CN114390315A - Fusion and analysis system of audio and video resources based on 5G communication - Google Patents

Fusion and analysis system of audio and video resources based on 5G communication Download PDF

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CN114390315A
CN114390315A CN202210281356.1A CN202210281356A CN114390315A CN 114390315 A CN114390315 A CN 114390315A CN 202210281356 A CN202210281356 A CN 202210281356A CN 114390315 A CN114390315 A CN 114390315A
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video
audio
data
module
panoramic
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申学帅
俞勇
李玉林
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Nanjing Tashi Information Technology Co ltd
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Nanjing Tashi Information Technology Co ltd
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    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N21/00Selective content distribution, e.g. interactive television or video on demand [VOD]
    • H04N21/20Servers specifically adapted for the distribution of content, e.g. VOD servers; Operations thereof
    • H04N21/23Processing of content or additional data; Elementary server operations; Server middleware
    • H04N21/233Processing of audio elementary streams
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N21/00Selective content distribution, e.g. interactive television or video on demand [VOD]
    • H04N21/20Servers specifically adapted for the distribution of content, e.g. VOD servers; Operations thereof
    • H04N21/23Processing of content or additional data; Elementary server operations; Server middleware
    • H04N21/234Processing of video elementary streams, e.g. splicing of video streams, manipulating MPEG-4 scene graphs
    • H04N21/23418Processing of video elementary streams, e.g. splicing of video streams, manipulating MPEG-4 scene graphs involving operations for analysing video streams, e.g. detecting features or characteristics
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N21/00Selective content distribution, e.g. interactive television or video on demand [VOD]
    • H04N21/20Servers specifically adapted for the distribution of content, e.g. VOD servers; Operations thereof
    • H04N21/23Processing of content or additional data; Elementary server operations; Server middleware
    • H04N21/234Processing of video elementary streams, e.g. splicing of video streams, manipulating MPEG-4 scene graphs
    • H04N21/23424Processing of video elementary streams, e.g. splicing of video streams, manipulating MPEG-4 scene graphs involving splicing one content stream with another content stream, e.g. for inserting or substituting an advertisement
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N21/00Selective content distribution, e.g. interactive television or video on demand [VOD]
    • H04N21/20Servers specifically adapted for the distribution of content, e.g. VOD servers; Operations thereof
    • H04N21/23Processing of content or additional data; Elementary server operations; Server middleware
    • H04N21/242Synchronization processes, e.g. processing of PCR [Program Clock References]
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W4/00Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30Services specially adapted for particular environments, situations or purposes

Abstract

The invention discloses a fusion and analysis system of audio and video resources based on 5G communication, which comprises: the system comprises an audio acquisition end, a video acquisition end, a recorder, a video compression module, a 5G image transmission end, a relay end, a server, a user end, a video analysis module and an early warning module. The invention carries out network transmission after the original audio and video data are coded and compressed, thus reducing the pressure on hardware; the system supports a 5G network, and is high in quality, high in speed and stable in the process of audio and video data transmission, so that the quality and the efficiency are ensured; hardware synchronous acquisition of multi-channel video data and multi-channel audio data is realized, and multi-channel original audio data and video data are synchronously fused into panoramic audio and video data, so that the requirements of customers are met; the Thiessen polygon algorithm is adopted to fuse the multiple paths of videos, so that the calculation efficiency is high, and the real-time performance of the panoramic audio and video is guaranteed; and can automatically analyze and early warn, overcome the defect of manual monitoring.

Description

Fusion and analysis system of audio and video resources based on 5G communication
Technical Field
The invention relates to the technical field of 5G and audio and video processing, in particular to a fusion and analysis system of audio and video resources based on 5G communication.
Background
In recent years, internet, multimedia and automatic control technologies have been rapidly developed, and audio and video processing has been widely applied in various fields such as intelligent buildings, traffic monitoring, intelligent home, automotive electronics, aerospace and the like. With the rapid development of computer technology, microelectronic technology, optical technology and multimedia technology, the demand of information communication and intercommunication of people is continuously increased, the demand of information communication mode innovation is more and more increasing, and the demand of image and video information acquisition of people has not been satisfied by the traditional mode that a single camera carries out audio and video information acquisition and network transmission to remote place to carry out visual talkback. On the other hand, the existing panoramic audio and video equipment terminals generally do not support a 5G network, and are not high-quality, high-speed and stable enough in the process of audio and video data transmission, so that the working quality and efficiency are affected.
