evaluation value, determining that the path optimization snapshot mode is a vertical movement priority mode;
and if the difference between the horizontal coordinate evaluation value and the horizontal coordinate evaluation value is within a preset multiple, determining that the path optimization snapshot mode is a balance mode.
In a possible embodiment, optionally, the path optimization capturing manner includes a horizontal movement priority manner, a vertical movement priority manner, and a balance manner;
correspondingly, the path calculating module 350 is specifically configured to:
if the target position of the current target is in a horizontal movement priority mode, determining that the horizontal distance from the horizontal position of the target position of the current target to the horizontal positions of the target positions of the rest targets is the shortest, and taking the shortest horizontal distance as a calculation result;
if the current target position is in a vertical movement priority mode, determining that the vertical distance from the vertical position of the target position of the current target to the vertical position of the target position of the remaining targets is the shortest, and taking the shortest as a calculation result;
and if the target position of the current target is in a balanced mode, determining that the distance from the target position of the current target to the target position of the remaining target is shortest, and taking the shortest distance as a calculation result.
In another possible scheme, optionally, the path optimization capturing mode includes a horizontal movement priority mode, a vertical movement priority mode and a balance mode;
correspondingly, the path calculating module 350 is specifically configured to:
if the current target is in a horizontal movement priority mode, determining the sequence with the shortest horizontal distance between the current target and the target position of each residual target one by one as a calculation result;
if the current target is in a vertical movement priority mode, determining the sequence with the shortest vertical distance between the current target and the target position of each remaining target one by one as a calculation result;
and if the target positions are in a balanced mode, determining the sequence with the shortest distance between the current target and each of the rest targets one by one as a calculation result.
The product can execute the method for determining the linkage snapshot path provided by the embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method.
Example four
A fourth embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a method for determining a linked snapshot path, as provided in all embodiments of the present invention:
identifying a target to be snapshotted from the acquired panoramic image;
detecting the target position of the target to be snapshotted, constructing target data based on the target to be snapshotted and the target position of the target to be snapshotted, and caching the target data;
determining a current target snapped by the detail camera and the remaining targets which are not snapped in the cached target data;
determining a path optimization snapshot mode for the residual targets according to the target positions of the current target and the target positions of the residual targets;
and calculating a path by adopting a path calculation rule corresponding to the path optimization snapshot mode, and sending an obtained calculation result to the detail camera for the detail camera to snapshot the remaining targets one by one according to the calculation result.
Any combination of one or more computer-readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
EXAMPLE five
The fifth embodiment of the application provides electronic equipment. Fig. 4 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present application. As shown in fig. 4, the present embodiment provides an electronic device 400, which includes: one or more processors 420; the storage device 410 is configured to store one or more programs, and when the one or more programs are executed by the one or more processors 420, the one or more processors 420 implement the method for determining the linkage snapshot path according to the embodiment of the present application, the method includes:
identifying a target to be snapshotted from the acquired panoramic image;
detecting the target position of the target to be snapshotted, constructing target data based on the target to be snapshotted and the target position of the target to be snapshotted, and caching the target data;
determining a current target snapped by the detail camera and the remaining targets which are not snapped in the cached target data;
determining a path optimization snapshot mode for the residual targets according to the target positions of the current target and the target positions of the residual targets;
and calculating a path by adopting a path calculation rule corresponding to the path optimization snapshot mode, and sending an obtained calculation result to the detail camera for the detail camera to snapshot the remaining targets one by one according to the calculation result.
Of course, those skilled in the art can understand that the processor 420 also implements the technical solution of the determination method of the linkage snapshot path provided in any embodiment of the present application.
The electronic device 400 shown in fig. 4 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.
As shown in fig. 4, the electronic device 400 includes a processor 420, a storage device 410, an input device 430, and an output device 440; the number of the processors 420 in the electronic device may be one or more, and one processor 420 is taken as an example in fig. 4; the processor 420, the storage device 410, the input device 430, and the output device 440 in the electronic apparatus may be connected by a bus or other means, and are exemplified by a bus 450 in fig. 4.
The storage device 410 is a computer-readable storage medium, and can be used to store software programs, computer-executable programs, and module units, such as program instructions corresponding to the determination method of the linkage snapshot path in the embodiment of the present application.
The storage device 410 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the storage 410 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, storage 410 may further include memory located remotely from processor 420, which may be connected via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input means 430 may be used to receive input numbers, character information, or voice information, and to generate key signal inputs related to user settings and function control of the electronic device. The output device 440 may include a display screen, speakers, or other electronic equipment.
The electronic equipment provided by the embodiment of the application can divide the path optimization snapshot mode of the residual targets through the target position of the current target and the target positions of the residual targets, so that the scene adaptability of the panoramic camera is enhanced while the working efficiency of the panoramic camera is improved, and scientific maintenance of the panoramic camera is realized.
The determining device, the medium and the electronic device for the linkage snapshot path provided in the above embodiments may execute the determining method for the linkage snapshot path provided in any embodiment of the present application, and have corresponding functional modules and beneficial effects for executing the method. Technical details that are not described in detail in the above embodiments may be referred to a determination method of a linkage snapshot path provided in any embodiment of the present application.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (10)

