CN114554093B

CN114554093B - Image acquisition system and target tracking method

Info

Publication number: CN114554093B
Application number: CN202210179040.1A
Authority: CN
Inventors: 黄庆福; 顾燕菲; 刘元振
Original assignee: Chongqing Unisinsight Technology Co Ltd
Current assignee: Chongqing Unisinsight Technology Co Ltd
Priority date: 2022-02-25
Filing date: 2022-02-25
Publication date: 2023-06-30
Anticipated expiration: 2042-02-25
Also published as: CN114554093A

Abstract

The embodiment provides an image acquisition system and a target tracking method applied to the security field, wherein the system comprises a plurality of image acquisition devices, and the plurality of image acquisition devices are sequentially connected according to a preset master-slave relationship. Based on the master-slave relationship, when the annular cameras in the plurality of image acquisition devices rotate, the connection structure between the annular cameras and the spherical cameras drives the spherical cameras to synchronously rotate along with the annular cameras; wherein, the dome camera is the slave device of the annular camera. Because the spherical camera synchronously rotates along with the annular camera, a corresponding tracking algorithm is not required to be designed for the spherical camera when the first target object is tracked, and therefore, the implementation means for tracking the first target object can be simplified based on the image acquisition system.

Description

Image acquisition system and target tracking method

Technical Field

The application relates to the field of security protection, in particular to an image acquisition system and a target tracking method.

Background

With the increase of security monitoring demands, the image acquisition equipment with single function is difficult to adapt to complex monitoring demands, so that a method for shooting by linking various image acquisition equipment is provided to achieve the aim of complementary advantages among the image acquisition equipment.

Research discovers that when the plurality of image acquisition devices are linked to track the same target object, the plurality of image acquisition devices in the related technology are respectively and independently electrically controlled, so that a corresponding tracking algorithm needs to be designed for each image acquisition device, and the implementation means for tracking the same target object by the plurality of image acquisition devices is complicated.

Disclosure of Invention

In order to overcome at least one of the disadvantages in the prior art, the present application provides an image acquisition system and a target tracking method, including:

in a first aspect, the present application provides an image acquisition system, where the image acquisition system includes a panoramic camera, a ring-shaped camera, and a dome camera that are sequentially connected according to a preset master-slave relationship, where the ring-shaped camera is a slave device of the panoramic camera, and the dome camera is a slave device of the ring-shaped camera;

when the annular camera rotates, the connection structure between the annular camera and the spherical camera drives the spherical camera to synchronously rotate along with the annular camera.

In a second aspect, the present application provides a target tracking method, applied to the image acquisition system, the method including:

the annular camera receives tracking information of a first target object and tracks and shoots the first target object according to the tracking information, wherein when the annular camera tracks and shoots the first target object, the spherical camera is driven to synchronously rotate through a connection structure between the annular camera and the spherical camera.

Compared with the prior art, the application has the following beneficial effects:

in the image acquisition system and the target tracking method provided by the implementation, the system comprises a plurality of image acquisition devices, and the plurality of image acquisition devices are sequentially connected according to a preset master-slave relationship. Based on the master-slave relationship, when the annular cameras in the plurality of image acquisition devices rotate, the connection structure between the annular cameras and the spherical cameras drives the spherical cameras to synchronously rotate along with the annular cameras; wherein, the dome camera is the slave device of the annular camera. Because the spherical camera synchronously rotates along with the annular camera, a corresponding tracking algorithm is not required to be designed for the spherical camera when the first target object is tracked, and therefore, the implementation means for tracking the first target object can be simplified based on the image acquisition system.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of an image capturing apparatus according to an embodiment of the present application;

FIG. 2 is a schematic diagram of an image acquisition system according to an embodiment of the present disclosure;

fig. 3 is a schematic diagram of a connection structure of an image acquisition system according to an embodiment of the present application;

fig. 4 is a block schematic diagram of an image acquisition system according to an embodiment of the present application;

fig. 5 is a schematic flow chart of maintaining a buffer queue by the panoramic camera according to the embodiment of the present application.

Icon: 120-memory; 130-a processor; 140-a communication unit; 201-a panoramic camera; 202-ring camera; 203-dome camera; 204-a first slip ring; 205-a second slip ring.

Detailed Description

For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

In the related art, a method of linking a plurality of image capturing devices to capture images is proposed to achieve the purpose of advantage complementation between the image capturing devices. The plurality of image capturing devices according to the present embodiment may include a panoramic camera, a ring camera, and a dome camera.