Disclosure of Invention
In order to realize the acquisition and analysis of panoramic audio and video with high quality, high stability and good real-time performance, the invention provides an audio and video resource fusion and analysis system based on 5G communication.
The technical scheme adopted by the invention is as follows: a fusion and analysis system of audio and video resources based on 5G communication comprises: the audio acquisition end acquires multi-path original audio data; the video acquisition end acquires multiple paths of original video data; the recorder is used for storing the high-definition original data acquired by the audio acquisition end and the video acquisition end and used for accurate offline data processing and analysis; the video compression module is used for compressing and encoding the video data acquired by the video acquisition end; 5G, the image transmission end transmits the coded audio data and video data to the outside through a network; the relay terminal is a transfer station for data transmission; the server is used for receiving the multi-channel video stream and the multi-channel audio stream, realizing video splicing to obtain panoramic video data, obtaining panoramic audio data and finally obtaining synchronous panoramic audio and video data; the system comprises a server, a client and a server, wherein the client is provided with a display, sound equipment and a human-computer interaction interface and is used for receiving, decoding and playing panoramic audio and video data transmitted by the server; the video analysis module is used for analyzing the panoramic video data acquired by the server; and the early warning module is used for early warning the outside according to the result of the video analysis module.
Preferably, the audio acquisition end comprises a sound pickup and an audio encoder, and the audio encoder encodes the original audio data and transmits the encoded original audio data to the recorder and the 5G image transmission end respectively.
Preferably, the video acquisition end comprises an SDI high-definition camera, an SDI video decoding chip, a PAL standard definition camera, a PAL video decoding chip and an FPGA device, wherein the SDI video decoding chip and the PAL video decoding chip respectively correspond to an SDI video source of the SDI high-definition camera and a PAL video source of the PAL standard definition camera and are connected with the FPGA device.
Preferably, the SDI video decoding chip adopts a GS2970 decoder, and the PAL video decoding chip adopts a TVP5151 decoder.
Preferably, the video compression module has a TMS320DM8148 video processor.
Preferably, the server includes: the audio processing unit is used for processing the multi-channel original audio data into panoramic audio data and coding the panoramic audio data; the video processing unit is used for processing the multi-path original video data into panoramic video data and coding the panoramic video data; and the synchronization module synchronizes the coded panoramic audio data and the coded panoramic video data to obtain the coded panoramic audio and video data.
Preferably, the audio processing unit comprises an audio decoding module, an audio processing module and an audio encoding module; the audio processing module firstly determines the direction information of a multi-path sound source according to the multi-path original audio data, then processes the multi-path original audio data to obtain one path of audio data, and finally fuses the one path of audio data and the direction information of the multi-path sound source to obtain panoramic audio data.
Preferably, the video processing unit comprises a video decoding module, an image registration module, an image transformation module, an image fusion module and a video coding module; the image registration module is used for finding visually identical feature points among pictures in different input video data by adopting a feature-based image registration method; the image transformation module is used for synthesizing a rough panoramic image; and the image fusion module is used for generating a panoramic image with natural transition of the overlapped part.
Preferably, the audio acquisition end, the video acquisition end, the recorder, the video compression module and the 5G image transmission end are integrated into a data acquisition unit, and the data acquisition unit corresponds to the relay end one by one.
Preferably, the video analysis module is one of an industrial field analysis module, a road analysis module or a large-scale activity analysis module.
The invention has the beneficial effects that:
1. the invention carries out network transmission after the original audio data and the original video data are coded and compressed, thereby reducing the pressure of audio and video on a broadband and a memory and relieving the hardware pressure;
2. the system supports a 5G network, is high-quality, high-speed and stable in the process of audio and video data transmission, and can ensure higher quality and efficiency;
3. hardware synchronous acquisition of multi-channel video data and multi-channel audio data is realized, and multi-channel original audio data and multi-channel original video data are synchronously fused into panoramic audio and video data, so that the requirement of image and video information acquisition of a client is met;
4. the Thiessen polygon algorithm is adopted to fuse the multiple paths of videos, so that the calculation efficiency is high, and the real-time performance of the panoramic audio and video is guaranteed;
5. the video analysis module is used for automatically analyzing the panoramic video data, alarming the occurrence of non-conforming situations, and eliminating the possible omission of manual monitoring.
