CN114998817A - Target monitoring method, device, storage medium, electronic equipment and system - Google Patents

Abstract

The invention discloses a target monitoring method, a target monitoring device, a storage medium, electronic equipment and a target monitoring system, and relates to the technical field of image recognition. The object monitoring method includes: in the process of controlling a first image acquisition device to track and monitor a monitored target, after the monitored target is determined to enter a superposition area of the first image acquisition device and an adjacent image acquisition device, the adjacent image acquisition device identifies the monitored target according to position information of the monitored target and historical characteristic information of the monitored target, wherein the historical characteristic information is target characteristic information of the monitored target extracted from monitored images of the monitored target acquired by different image acquisition devices; and controlling adjacent image acquisition equipment to track and monitor the monitored target. The method and the system can realize the handover of the monitoring targets among a plurality of camera devices, improve the continuity of target monitoring, determine the target characteristic information of the monitoring targets according to images acquired by different devices in real time, and improve the intelligent degree and the accuracy of tracking monitoring.

Description

Target monitoring method, device, storage medium, electronic equipment and system

Technical Field

The present invention relates to the field of image recognition technologies, and in particular, to a target monitoring method, an apparatus, a storage medium, an electronic device, and a system.

Background

All countries have requirements for border safety and border monitoring capability to support all-weather, automatic and intelligent monitoring. In the actual target monitoring process, when a dangerous moving object is found, it is required to be able to perform tracking monitoring of the same monitoring target within the coverage area of a monitoring system composed of a plurality of monitoring devices, and to acquire a tracking image of the monitoring target within the coverage area.

Disclosure of Invention

To overcome the problems in the related art, the present disclosure provides an object monitoring method, apparatus, storage medium, electronic device, and system.

According to a first aspect of embodiments of the present disclosure, there is provided an object monitoring method, the method comprising:

in the process of controlling a first image acquisition device in a plurality of image acquisition devices to track and monitor a monitored target, determining whether the monitored target enters an overlapping area, wherein the overlapping area is the overlapping area of the monitoring area of the first image acquisition device and the monitoring area of a second image acquisition device in the plurality of image acquisition devices;

after the monitored target enters the overlapping area, identifying the monitored target through the second image acquisition equipment according to the position information of the monitored target and the historical characteristic information of the monitored target, wherein the historical characteristic information is the target characteristic information of the monitored target, which is obtained by performing characteristic extraction on the monitored image acquired by one or more image acquisition equipment in the plurality of image acquisition equipment;

and controlling the second image acquisition equipment to track and monitor the monitored target.

Optionally, the identifying, by the second image capturing device, the monitoring target according to the position information of the monitoring target and the historical feature information of the monitoring target includes:

under the condition that the monitoring target is determined to enter the overlapping area, controlling the second image acquisition equipment to acquire an area monitoring image of the position where the monitoring target is located;

and detecting the area monitoring image according to the historical characteristic information so as to identify the monitoring target.

Optionally, after the monitoring target is identified according to the position information of the monitoring target and the historical feature information of the monitoring target by the second image acquisition device, the method further includes:

performing feature extraction on the region monitoring image to acquire target feature information corresponding to the second image acquisition equipment;

and updating the historical characteristic information through the target characteristic information to acquire the updated historical characteristic information.

Optionally, the feature information includes: the detecting the area monitoring image according to the historical feature information to identify the monitoring target comprises the following steps:

performing feature matching on the region monitoring image according to the shape feature to obtain one or more object monitoring images of candidate objects matched with the shape feature;

performing feature matching on one or more of the object surveillance images according to the image features to determine the surveillance target from one or more of the candidate objects;

wherein the shape feature comprises: geometric and contour features, the image features including: image color features and image texture features.

Optionally, the controlling, according to the position information, the second image capturing device to capture an area image of a position where the monitoring target is located includes:

determining image acquisition parameters of the second image acquisition equipment according to the position information;

and controlling the second image acquisition equipment according to the image acquisition parameters to acquire the area image.