Panoramic camera: the intelligent monitoring system is used for monitoring the scene 360 degrees without dead angles, and can realize intelligent services such as crowd situation feedback, people counting, vehicle counting, intelligent perimeter and the like in the scene, so that the large scene monitoring requirement is met.

Ring camera: the device has the function of a tripod head, can realize monitoring in the range of horizontal rotation of 360 degrees and vertical rotation of 0-30 degrees, and can realize structured snapshot of targets arranged around the scene and in a defense arrangement area, thereby meeting the monitoring requirement of a medium-sized and large-sized scene.

Ball-type camera: the device has the function of a tripod head, can realize monitoring in the range of 360 degrees of horizontal rotation and 0-30 degrees of vertical rotation, and can realize structural snapshot attribute analysis on targets in a scene, thereby meeting the monitoring requirement on small and medium-sized scenes.

Therefore, the 3 kinds of image acquisition devices are combined, and the complementary advantages among the plurality of image acquisition devices can be realized, so that the aim of monitoring and shooting a large-scale scene, a medium-scale scene and a small-scale scene at the same time is fulfilled. However, it is found that when the plurality of image capturing apparatuses are currently linked to track the same target object, independent electrical control is performed between the plurality of image capturing apparatuses in the related art, so that a collaborative algorithm between cameras is complex.

For example, when the annular camera and the dome camera track a target object at the same time, a set of tracking algorithm is required to be designed for the annular camera, and a set of tracking algorithm is designed for the dome camera, so that the implementation means for tracking the target object is too complex. In the following embodiments, the first target object and the second target object represent different tracking objects, respectively.

In view of this, the present embodiment provides an image acquisition system. The system comprises a plurality of image acquisition devices, wherein the image acquisition devices are sequentially connected according to a preset master-slave relationship. Based on the master-slave relationship, when the annular cameras in the plurality of image acquisition devices rotate, the connection structure between the annular cameras and the spherical cameras drives the spherical cameras to synchronously rotate along with the annular cameras; wherein, the dome camera is the slave device of the annular camera. Because the spherical camera synchronously rotates along with the annular camera, a corresponding tracking algorithm is not required to be designed for the spherical camera when the first target object is tracked, and therefore, the implementation means for tracking the first target object can be simplified based on the image acquisition system.

The implementation also provides a structural schematic diagram related to any one of the image acquisition devices. As shown in fig. 1, the image acquisition apparatus includes a memory 120, a processor 130, and a communication unit 140. The memory 120, the processor 130, and the communication unit 140 are electrically connected directly or indirectly to each other to realize data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines.

The Memory 120 may be, but is not limited to, a random access Memory (Random Access Memory, RAM), a Read Only Memory (ROM), a programmable Read Only Memory (Programmable Read-Only Memory, PROM), an erasable Read Only Memory (Erasable Programmable Read-Only Memory, EPROM), an electrically erasable Read Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc. The memory 120 is used for storing a program, and the processor 130 executes the program after receiving an execution instruction.

The communication unit 140 is used for transmitting and receiving data through a network. The network may include a wired network, a wireless network, a fiber optic network, a telecommunications network, an intranet, the internet, a local area network (Local Area Network, LAN), a wide area network (Wide Area Network, WAN), a wireless local area network (Wireless Local Area Networks, WLAN), a metropolitan area network (Metropolitan Area Network, MAN), a wide area network (Wide Area Network, WAN), a public switched telephone network (Public Switched Telephone Network, PSTN), a bluetooth network, a ZigBee network, a near field communication (Near Field Communication, NFC) network, or the like, or any combination thereof. In some embodiments, the network may include one or more network access points. For example, the network may include wired or wireless network access points, such as base stations and/or network switching nodes, through which one or more components of the service request processing system may connect to the network to exchange data and/or information.

The processor 130 may be an integrated circuit chip with signal processing capabilities and may include one or more processing cores (e.g., a single-core processor or a multi-core processor). By way of example only, the processors may include a central processing unit (Central Processing Unit, CPU), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a special instruction set Processor (Application Specific Instruction-set Processor, ASIP), a graphics processing unit (Graphics Processing Unit, GPU), a physical processing unit (Physics Processing Unit, PPU), a digital signal Processor (Digital Signal Processor, DSP), a field programmable gate array (Field Programmable Gate Array, FPGA), a programmable logic device (Programmable Logic Device, PLD), a controller, a microcontroller unit, a reduced instruction set computer (Reduced Instruction Set Computing, RISC), a microprocessor, or the like, or any combination thereof.