Drawings
FIG. 1 is a system block diagram of an embodiment of the invention.
FIG. 2 is a block diagram of a data acquisition unit in an embodiment of the invention.
Fig. 3 is a block diagram of a server in an embodiment of the invention.
Fig. 4 is a detailed block diagram of a server in an embodiment of the invention.
Fig. 5 is a flowchart illustrating the operation of the video analysis module according to an embodiment of the present invention.
In the figure: the system comprises an audio acquisition end 1, a sound pickup 101 and an audio encoder 102; the system comprises a video acquisition terminal 2, an SDI high-definition camera 201, an SDI video decoding chip 202, a PAL standard definition camera 203, a PAL video decoding chip 204 and an FPGA device 205; a recorder 3; a video compression module 4; 5G, a picture transmission end 5; a relay terminal 6; the system comprises a server 7, an audio processing unit 701, a video processing unit 702, a synchronization module 703, an audio decoding module 704, an audio processing module 705, an audio encoding module 706, a video decoding module 707, an image registration module 708, an image transformation module 709, an image fusion module 710 and a video encoding module 711; a user side 8; a data acquisition unit 9; a video analysis module 10; and an early warning module 11.
Detailed Description
The invention is further described with reference to the following figures and examples.
In an embodiment, as shown in fig. 1 to 4, a system for fusing and analyzing audio and video resources based on 5G communication includes: the audio acquisition terminal 1 is used for acquiring multi-channel original audio data; the video acquisition terminal 2 is used for acquiring multiple paths of original video data; the recorder 3 is used for storing the high-definition original data acquired by the audio acquisition end 1 and the video acquisition end 2 and accurately processing and analyzing the offline data; the video compression module 4 is used for compressing and encoding the video data acquired by the video acquisition terminal 2; 5G, the image transmission terminal 5 transmits the coded audio data and video data to the outside through a network; the relay terminal 6 is a transfer station for data transmission; the server 7 is used for receiving the multi-channel video stream and the multi-channel audio stream, realizing video splicing to obtain panoramic video data, obtaining panoramic audio data and finally obtaining synchronous panoramic audio and video data; and the user end 8 is provided with a display, sound equipment and a man-machine interaction interface, and receives, decodes and plays the panoramic audio and video data transmitted by the server 7. In the embodiment, the original audio data and the original video data are coded and compressed and then transmitted through a network, so that the pressure of audio and video on a broadband and a memory is reduced, and the hardware pressure is relieved; the system supports a 5G network, is high-quality, high-speed and stable in the process of audio and video data transmission, and can ensure higher quality and efficiency; hardware synchronous acquisition of multi-channel video data and multi-channel audio data is realized, multi-channel original audio data and multi-channel original video data are synchronously fused into panoramic audio and video data, and the requirement of image video information acquisition of a client is met.
In the embodiment, as shown in fig. 2, the audio capturing terminal 1 includes a sound pickup 101 and an audio encoder 102, and the audio encoder 102 encodes the original audio data and transmits the encoded data to the recorder 3 and the 5G image transmitting terminal 5, respectively.
In an embodiment, as shown in fig. 2, the video acquisition end 2 includes an SDI high-definition camera 201, an SDI video decoding chip 202, a PAL standard definition camera 203, a PAL video decoding chip 204, and an FPGA device 205, and the SDI video decoding chip 202 and the PAL video decoding chip 204 respectively correspond to an SDI video source of the SDI high-definition camera 201 and a PAL video source of the PAL standard definition camera 203, and are connected to the FPGA device 205. Specifically, the SDI video decoding chip 202 employs a GS2970 decoder, and the PAL video decoding chip 204 employs a TVP5151 decoder. After the camera collects an original video, the collected analog video signal is converted into a digital signal through a corresponding decoding chip, and the two paths of video signals are input into the FPGA device 205 to complete signal switching and data format conversion, and then are transmitted to the video compression module 4.