According to a second aspect of embodiments of the present disclosure, there is provided an object monitoring apparatus, the apparatus comprising:

the system comprises an area determining module, a tracking and monitoring module and a monitoring module, wherein the area determining module is used for determining whether a monitoring target enters an overlapping area in the process of controlling a first image acquisition device in a plurality of image acquisition devices to track and monitor the monitoring target, and the overlapping area is the overlapping area of the monitoring area of the first image acquisition device and the monitoring area of a second image acquisition device in the plurality of image acquisition devices;

the object identification module is used for identifying the monitoring object through the second image acquisition equipment according to the position information of the monitoring object and the historical characteristic information of the monitoring object after the monitoring object enters the overlapping area, wherein the historical characteristic information is the object characteristic information of the monitoring object, which is acquired by performing characteristic extraction on the monitoring image acquired by one or more image acquisition equipment in the plurality of image acquisition equipment;

and the monitoring control module is used for controlling the second image acquisition equipment to track and monitor the monitored target.

Optionally, the target identification module is configured to:

under the condition that the monitoring target is determined to enter the overlapping area, controlling the second image acquisition equipment to acquire an area monitoring image of the position where the monitoring target is located;

and detecting the area monitoring image according to the historical characteristic information so as to identify the monitoring target.

According to a third aspect of embodiments of the present disclosure, there is provided a computer-readable storage medium having stored therein instructions that, when executed, cause the object monitoring method provided by the second aspect of the present disclosure to be performed.

According to a fourth aspect of the embodiments of the present disclosure, there is provided an electronic apparatus including:

a processor for executing the computer program in the memory to implement the steps of the object monitoring method provided by the second aspect of the present disclosure.

According to a fifth aspect of embodiments of the present disclosure, there is provided an object monitoring system including:

the system comprises a plurality of image acquisition devices, a monitoring server and a monitoring server, wherein the image acquisition devices are used for tracking a monitored target so as to acquire a tracking and monitoring image of the monitored target;

the position acquisition equipment is used for acquiring the position information of the monitoring target; and the number of the first and second groups,

the electronic device provided by the fourth aspect of the present disclosure.

According to the technical scheme provided by the embodiment of the disclosure, in the process of controlling a first image acquisition device in a plurality of image acquisition devices to track and monitor a monitored target, whether the monitored target enters an overlapping area or not can be determined, wherein the overlapping area is the overlapping area of the monitoring area of the first image acquisition device and the monitoring area of a second image acquisition device in the plurality of image acquisition devices; after the monitored target enters the overlapping area, identifying the monitored target through the second image acquisition equipment according to the position information of the monitored target and the historical characteristic information of the monitored target, wherein the historical characteristic information is the target characteristic information of the monitored target, which is acquired by performing characteristic extraction on the monitored image acquired by one or more image acquisition equipment in the plurality of image acquisition equipment; and controlling the second image acquisition equipment to track and monitor the monitored target. The method and the system can realize the handover of the monitoring targets among a plurality of camera devices, improve the continuity of target monitoring, determine the target characteristic information of the monitoring targets according to images acquired by different devices in real time, and improve the intelligent degree and the accuracy of tracking monitoring.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and do not limit the invention. In the drawings:

FIG. 1 is a flow diagram illustrating a method of object monitoring in accordance with an exemplary embodiment;

FIG. 2 is a flow chart of a method of object recognition according to the one shown in FIG. 1;

FIG. 3a is a flow chart of another object monitoring method according to that shown in FIG. 1;

FIG. 3b is a schematic diagram of an implementation of one of the object monitoring methods shown in FIG. 3;

FIG. 4 is a block diagram illustrating an object monitoring device in accordance with an exemplary embodiment;

FIG. 5 is a block diagram illustrating an object monitoring system in accordance with an exemplary embodiment;

FIG. 6 is a block diagram illustrating an electronic device in accordance with an exemplary embodiment;

FIG. 7 is a block diagram illustrating a chip in accordance with an example embodiment.

Detailed Description

In order to facilitate clear description of technical solutions of the embodiments of the present invention, in the embodiments of the present invention, terms such as "first" and "second" are used to distinguish the same items or similar items having substantially the same functions and actions. For example, the first threshold and the second threshold are only used for distinguishing different thresholds, and the sequence order of the thresholds is not limited. Those skilled in the art will appreciate that the terms "first," "second," etc. do not denote any order or quantity, nor do the terms "first," "second," etc. denote any order or importance.

It is to be understood that the terms "exemplary" or "such as" are used herein to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "e.g.," is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present concepts related in a concrete fashion.