Based on the above-described related description, the image acquisition system provided in this embodiment will be described in detail. The image acquisition system comprises a plurality of image acquisition devices, and the image acquisition devices are sequentially connected according to a preset master-slave relationship.

When the annular cameras in the plurality of image acquisition devices rotate, the connection structure between the annular cameras and the spherical cameras drives the spherical cameras to synchronously rotate along with the main device, wherein the spherical cameras are slave devices of the annular cameras.

It is worth to describe that the annular camera and the spherical camera in this embodiment are any two adjacent image acquisition devices in the image acquisition system and satisfy a master-slave relationship.

An exemplary image capturing system as shown in fig. 2 includes a plurality of image capturing apparatuses, which are the panoramic camera 201, the ring camera 202, and the dome camera 203 in the above-described embodiment, respectively. As shown in fig. 2, the panoramic camera 201 is a master device of the ring camera 202, that is, the ring camera 202 belongs to a slave device thereof for the panoramic camera. However, the ring camera 202 is the master of the dome camera, that is, the dome camera 203 belongs to its slave for ring imaging.

Therefore, when the ring camera rotates in the horizontal direction, the connection result between the ring camera and the dome camera drives the dome camera 203 to rotate in synchronization. That is, when the ring camera tracks the first target object, the dome camera 203 can track the first target object synchronously following the ring camera without separately designing a corresponding tracking algorithm. Thus, based on the image acquisition system, the implementation means for tracking the first target object can be simplified.

In addition, the plurality of image capturing devices in the embodiment have different image capturing functions respectively, and the matching is performed according to the fact that the monitoring scene of the master device is larger than that of the slave device, which means that compared with the master device, the slave device is used for capturing more detailed image information, which means that the slave device needs to rotate more flexibly and frequently than the master device, so that in order to avoid the frequent rotation of the slave device interfering with the master device, in the embodiment, when the dome camera rotates, the connection structure between the ring camera and the dome camera does not drive the ring camera to rotate along with the dome camera.

For example, when the dome camera 203 in fig. 2 rotates, the ring camera 202 does not rotate following the dome camera 203.

In order to achieve the rotation effect, a corresponding connection structure can be designed, so that a plurality of image acquisition devices rotate around the same axis. In an alternative embodiment, the connection structure may be a slip ring (also called a slip ring), and the structure may be used in any electromechanical system that requires continuous rotation and simultaneously needs to transmit power and signals from a fixed position to a rotating position, so as to improve system performance, simplify system structure, and avoid the strain caused by wires in the rotating process.

For example, taking the image capturing system shown in fig. 2 as an example, fig. 3 is a schematic diagram of a connection structure provided for the system shown in fig. 2 according to the present embodiment, the panoramic camera 201 and the annular camera 202 are connected through a first slip ring 204, and the annular camera 202 and the spherical camera 203 are connected through a second slip ring 205.

Based on the connection structure shown in fig. 3, the present embodiment also provides a block schematic diagram of the image acquisition system. As shown in fig. 4, the image acquisition system further includes a power supply module, a gateway module, and a network interface; the power supply module is used for performing functions for the panoramic camera 201, the annular camera 202 and the dome camera 203, and outputting 12V, 5V, 3.3V and other direct current voltages according to requirements.

With continued reference to fig. 4, the panoramic camera 201 includes a panoramic DSP chip module, a panoramic fixed focus lens module, and an external interface module. The panoramic fixed focus lens module comprises a focus lens and an image sensor and is used for completing the collection of panoramic images and outputting the panoramic images to the panoramic DSP chip module. The external interface module is used for completing external interface functions, such as power supply output, alarm input and output, audio input and output, RS485 interface, analog video output, optical port and other interfaces.

The panorama DSP chip module in this embodiment can receive external instructions at the same time to control the ring camera 202 and the dome camera 203 to complete corresponding functions, and also can receive data transmitted by the ring camera 202 and the dome camera 203, for example, the data may include video data of the ring camera 202 and the dome camera 203, replies of external instructions, and working status information.