In an embodiment, as shown in fig. 2, the video compression module 4 has a TMS320DM8148 video processor. TMS320DM8148 uses the H.264 algorithm for compression. When the input video resolution is 1920 × 1080, a path of 720P video code stream is scaled through an HDVPSS module of the DM8148, and then the 1080P and 720P videos are subjected to two-path compression coding. When the input video resolution is 720 × 576, only one path of compression coding is needed. The method improves the coding and decoding efficiency, reduces the cost and improves the network transmission efficiency.
In an embodiment, as shown in fig. 3, the server 7 includes: an audio processing unit 701, configured to process multiple paths of original audio data into panoramic audio data, and perform encoding; a video processing unit 702, configured to process multiple paths of original video data into panoramic video data, and perform encoding; the synchronization module 703 synchronizes the encoded panoramic audio data with the encoded panoramic video data to obtain encoded panoramic audio and video data.
In an embodiment, as shown in fig. 4, the audio processing unit 701 includes an audio decoding module 704, an audio processing module 705, and an audio encoding module 706; the audio processing module 705 determines direction information of multiple sound sources according to multiple paths of original audio data, processes the multiple paths of original audio data to obtain a path of audio data, and finally fuses the path of audio data and the direction information of the multiple paths of sound sources to obtain panoramic audio data.
In an embodiment, as shown in fig. 4, the video processing unit 702 includes a video decoding module 707, an image registration module 708, an image transformation module 709, an image fusion module 710, and a video encoding module 711; an image registration module 708, which employs a feature-based image registration method for finding visually identical feature points between pictures in different input video data; an image transformation module 709 for synthesizing a rough panoramic image; and the image fusion module 710 is used for generating a panoramic image with natural transition of the overlapped part. The embodiment adopts a traditional three-step method of image registration, image transformation and image fusion.
The image registration module 708 employs a feature-based image registration method, the matched images are features of the images, such as feature contours, feature regions, feature points, and the like, the vectors are described by using high-dimensional feature description vectors, and the matching process needs to match different feature description vectors. Common feature point extraction algorithms include SURE and ORB, and are widely applied. The image transformation module 709 adopts projective transformation or affine transformation in non-rigid change.
The image fusion module 710 transforms all images to be under the same viewing angle by geometric change, and then processes the images of the overlapped region. The linear evaluation is a simpler image fusion mode, but has the defects that ghosting occurs in a misaligned area, and the transition is unnatural. The embodiment adopts the Thiessen polygon to reasonably plan the discrete points, and only fusion is carried out around the abutted seam, so that the method has the advantages of high calculation speed and high efficiency, and the real-time property of the panoramic audio and video is ensured.
In the embodiment, as shown in fig. 1, an audio acquisition end 1, a video acquisition end 2, a recorder 3, a video compression module 4, and a 5G image transmission end 5 are integrated into a data acquisition unit 9, and the data acquisition unit 9 corresponds to the relay end 6 one by one. The embodiment has a plurality of mutually independent data acquisition units 9, therefore has the advantages of flexible arrangement and good applicability, and is suitable for being applied to occasions such as unmanned aerial vehicle units, mines, building monitoring and the like.
In the embodiment, as shown in fig. 1 and 5, the embodiment further includes a video analysis module 10, configured to analyze panoramic video data acquired by the server 7; and the early warning module 11 is used for early warning the outside according to the result of the video analysis module 10. Specifically, the video analysis module 10 is one of an industrial field analysis module, a road analysis module, or a large-scale activity analysis module. The early warning module 11 can adopt an alarm bell or real-time voice early warning.
If the video analysis module 10 is a road analysis module, it mainly identifies vehicle information, traffic flow characteristics, and road traffic safety information. Specifically, the method can comprise the functions of license plate recognition, lane average speed, lane vehicle flow, road abnormity, illegal parking monitoring, pedestrian detection, intersection detection and the like.
If the video analysis module 10 is an industrial field analysis module, it mainly recognizes people, clothes and action tracks. Specifically, the system can comprise the functions of personnel detection, safety helmet detection, work clothes detection, abnormal personnel searching, personnel action track display and the like.