In the present invention, "at least one" means one or more, "a plurality" means two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone, wherein A and B can be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of the singular or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, a and b combination, a and c combination, b and c combination, or a, b and c combination, wherein a, b and c can be single or multiple.

In the related art of tracking and monitoring an object, it is generally required that each image capturing device in a monitoring system continuously captures a monitoring image within a monitoring range thereof, and after an image of the monitoring object is determined, object recognition is performed on all currently captured monitoring images based on image features of the image, and the monitoring image including the monitoring object is determined. Then, the monitoring images including the monitoring target are temporally and spatially connected in series according to the acquisition time point of the monitoring image and the position information acquired by the position acquisition device, for example, a radar, thereby forming a target tracking image of the monitoring target in the monitoring range of the entire monitoring system. However, the above method does not include the process of handing over the monitored target by two adjacent image acquisition devices, the continuity of continuous tracking for each target is poor, and in the case that the image features of all angles of the monitored target are not predetermined, the target can be identified only according to the existing image features, the identification accuracy is low, and the accuracy and the intelligent degree of target tracking and monitoring are affected.

In order to solve the technical problems that the tracking continuity and tracking timeliness of the existing target tracking and monitoring technology are poor, the calculated amount is large, and the accuracy and the intelligence degree of target tracking and monitoring are low, the embodiment of the invention provides a target detection method, a target detection device, a storage medium, electronic equipment and a target detection system. The target detection method provided by the embodiment of the invention can be applied to various monitoring scenes. For example: the monitoring scene may be, but is not limited to, a border monitoring scene, a city monitoring scene, a suburban monitoring scene, and the like.

Before introducing the target monitoring method provided by the present disclosure, a target application scenario related to various embodiments of the present disclosure is first introduced, where the target application scenario includes a target monitoring system, and the target monitoring system includes: the system comprises a plurality of image acquisition devices, a monitoring server and a monitoring server, wherein each image acquisition device is used for tracking a monitoring target to acquire a tracking monitoring image of the monitoring target; a position acquisition device for monitoring the position of the monitoring target; and an electronic device. Wherein, this image acquisition equipment can be for monocular or binocular camera. The electronic device is provided with an output interface capable of receiving and transmitting image data and position information, and may be, for example, a monitoring device controller, a monitoring platform main server, and an electronic device such as a Personal computer, a notebook computer, a smart phone, a tablet computer, a smart television, a smart watch, a PDA (Personal Digital Assistant, chinese) or the like connected to the monitoring device.

Fig. 1 is a flowchart illustrating an object monitoring method according to an exemplary embodiment, and as shown in fig. 1, the method is applied to an electronic device described in the application scenario, and includes the following steps:

in step 101, in the process of controlling a first image capturing apparatus of a plurality of image capturing apparatuses to perform tracking monitoring on a monitoring target, it is determined whether the monitoring target enters an overlapping area.

Wherein the overlapping area is an overlapping area of the monitoring area of the first image capturing device and the monitoring area of the second image capturing device of the plurality of image capturing devices.

For example, the tracking and monitoring process is actually a process of moving a camera of a monitoring device (i.e., an image acquisition device) along with a monitored target to ensure that the monitored target is always in a monitoring picture (or monitoring image) of the monitoring device. In the tracking and monitoring process, after the monitoring target is identified, the electronic device may continuously compare the monitoring images acquired at intervals of a preset time, and if the position of the monitoring target in the monitoring image is not the preset position, move the camera of the image acquisition device according to the position of the monitoring target in the monitoring image and adjust the focal length of the camera, so that the monitoring target is always at the preset position in the monitoring image until the monitoring target leaves the monitoring area of the first image acquisition device (or the maximum shooting range of the camera of the monitoring device).

Exemplarily, the method steps described in the above step 101 and the following steps 102 to 105 are both performed by the above electronic device. In the embodiment of the present disclosure, if the monitoring area of the first image capturing device is the first monitoring area involved after the monitoring target enters the overall monitoring range of the plurality of image capturing devices, the image capturing device and the position capturing device, for example, a radar, may be linked first. For example, the position of the radar-locked monitoring target is first acquired, and the image pickup apparatus is rotated to shoot toward the position. It is to be understood that, in this case, the object monitoring system constituted by the above-described plurality of image pickup devices obtains a monitoring image containing a monitoring object for the first time. After the plurality of monitoring images including the monitoring target are transmitted to the electronic device, the electronic device may determine a position of the monitoring target in the monitoring images according to the image contrast, and further may use the monitoring image at the position as a target monitoring image of the monitoring target. Then, feature extraction is performed on the target monitoring image to obtain target feature information of the monitoring target. Thereafter, the processes of target monitoring image acquisition, feature extraction, new feature information and history feature information fusion, and image recognition based on the fused feature information may be repeatedly performed until the monitoring target leaves the overall monitoring range of the target monitoring system.