With continued reference to fig. 4, the annular camera 202 includes at least one small zoom movement lens module, a zoom control module, a hybrid light supplementing module, and a pan/tilt rotation module. The small zoom movement lens module comprises a movement lens and an image sensor and is used for completing the acquisition of the medium-sized scene image and outputting the medium-sized scene image to the annular DSP chip. The zoom control module is used for performing telescopic control on the small zoom movement so as to monitor the zoom to the appointed magnification according to the actual scene requirement. The mixed light supplementing module mainly comprises 4 white light supplementing lamps and 4 infrared supplementing lamps, and the white light lamp beads and the infrared lamp beads are packaged in one lamp bead.

The white light supplementing lamp is mainly used for relatively near scenes, such as a low-altitude installation scene, and under an installation scene below 20 meters, the white light supplementing lamp is used for supplementing light for the scene, so that full color images can be ensured, and meanwhile, the images are clear enough. The infrared light supplementing lamp is mainly used for far-distance scenes, for example, under the installation scene of more than 20 meters, the scene is supplemented with light by the infrared light supplementing lamp, and although the image is black and white, the definition of the image can be ensured to reach the preset definition. The cradle head rotating module is used for controlling the horizontal rotation of the whole annular camera 202 and the rotation of a module formed by the movement lens module and the mixed light supplementing module in the vertical direction, so that the monitoring of 360 degrees in the horizontal direction and the monitoring of 0-30 degrees in the vertical direction are realized, wherein the horizontal direction and the vertical direction are mutually perpendicular.

With continued reference to fig. 4, the dome camera 203 includes at least one large zoom movement lens module, a zoom control module, a laser infrared light supplementing module, and a pan-tilt rotation module. The large zoom movement lens module comprises a movement lens and an image sensor, and is used for completing the acquisition of the medium-sized scene image and outputting the medium-sized scene image into the annular cradle head DSP chip. The zoom control module mainly completes the telescopic control of the large zoom movement, so that the zoom is controlled to the appointed magnification according to the actual scene requirement. The mixed light supplementing module mainly comprises 8 laser infrared light supplementing lamps, and the light supplementing range can cover near-middle-far scenes.

Wherein, because of adopting laser infrared light filling lamp, so the distance of the light filling of far away is very far away, can reach 500 meters at most. The holder rotating module is used for completing horizontal rotation of the spherical holder and rotation of a module formed by the movement lens module and the laser infrared light supplementing module in the vertical direction, so that 360-degree monitoring in the horizontal direction and-10-90-degree monitoring in the vertical direction are realized.

With continued reference to fig. 4, the gateway module is configured to complete network connection among the panoramic camera 201, the ring camera 202, and the dome camera 203, so that data can be mutually transmitted between the three, and simultaneously, the network can be externally connected.

As described in the above embodiment, in the image capturing system, matching is performed according to the monitoring scene of the master device being larger than the monitoring scene of the slave device, that is, different capturing functions are focused on between the image capturing devices, so that each device has different device parameters. Continuing with the image acquisition system shown in fig. 2 as an example, the respective device parameters of the panoramic camera 201, the ring camera 202, and the dome camera 203 may be:

panoramic camera 201: in the first aspect, the panoramic camera 201 may be composed of 8 fixed-focus lens portions, in which a plurality of lenses are arranged at equal intervals, and a pitch angle in a vertical direction is 45 ° so that a photographing direction of the lenses is inclined downward for monitoring from a high altitude downward. In a second aspect, each lens may employ a 2.8mm, 4mm or 6mm focal segment; and according to the needs of actual application scene, 8 fixed focus shots can select the camera lens of different types. In the third aspect, each lens can adopt a large aperture lens with F1.0, an image sensor in the lens adopts a 1/1.8' target surface, clear color images can be collected under low illumination at night, even under the condition of no light supplement, and due to the adoption of a large aperture design, the panorama does not need light supplement, and the structure and hardware related to light supplement can be saved.

Ring camera 202: in a first aspect, the ring camera 202 may be comprised of a small zoom lens. In a second aspect, the optical power may be between 3-6 times, covering a 2.8mm to 50mm focal length. In the third aspect, the lens can adopt an F1.3 aperture lens, and meanwhile, the image sensor adopts a 1/1.8' target surface, so that the low-illumination effect can be fully ensured. In a fourth aspect, the camera may use a hybrid light supplement, using 4 infrared lamps and 4 white light lamps, respectively. In a fifth aspect, the ring camera 202 is capable of 360 ° horizontal rotation, which rotates relative to the panoramic part, while the rotation module consisting of the movement lens and the light compensation module can be rotated vertically by 0 ° to 30 °.