If the video analysis module 10 is a large-scale activity analysis module, it mainly identifies people, clothing, security and accident monitoring. Specifically, the functions of personnel detection, mask wearing, dangerous area detection, important child monitoring and the like can be included.
As shown in fig. 5, taking mask wearing detection as an example, a specific flow of the video analysis module 10 is described, which includes the following steps:
(1) acquiring a face image (ROI), namely acquiring the face image of a portrait according to panoramic video data acquired by a server, and detecting the face image by adopting a frame difference method to remove unnecessary images.
(2) And converting the color space of the acquired face image from RGB into HSV. Because the HSV color space has the advantages of independent color components and difficulty in receiving the influence of illumination, the picture is converted from the RGB color space to the HSV color space, and the influence of illumination is reduced.
The formula for converting the RGB color space to the HSV color space is as follows:
Figure 473599DEST_PATH_IMAGE001
Figure 734947DEST_PATH_IMAGE002
Figure 482061DEST_PATH_IMAGE003
wherein r, g and b represent the three primary color values of the RGB color space, max is equal to the maximum one of r, g and b, and min is the minimum one; h. s and v are (h, s and v) values in the corresponding HSV space, h is between 0 and 360 degrees, s is between 0 and 100 percent, and v is between 0 and max.
(3) The HSV color space image is converted into a binary image, and aiming at the characteristic that the colors of the masks are consistent, HSV thresholds corresponding to masks with different colors (white, blue and red are common) are different, thresholds corresponding to the colors of the masks are set, pixels within the thresholds are white, and pixels outside the thresholds are white.
(4) And the morphological operation is mainly performed on the converted binary image, and the morphological operation is mainly performed on the binary image to eliminate partial redundant areas until the binary image can be used for analysis.
(5) The judgment standard for whether the mask is worn is that the proportion of white pixel points is in the horizontal direction of a specific area, and two parameters are provided, wherein one parameter is the selection position of an image, and the other parameter is the judgment proportion. For the first parameter, the positions 1/7 to 1/9 of the person image can be selected as the judgment positions of the face, and the judgment is further carried out according to the outer contour. Regarding the second parameter, considering the ratio of the mask to the head area, it can be determined that the mask is worn when the ratio exceeds 1/5.
When detecting the personnel who do not wear the gauze mask, early warning module 11 can carry out the early warning through alarm bell or real-time pronunciation, reminds the staff.
It should be understood that the above-described embodiments of the present invention are merely examples for illustrating the present invention, and are not intended to limit the embodiments of the present invention. Obvious variations or modifications of the present invention are possible within the spirit of the present invention.

Claims (10)

1. A fusion and analysis system of audio and video resources based on 5G communication is characterized by comprising:
the audio acquisition terminal (1) is used for acquiring multi-channel original audio data;
the video acquisition terminal (2) is used for acquiring multi-path original video data;
the recorder (3) is used for storing high-definition original data acquired by the audio acquisition end (1) and the video acquisition end (2) and accurately processing and analyzing offline data;
the video compression module (4) is used for compressing and encoding the video data acquired by the video acquisition end (2);
5G, a picture transmission end (5) for transmitting the coded audio data and video data to the outside through a network;
the relay terminal (6) is a transfer station for data transmission;
the server (7) is used for receiving the multi-channel video stream and the multi-channel audio stream, realizing video splicing to obtain panoramic video data, obtaining panoramic audio data and finally obtaining synchronous panoramic audio and video data;
the user side (8) is provided with a display, sound equipment and a man-machine interaction interface, and receives, decodes and plays the panoramic audio and video data transmitted by the server (7);
the video analysis module (10) is used for analyzing the panoramic video data acquired by the server (7);
and the early warning module (11) is used for early warning the outside according to the result of the video analysis module (10).
2. The fusion and analysis system of audio and video resources based on 5G communication according to claim 1, characterized in that: the audio acquisition terminal (1) comprises a sound pickup (101) and an audio encoder (102), wherein the audio encoder (102) encodes original audio data and transmits the encoded original audio data to the recorder (3) and the 5G image transmission terminal (5) respectively.