In step 102, after the monitoring target enters the overlapping area, the monitoring target is identified by the second image capturing device according to the position information of the monitoring target and the historical feature information of the monitoring target.

The historical feature information is feature information acquired by performing feature extraction on a monitoring image including the monitoring target acquired by one or more image acquisition devices of the plurality of image acquisition devices to acquire the monitoring target. If the monitoring area of the first image acquisition device is the first involved area after the monitoring target enters the overall monitoring range of the plurality of image acquisition devices, the one or more image acquisition devices only comprise the first image acquisition device; if the monitoring area of the first image capturing device is not the first area involved after the monitoring target enters the overall monitoring range of the plurality of image capturing devices, the one or more image capturing devices include the first image capturing device and all image capturing devices that have already performed the tracking monitoring process on the monitoring target before the first image capturing device.

Illustratively, the position information of each image capturing device includes: the position and the monitoring area of the image capturing device are known, and therefore, the position information of the overlapping area can be determined from the position information of each image capturing device. Before step 102, the position information of the monitoring target determined by the global positioning system or the radar may be compared with the position information of the coincidence region to determine whether the monitoring target enters the coincidence region. After it is determined that the monitoring target enters the overlap region, due to the limitation of granularity of the position information and the shooting view of the image capturing device, a plurality of entities similar to the monitoring target may appear in the region monitoring image captured by the second image capturing device, and in step 102, the monitoring target needs to be determined from the plurality of entities according to the above-mentioned historical feature information.

In step 103, the second image capturing device is controlled to perform tracking monitoring on the monitoring target.

Illustratively, the tracking monitoring process in this step 103 is similar to the tracking monitoring manner of the first image capturing device in the above step 101. After step 103, the second image capturing device may be used as the first image capturing device, a third image capturing device adjacent to the second image capturing device may be used as the second image capturing device, and the above steps 101 to 103 may be repeatedly performed until the monitoring target leaves the overall monitoring range of the plurality of image capturing devices, and a tracking monitoring image of the monitoring target in the entire target monitoring system may be generated. The tracking monitoring image can be a plurality of video streams arranged in time sequence, each video stream corresponds to track information, and the track information comprises position information of a monitoring target corresponding to each image frame in the video streams.

In summary, in the technical solution provided by the embodiments of the present disclosure, in the process of controlling a first image capturing device of a plurality of image capturing devices to track and monitor a monitored target, it can be determined whether the monitored target enters an overlapping area, where the overlapping area is an overlapping area of a monitoring area of the first image capturing device and a monitoring area of a second image capturing device of the plurality of image capturing devices; after the monitored target enters the overlapping area, identifying the monitored target through the second image acquisition equipment according to the position information of the monitored target and the historical characteristic information of the monitored target, wherein the historical characteristic information is the characteristic information acquired by performing characteristic extraction on the monitored image of the monitored target acquired by one or more image acquisition equipment in the plurality of image acquisition equipment; and controlling the second image acquisition equipment to track and monitor the monitored target. The method and the system can realize the handover of the monitoring targets among a plurality of camera devices, improve the continuity of target monitoring, determine the target characteristic information of the monitoring targets according to images acquired by different devices in real time, and improve the intelligent degree and accuracy of tracking monitoring.

Fig. 2 is a flow chart of a method of object recognition according to fig. 1, where step 102 may include, as shown in fig. 2:

in step 1021, in a case where it is determined that the monitoring target enters the overlapping area, the second image capturing device is controlled to capture an area monitoring image of a position where the monitoring target is located.