Ball camera 203: in a first aspect, the dome camera 203 may be comprised of a macro zoom cartridge lens. In a second aspect, the optical power may be above 30 times, covering a 5mm to 250mm focal length. In the third aspect, the F1.6 aperture lens is adopted, and the 1/1.8' target surface is adopted for the image sensor, so that the low-light effect can be fully ensured. In the fourth aspect, the light supplementing mode adopts laser infrared light supplementing, which can specifically include 4 far-distance infrared lamps, 2 middle-distance infrared lamps and 2 near-distance infrared lamps for light supplementing. In the fifth aspect, the dome camera 203 can rotate horizontally by 360 ° and the rotation is performed with respect to the ring camera 202, and the rotation module composed of the movement lens and the light compensation module can rotate between-10 ° and 90 °.

The embodiment also provides a target tracking method applied to the image acquisition system provided by the embodiment, which comprises the following steps:

the annular camera receives tracking information of the first target object and tracks and shoots the first target object according to the tracking information, wherein when the annular camera tracks and shoots the first target object, the spherical camera is driven to synchronously rotate through a connecting structure between the annular camera and the spherical camera.

The first target object in this embodiment may be, but is not limited to, a target entering the monitoring area, a target of a wire mixing, and a target leaving the monitoring area, for a target monitoring area. The target can be detected by a relevant intelligent recognition algorithm.

Compared with the annular camera and the spherical camera, the panoramic camera has the largest visual field sensing range and is used for detecting the first target object with abnormal behaviors in a global situation sensing mode, so that tracking information of the first target object is provided for the annular camera, the first target object is conveniently tracked, and therefore the panoramic camera can be kept still all the time during the tracking of the first target object.

Therefore, if the panoramic camera detects the first target object, the first spatial coordinates of the first target object in the field of view of the panoramic camera are transmitted to the annular camera.

The annular camera converts the first space coordinate into a second space coordinate in the visual field range of the annular camera, and takes the second space coordinate as tracking information; then, tracking shooting is carried out on the first target object according to the tracking information.

Of course, in another alternative embodiment, the panoramic camera may also transmit the second control coordinates as tracking information to the ring camera after converting the first control coordinates into the second spatial coordinates.

In this embodiment, the difference of the initial shooting angles between the annular camera and the dome camera is also considered, so before the dome camera and the annular camera rotate synchronously, the shooting direction of the dome camera needs to be adjusted to be consistent with the shooting direction of the annular camera, and therefore, the method further includes:

the dome camera receives a tracking instruction sent by the panoramic camera; then, according to the tracking instruction, acquiring the difference of shooting directions between the annular camera and the spherical camera; finally, according to the difference of the shooting directions, the lens orientation of the dome camera is adjusted to be consistent with the lens orientation of the annular camera.

The difference of shooting directions comprises a horizontal relative deflection angle and a pitching relative deflection angle between the annular camera and the spherical camera, so that in an alternative embodiment, the spherical camera obtains the horizontal relative deflection angle and the pitching relative deflection angle of a lens between the annular camera and the spherical camera, and the lens orientation of the spherical camera is adjusted to be consistent with the lens orientation of the annular camera according to the horizontal relative deflection angle and the pitching relative deflection angle.

Illustratively, when the panoramic camera 201 in fig. 2 discovers the first target object, tracking information of the first target object is transmitted to the ring camera 202, and at the same time, a tracking instruction is also transmitted to the dome camera 203. The dome camera 203 obtains the current horizontal angle and pitch angle of the ring camera 202 according to the tracking instruction; comparing the angle with the current horizontal angle and pitch angle, calculating the horizontal relative deflection angle and the pitch relative deflection angle between the two devices, and adjusting the orientation of the lens according to the horizontal relative deflection angle and the pitch relative deflection angle so as to keep consistent with the orientation of the annular camera.

In this embodiment, before the panoramic camera sends the tracking information to the annular camera, in order to avoid interrupting the first target object currently being tracked by the annular camera. The panoramic camera acquires state information of the annular camera; and if the state information indicates that the annular camera is in a tracking state, the panoramic camera tracks the first target object until the annular camera is in an idle state, and then the first space coordinates are sent to the annular camera.