3. The fusion and analysis system of audio and video resources based on 5G communication according to claim 1, characterized in that: the video acquisition end (2) comprises an SDI high-definition camera (201), an SDI video decoding chip (202), a PAL standard definition camera (203), a PAL video decoding chip (204) and an FPGA device (205), wherein the SDI video decoding chip (202) and the PAL video decoding chip (204) respectively correspond to an SDI video source of the SDI high-definition camera (201) and a PAL video source of the PAL standard definition camera (203), and are connected with the FPGA device (205).
4. The fusion and analysis system of audio and video resources based on 5G communication according to claim 3, wherein: the SDI video decoding chip (202) adopts a GS2970 decoder, and the PAL video decoding chip (204) adopts a TVP5151 decoder.
5. The fusion and analysis system of audio and video resources based on 5G communication according to claim 3, wherein: the video compression module (4) has a TMS320DM8148 video processor.
6. The fusion and analysis system of audio-video resources based on 5G communication according to claim 1, wherein the server (7) comprises:
the audio processing unit (701) is used for processing the multi-channel original audio data into panoramic audio data and coding the panoramic audio data;
a video processing unit (702) for processing the multiple paths of original video data into panoramic video data and encoding the panoramic video data;
and the synchronization module (703) synchronizes the coded panoramic audio data with the coded panoramic video data to obtain the coded panoramic audio and video data.
7. The fusion and analysis system of audio and video resources based on 5G communication according to claim 6, wherein:
the audio processing unit (701) comprises an audio decoding module (704), an audio processing module (705) and an audio encoding module (706);
the audio processing module (705) determines the direction information of a plurality of paths of sound sources according to the plurality of paths of original audio data, processes the plurality of paths of original audio data to obtain a path of audio data, and finally fuses the path of audio data and the direction information of the plurality of paths of sound sources to obtain panoramic audio data.
8. The fusion and analysis system of audio and video resources based on 5G communication according to claim 6, wherein:
the video processing unit (702) comprises a video decoding module (707), an image registration module (708), an image transformation module (709), an image fusion module (710) and a video encoding module (711);
an image registration module (708) employing a feature-based image registration method for finding visually identical feature points between pictures in different input video data;
an image transformation module (709) for synthesizing a rough panoramic image;
and the image fusion module (710) is used for generating a panoramic image with natural transition of the overlapped part.
9. The fusion and analysis system of audio and video resources based on 5G communication according to claim 1, characterized in that: the audio acquisition end (1), the video acquisition end (2), the recorder (3), the video compression module (4) and the 5G image transmission end (5) are integrated into a data acquisition unit (9), and the data acquisition unit (9) corresponds to the relay end (6) one by one.
10. The fusion and analysis system of audio and video resources based on 5G communication according to claim 1, wherein the video analysis module (10) is one of an industrial field analysis module, a highway analysis module or a large-scale activity analysis module.
CN202210281356.1A 2022-03-22 2022-03-22 Fusion and analysis system of audio and video resources based on 5G communication Pending CN114390315A (en)

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CN103795976A (en) * 2013-12-30 2014-05-14 北京正安融翰技术有限公司 Full space-time three-dimensional visualization method
CN107197139A (en) * 2017-04-13 2017-09-22 深圳电航空技术有限公司 The data processing method of panorama camera
CN107592452A (en) * 2017-09-05 2018-01-16 深圳市圆周率软件科技有限责任公司 A kind of panorama audio-video acquisition equipment and method
CN112287823A (en) * 2020-10-28 2021-01-29 怀化学院 Facial mask identification method based on video monitoring

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140098185A1 (en) * 2012-10-09 2014-04-10 Shahram Davari Interactive user selected video/audio views by real time stitching and selective delivery of multiple video/audio sources
CN103795976A (en) * 2013-12-30 2014-05-14 北京正安融翰技术有限公司 Full space-time three-dimensional visualization method
CN107197139A (en) * 2017-04-13 2017-09-22 深圳电航空技术有限公司 The data processing method of panorama camera
CN107592452A (en) * 2017-09-05 2018-01-16 深圳市圆周率软件科技有限责任公司 A kind of panorama audio-video acquisition equipment and method
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