For example, in the case where it is determined that the monitoring target enters the overlapping area, it is first necessary to inform the second image pickup device that the monitoring target has entered the monitoring area of the second image pickup device. Secondly, the position of the monitoring target is required to be determined, so as to control the second image acquisition device to adjust the image acquisition parameters and shoot the monitoring target. This step 1021 may include: determining image acquisition parameters of the second image acquisition equipment according to the position information; and controlling the second image acquisition equipment according to the image acquisition parameters to acquire the area image. The image acquisition parameters include: rotation angle information and angle of view information of the image capturing device. The rotation angle information includes: horizontal angle and pitch angle. The field angle information is associated with a focal length of the image capture device.

In step 1022, the area monitoring image is detected according to the feature information to identify the monitoring target.

Wherein the characteristic information includes: shape features (or thick features) and image features (or thin features), the shape features including: geometric and contour features, the image features including: image color features and image texture features. Illustratively, the shape feature may further include: point model features, regional binary mask features, the image features may further include: image boundary features and image motion features.

For example, it is understood that the area monitoring image acquired in step 1021 is only an image acquired by adjusting the image acquisition device according to the position information. Because the region monitoring image may include not only the monitoring target but also other entities similar to the monitoring target due to possible errors of the position information, it is necessary to identify the monitoring target more accurately according to the feature information to ensure that the monitoring target is actually included in the region monitoring image. In an embodiment of the present disclosure, the target recognition of the monitored target may be performed by determining and selecting a shape feature or an image feature according to the monitored scene. For example, in an open field monitoring scene, the monitoring range of the image acquisition device is large, the device is difficult to accurately capture the color and texture of the image of the monitored target, and the target can be identified according to the shape characteristics. Or in an indoor monitoring scene, the monitoring range of the image acquisition device is small, the color features and the texture features of the image of the monitored target can be captured, and the target identification is carried out according to the image features. In another embodiment of the present disclosure, the monitoring target in the area monitoring image may be identified in two steps, that is, object screening is performed according to the shape feature of the monitoring target, and then the screened object is subjected to target identification according to the image feature of the monitoring target, so as to reduce the amount of calculation in the target identification process. In this case, the step 1022 may include: performing feature matching on the region monitoring image according to the shape feature to acquire one or more object monitoring images of candidate objects matched with the shape feature; feature matching is performed on one or more of the object-surveillance images based on the image features to determine the surveillance target from one or more of the candidate objects.

Fig. 3a is a flow chart of another object monitoring method according to fig. 1, as shown in fig. 3a, after the step 102, the method may further include:

in step 104, feature extraction is performed on the area monitoring image to obtain target feature information corresponding to the second image capturing device.

In step 105, the historical characteristic information is updated by the target characteristic information to obtain updated historical characteristic information.

For example, after the step 102 is executed, it may be determined that the monitoring target exists in the region monitoring image, and at this time, feature matching and feature extraction may be performed on the region monitoring image, and target feature information of the monitoring target may be extracted therefrom. The target feature information is extracted from the image captured by the second image capturing device, and may also have uniqueness in describing the monitored target based on the uniqueness of the location of each image capturing device itself and the relative location to the monitored target. Therefore, the target feature information may be fused with the existing history feature information, and if the target feature information has the uniqueness, the history feature information may be updated. The updated historical characteristic information can describe the monitoring target more accurately.

Fig. 3b is a schematic diagram of an implementation of an object monitoring method according to fig. 3, the object monitoring system comprising five image capturing devices, as shown in fig. 3b, the five image capturing devices comprising: and monitoring cameras A, B, C, D and E mounted on the monitoring bar. The circular broken line in the figure is the maximum shooting range of each monitoring camera, and the union of the maximum shooting ranges of all the monitoring cameras is the overall monitoring range of the target monitoring system. The route 200 is a traveling route of a monitoring target, wherein an arrow of the route 200 indicates a moving direction of the monitoring target.