Since the respective monitoring scenes of the panoramic camera, the annular camera and the dome camera in the embodiment are a global scene, a middle scene and a small scene in sequence, each scene respectively comprises the following characteristics:

global scenario: the intelligent monitoring system is used for monitoring 360-degree dead angles of a scene, and can also realize intelligent services such as crowd situation feedback, people counting, vehicle counting, intelligent perimeter and the like in the scene.

The following is the following: the method can be used for carrying out structural snapshot on targets in scene perimeter defense arrangement and defense arrangement areas to obtain the situation of the surrounding environment of the targets so as to analyze abnormal events in the monitoring video during playback.

Small scene: detailed information of the first target object, such as a very clear detailed image, may be acquired. For example, for humans, there are clear human faces, and for motor vehicles, there is structural attribute analysis from clear body, license plate information, etc., for later information retrieval.

Accordingly, the panoramic camera 201 in fig. 2 analyzes and outputs first spatial coordinates of the first target object in the panoramic image for the first target object generating an abnormal event in the panoramic monitoring, for instructing the ring camera 202 and the dome camera 203 to perform synchronous tracking and capturing.

The annular camera 202 rotates by a corresponding angle along the horizontal direction and the vertical direction according to the second space coordinate of the first target object in the shooting range, and changes the movement to a corresponding multiplying power according to the size of the first target object, so as to track and snapshot the first target object.

While the ring camera 202 rotates in place, the dome camera 203 calculates a horizontal relative yaw angle and a pitch relative yaw angle with the ring camera 202, adjusts the lens to be consistent with the shooting direction of the ring camera 202 according to the horizontal relative yaw angle and the pitch relative yaw angle, and then the dome camera 203 performs more detailed tracking and snapshot analysis on the first target object with a larger magnification.

Therefore, through mutual coordination among the three image acquisition devices, the first target object is tracked and shot in all directions.

In another embodiment, the annular camera and the spherical camera in the image acquisition system can be used for respectively tracking and shooting different target objects, so that a user can select one of the two tracking and shooting modes according to monitoring requirements. The annular camera and the spherical camera can also be used for respectively tracking and shooting different target objects, and the connection structure between the annular camera and the spherical camera can drive the spherical camera to synchronously rotate, so that the spherical camera needs to compensate synchronous rotation generated by the annular camera when respectively tracking different target objects.

The spherical camera receives tracking information of a second target object, then obtains compensation information aiming at the rotation information according to the rotation information of the annular camera, and finally carries out tracking shooting on the second target object according to the compensation information and the tracking information.

The compensation information is used for eliminating synchronous rotation brought by the connecting structure. By way of example, assuming that the rotation information of the ring camera is such that the first target object is tracked at an angular velocity of 15 deg./s in a clockwise direction based on the horizontal plane, this means that the dome camera is also rotated at an angular velocity of 15 deg./s in a clockwise direction under the drive of the ring camera.

Therefore, when the dome camera receives the tracking information of the second target object, it is necessary to track and photograph the second target object in combination with the rotation information of the ring camera. That is, the control information of the user tracking the second target object output from the spherical camera needs to include two parts, one part is used for canceling the synchronous rotation generated by the annular camera, and the other part is used for actually tracking the second target object, so that the second target object is always kept at the preset position of the photographed image. For example, the preset position may be located at the center of the photographed image.

In order to avoid tracking one target object for a long time and missing other objects to be tracked and shot, as shown in fig. 5, the present embodiment further provides a buffer queue for buffering a plurality of target objects and tracking limit conditions set for each target object.

The panoramic camera is used for detecting and outputting coordinates of a plurality of target objects, and recording the corresponding relation between the identification of the target objects and the space coordinates into the cache queue. The target objects are arranged in the buffer queue according to the sequence of the target objects in the panoramic image.

The panoramic camera is also used for detecting whether the annular camera is in an idle state or not;

if the annular camera is in an idle state, the panoramic camera takes a target object which is added into a cache queue first as a first target object, then determines a second space coordinate according to the space coordinate corresponding to the first target object, and sends the second space coordinate to the annular camera; finally, the first target object is removed from the cache queue to update the cache queue.

If the annular camera is not in the idle state, the panoramic camera judges whether the dome camera is in the idle state.