1. A method of determining a linked snap path, the method being performed by a panoramic camera, the panoramic camera being configured with a detail camera, the method comprising:
identifying a target to be snapshotted from the acquired panoramic image;
detecting the target position of the target to be snapshotted, constructing target data based on the target to be snapshotted and the target position of the target to be snapshotted, and caching the target data;
determining a current target snapped by the detail camera and the remaining targets which are not snapped in the cached target data;
determining a path optimization snapshot mode for the residual targets according to the target positions of the current target and the target positions of the residual targets;
and calculating a path by adopting a path calculation rule corresponding to the path optimization snapshot mode, and sending an obtained calculation result to the detail camera for the detail camera to snapshot the remaining targets one by one according to the calculation result.
2. The method according to claim 1, wherein detecting the target position of the target to be captured, and constructing target data based on the target to be captured and the target position of the target to be captured comprises:
detecting the target position of the target to be snapshotted, and converting the target position based on a horizontal field angle and a vertical field angle to obtain a conversion coordinate of the target to be snapshotted;
and constructing target data based on the target to be snapped and the conversion coordinates.
3. The method according to claim 2, wherein determining the path-optimized snap shot for the remaining targets according to the target position of the current target and the target positions of the remaining targets comprises:
determining the conversion coordinates of the current target and the conversion coordinates of the remaining targets;
calculating a horizontal coordinate evaluation value and a vertical coordinate evaluation value of the conversion coordinates of the current target and the conversion coordinates of the remaining targets;
and determining a path optimization snapshot mode for the residual targets according to the horizontal coordinate evaluation value and the vertical coordinate evaluation value.
4. The method according to claim 3, wherein calculating a horizontal coordinate evaluation value and a vertical coordinate evaluation value of the converted coordinates of the current target and the converted coordinates of the remaining targets comprises:
extracting the horizontal components of the conversion coordinates of the current target and the conversion coordinates of the remaining targets to obtain a horizontal array;
carrying out extreme value elimination processing on the horizontal array to obtain a horizontal array to be calculated;
calculating the standard deviation of the horizontal array to be calculated as a horizontal coordinate evaluation value;
and the number of the first and second groups,
extracting the vertical components of the conversion coordinates of the current target and the conversion coordinates of the remaining targets to obtain a vertical array;
carrying out extreme value elimination processing on the vertical number series to obtain a vertical number series to be calculated;
and calculating the standard deviation of the vertical array to be calculated as a vertical coordinate evaluation value.
5. The method according to claim 3 or 4, wherein determining the path-optimized snap-shot for the remaining targets according to the horizontal coordinate evaluation value and the vertical coordinate evaluation value comprises:
if the horizontal coordinate evaluation value is larger than the preset multiple of the vertical coordinate evaluation value, determining that the path optimization snapshot mode is a horizontal movement priority mode;
if the vertical coordinate evaluation value is larger than the preset multiple of the horizontal coordinate evaluation value, determining that the path optimization snapshot mode is a vertical movement priority mode;
and if the difference between the horizontal coordinate evaluation value and the horizontal coordinate evaluation value is within a preset multiple, determining that the path optimization snapshot mode is a balance mode.
6. The method according to claim 1, wherein the path optimization snapping mode comprises a horizontal movement priority mode, a vertical movement priority mode and an equilibrium mode;
correspondingly, the path calculation rule corresponding to the path optimization snapshot mode is adopted to calculate the path, and the method comprises the following steps:
if the target position of the current target is in a horizontal movement priority mode, determining that the horizontal distance from the horizontal position of the target position of the current target to the horizontal positions of the target positions of the rest targets is the shortest, and taking the shortest horizontal distance as a calculation result;
if the current target position is in a vertical movement priority mode, determining that the vertical distance from the vertical position of the target position of the current target to the vertical position of the target position of the remaining targets is the shortest, and taking the shortest as a calculation result;
and if the target position of the current target is in a balanced mode, determining that the distance from the target position of the current target to the target position of the remaining target is shortest, and taking the shortest distance as a calculation result.
7. The method according to claim 1, wherein the path optimization snapping mode comprises a horizontal movement priority mode, a vertical movement priority mode and an equilibrium mode;
correspondingly, the path calculation rule corresponding to the path optimization snapshot mode is adopted to calculate the path, and the method comprises the following steps:
if the current target is in a horizontal movement priority mode, determining the sequence with the shortest horizontal distance between the current target and the target position of each residual target one by one as a calculation result;
if the current target is in a vertical movement priority mode, determining the sequence with the shortest vertical distance between the current target and the target position of each remaining target one by one as a calculation result;
and if the target positions are in a balanced mode, determining the sequence with the shortest distance between the current target and each of the rest targets one by one as a calculation result.
8. An apparatus for determining a linked snap-shot path, the apparatus being configured on a panoramic camera, the panoramic camera being configured with a detail camera, the apparatus comprising:
the target to be snapshot identifying module is used for identifying a target to be snapshot from the acquired panoramic image;
the target data construction module is used for detecting the target position of the target to be snapshotted, constructing target data based on the target to be snapshotted and the target position of the target to be snapshotted, and caching the target data;
the target determining module is used for determining a current target which is captured by the detail camera and the remaining targets which are not captured in the cached target data;
the path optimization snapshot mode division module is used for determining the path optimization snapshot modes of the residual targets according to the target positions of the current target and the target positions of the residual targets;
and the path calculation module is used for calculating paths by adopting path calculation rules corresponding to the path optimization snapshot mode, and sending the obtained calculation results to the detail camera for the detail camera to snapshot the remaining targets one by one according to the calculation results.
9. A computer-readable storage medium on which a computer program is stored, the program, when executed by a processor, implementing a method of determining a linked snap path according to any one of claims 1 to 7.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method for determining a linked snap path according to any one of claims 1 to 7 when executing the computer program.
CN202111331663.8A 2021-11-11 2021-11-11 Method, device, medium and equipment for determining linkage snapshot path Active CN114071015B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111331663.8A CN114071015B (en) 2021-11-11 2021-11-11 Method, device, medium and equipment for determining linkage snapshot path