If the spherical camera is in an idle state, the panoramic camera takes the target object which is added into the cache queue first as a second target object, and then determines a second space coordinate according to the space coordinate corresponding to the second target object and sends the second space coordinate to the annular camera; finally, the second target object is removed from the cache queue to update the cache queue.

As shown in fig. 5, whether the ring camera 202 or the spherical camera is in an idle state or not, the panoramic camera 201 always keeps tracking each target object in the buffer queue, and the target object whose tracking duration exceeds a duration threshold (for example, the duration threshold may be 10 s) or the target object that disappears from the view range of the panoramic camera 201 is removed from the buffer queue, so as to update the buffer queue.

It should be noted that the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance. Furthermore, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

Furthermore, the terms "horizontal," "vertical," "overhang," and the like do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

It should also be noted that unless explicitly stated or limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art in a specific context.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners as well. The apparatus embodiments described above are merely illustrative, for example, flow diagrams and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The foregoing is merely various embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. The image acquisition system is characterized by comprising a panoramic camera, a ring-shaped camera and a spherical camera which are sequentially connected according to a preset master-slave relationship, wherein the ring-shaped camera is a slave device of the panoramic camera, and the spherical camera is a slave device of the ring-shaped camera;

when the ring-shaped camera rotates, the connection structure between the ring-shaped camera and the spherical camera drives the spherical camera to synchronously rotate along with the ring-shaped camera, and when the spherical camera rotates, the connection structure between the ring-shaped camera and the spherical camera does not drive the ring-shaped camera to rotate along with the spherical camera;

the annular camera receives tracking information of a first target object and performs tracking shooting on the first target object according to the tracking information, wherein when the annular camera performs tracking shooting on the first target object, the spherical camera is driven to synchronously rotate through a connection structure between the annular camera and the spherical camera;

the dome camera receives tracking information of a second target object;

the spherical camera obtains compensation information aiming at the rotation information according to the rotation information of the annular camera, wherein the compensation information is used for eliminating synchronous rotation brought by the connecting structure;

and carrying out tracking shooting on the second target object according to the compensation information and the tracking information.

2. The image acquisition system of claim 1, wherein the connection structure is a slip ring.

3. The image acquisition system of claim 1, wherein the ring camera and the dome camera rotate about a same axis.

4. The target tracking method is characterized by being applied to an image acquisition system, wherein the image acquisition system comprises a panoramic camera, a ring-shaped camera and a spherical camera which are sequentially connected according to a preset master-slave relationship, the ring-shaped camera is slave equipment of the panoramic camera, and the spherical camera is slave equipment of the ring-shaped camera;

when the ring-shaped camera rotates, the connection structure between the ring-shaped camera and the spherical camera drives the spherical camera to synchronously rotate along with the ring-shaped camera, and when the spherical camera rotates, the connection structure between the ring-shaped camera and the spherical camera does not drive the ring-shaped camera to rotate along with the spherical camera, and the method comprises the following steps of:

the dome camera receives tracking information of a second target object;

5. The target tracking method of claim 4, wherein the tracking information of the first target object is received from the panoramic camera, the method further comprising:

if the panoramic camera detects the first target object, converting a first space coordinate of the first target object in the view field range of the panoramic camera into a second space coordinate in the view field range of the annular camera;

and sending the second space coordinates serving as the tracking information to the annular camera.

6. The object tracking method according to claim 5, wherein the transmitting the second spatial coordinates to the ring camera as the tracking information includes:

the panoramic camera acquires state information of the annular camera;

and if the state information indicates that the annular camera is in a tracking state, the panoramic camera tracks the first target object until the annular camera is in an idle state, and then the first space coordinates of the first target object are sent to the annular camera.

7. The target tracking method of claim 5, further comprising:

the dome camera receives a tracking instruction sent by the panoramic camera; acquiring the difference of shooting directions between the annular camera and the spherical camera according to the tracking instruction; and according to the difference of the shooting directions, the lens orientation of the dome camera is adjusted to be consistent with the lens orientation of the annular camera.

8. The object tracking method according to claim 7, wherein the adjusting the lens orientation of the dome camera to coincide with the lens orientation of the ring camera based on the difference in the shooting directions includes:

the spherical camera acquires a horizontal relative deflection angle and a pitching relative deflection angle of a lens between the spherical camera and the annular camera, and adjusts the lens orientation of the spherical camera to be consistent with the lens orientation of the annular camera according to the horizontal relative deflection angle and the pitching relative deflection angle.