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111331663.8A CN114071015B (en) 2021-11-11 2021-11-11 Method, device, medium and equipment for determining linkage snapshot path

Publications (2)

Publication Number Publication Date
CN114071015A true CN114071015A (en) 2022-02-18
CN114071015B CN114071015B (en) 2024-02-20

Family

ID=80274968

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111331663.8A Active CN114071015B (en) 2021-11-11 2021-11-11 Method, device, medium and equipment for determining linkage snapshot path

Country Status (1)

Country Link
CN (1) CN114071015B (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109151375A (en) * 2017-06-16 2019-01-04 杭州海康威视数字技术股份有限公司 A kind of target object grasp shoot method, device and video monitoring equipment
CN109922250A (en) * 2017-12-12 2019-06-21 杭州海康威视数字技术股份有限公司 A kind of target object grasp shoot method, device and video monitoring equipment
CN112347306A (en) * 2020-09-29 2021-02-09 浙江大华技术股份有限公司 PTZ camera monitoring and tracking method, device and system and computer equipment
CN112954188A (en) * 2019-12-10 2021-06-11 李思成 Human eye perception imitating active target snapshot method and device
CN113365028A (en) * 2021-05-31 2021-09-07 浙江大华技术股份有限公司 Method, device and system for generating routing inspection path

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109151375A (en) * 2017-06-16 2019-01-04 杭州海康威视数字技术股份有限公司 A kind of target object grasp shoot method, device and video monitoring equipment
CN109922250A (en) * 2017-12-12 2019-06-21 杭州海康威视数字技术股份有限公司 A kind of target object grasp shoot method, device and video monitoring equipment
CN112954188A (en) * 2019-12-10 2021-06-11 李思成 Human eye perception imitating active target snapshot method and device
CN112347306A (en) * 2020-09-29 2021-02-09 浙江大华技术股份有限公司 PTZ camera monitoring and tracking method, device and system and computer equipment
CN113365028A (en) * 2021-05-31 2021-09-07 浙江大华技术股份有限公司 Method, device and system for generating routing inspection path

Also Published As

Publication number Publication date
CN114071015B (en) 2024-02-20

Similar Documents

Publication Publication Date Title
KR102150776B1 (en) Face location tracking method, apparatus and electronic device
CN109815787B (en) Target identification method and device, storage medium and electronic equipment
CN110659391A (en) Video detection method and device
JP7111175B2 (en) Object recognition system, recognition device, object recognition method, and object recognition program
KR102297217B1 (en) Method and apparatus for identifying object and object location equality between images
CN109685062B (en) Target detection method, device, equipment and storage medium
CN109902681B (en) User group relation determining method, device, equipment and storage medium
CN110610150A (en) Tracking method, device, computing equipment and medium of target moving object
US20160210759A1 (en) System and method of detecting moving objects
CN107767399B (en) Forklift monitoring method and monitoring system
JP2020149641A (en) Object tracking device and object tracking method
KR20160103459A (en) node-link based camera network monitoring system and method of monitoring the same
CN108229281B (en) Neural network generation method, face detection device and electronic equipment
CN116824641B (en) Gesture classification method, device, equipment and computer storage medium
KR100994722B1 (en) Method for tracking moving object on multiple cameras using probabilistic camera hand-off
WO2020238790A1 (en) Camera positioning
Lücking et al. A video-based vehicle counting system using an embedded device in realistic traffic conditions
CN114071015B (en) Method, device, medium and equipment for determining linkage snapshot path
CN114882003A (en) Method, medium and computing device for detecting shooting pose change of camera
KR102426594B1 (en) System and method for estimating the location of object in crowdsourcing environment
CN115144843A (en) Fusion method and device for object positions
CN114299115A (en) Method and device for multi-target tracking, storage medium and electronic equipment
CN114419018A (en) Image sampling method, system, device and medium
Steinmann et al. Fast and lightweight person detector for unmanned aerial vehicles
CN114979607B (en) Image processing method, image processor and electronic equipment

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