Illustratively, based on fig. 3b, the object monitoring method provided in the embodiments of the present disclosure may include: after determining that the monitoring target enters the maximum shooting range of the monitoring camera a, the monitoring camera a first performs tracking monitoring on the monitoring target. During the tracking and monitoring of the monitored target, the monitoring image collected by the monitoring camera a is uploaded to the general controller (i.e. the electronic device) of the target monitoring system. Meanwhile, the positions of the monitoring targets acquired by the position acquisition equipment are also uploaded to the master controller. When the monitoring target enters the overlapping area of the maximum shooting range of the monitoring camera A and the maximum shooting range of the monitoring camera B, the monitoring camera B is controlled to move to the position where the monitoring target is located currently through the overall controller. After the movement is finished, the general controller matches the area monitoring image shot by the monitoring camera B with the monitoring image collected by the monitoring camera A, and then the monitoring target is identified from the area monitoring image shot by the monitoring camera B. And then, tracking and monitoring the monitoring target through the monitoring camera B, and simultaneously uploading a monitoring image acquired by the monitoring camera B and the position of the monitoring target acquired by the position acquisition equipment. When the monitoring target enters the overlapping area of the maximum shooting range of the monitoring camera B and the maximum shooting range of the monitoring camera D, the monitoring camera D is controlled to move to the position where the monitoring target is located currently through the master controller. While moving, the image features of the monitoring image collected by the monitoring camera a and the monitoring image collected by the monitoring camera B may be fused to obtain the historical feature information. After the movement is completed, the overall controller matches the image features of the area monitoring image captured by the monitoring camera B with the historical feature information (the historical feature information includes the feature information collected from the monitoring target image collected by the monitoring camera B), and further identifies the monitoring target from the area monitoring image captured by the monitoring camera D. And then, continuing to track and monitor the monitoring target according to the monitoring camera D until the monitoring target leaves the maximum shooting range of the monitoring camera D. Finally, it is determined that the monitoring target does not pass through the maximum photographing ranges of the monitoring cameras C and E, and the monitoring image in which the monitoring target moves within the maximum photographing ranges of the monitoring cameras A, B and D is obtained.

In summary, in the technical solution provided by the embodiments of the present disclosure, in the process of controlling a first image capturing device of a plurality of image capturing devices to track and monitor a monitored target, it can be determined whether the monitored target enters an overlapping area, where the overlapping area is an overlapping area of a monitoring area of the first image capturing device and a monitoring area of a second image capturing device of the plurality of image capturing devices; after the monitored target enters the overlapping area, identifying the monitored target through the second image acquisition equipment according to the position information of the monitored target and the historical characteristic information of the monitored target, wherein the historical characteristic information is the characteristic information acquired by performing characteristic extraction on the monitored image of the monitored target acquired by one or more image acquisition equipment in the plurality of image acquisition equipment; and controlling the second image acquisition equipment to track and monitor the monitored target. The method can realize the handover of the monitoring targets among a plurality of monitoring devices, improve the continuity of target monitoring, continuously enrich the characteristic information of the monitoring targets according to the images acquired by different monitoring devices in real time, and improve the intelligent degree and the accuracy of tracking and monitoring.

Fig. 4 is a block diagram of an object monitoring apparatus according to an exemplary embodiment, and as shown in fig. 4, the apparatus 400 may include:

the area determining module 410 is configured to determine whether a monitoring target enters an overlapping area in a process of controlling a first image capturing device of the plurality of image capturing devices to track and monitor the monitoring target, where the overlapping area is an overlapping area of a monitoring area of the first image capturing device and a monitoring area of a second image capturing device of the plurality of image capturing devices;

an object identification module 420, configured to identify, by the second image capturing device, the monitoring object according to position information of the monitoring object and historical feature information of the monitoring object after the monitoring object enters the overlapping area, where the historical feature information is feature information obtained by performing feature extraction on a monitoring image of the monitoring object captured by one or more image capturing devices of the multiple image capturing devices;

and a monitoring control module 430, configured to control the second image capturing device to perform tracking monitoring on the monitored target.

Optionally, the object identifying module 420 is configured to:

under the condition that the monitored target enters the overlapping area, controlling the second image acquisition equipment to acquire an area monitoring image of the position of the monitored target;

and detecting the area monitoring image according to the characteristic information to identify the monitoring target.

In summary, in the technical solution provided by the embodiments of the present disclosure, in the process of controlling a first image capturing device of a plurality of image capturing devices to track and monitor a monitored target, it can be determined whether the monitored target enters an overlapping area, where the overlapping area is an overlapping area of a monitoring area of the first image capturing device and a monitoring area of a second image capturing device of the plurality of image capturing devices; after the monitored target enters the overlapping area, identifying the monitored target through the second image acquisition equipment according to the position information of the monitored target and historical characteristic information of the monitored target, wherein the historical characteristic information is characteristic information acquired by performing characteristic extraction on a monitored image of the monitored target acquired by one or more image acquisition equipment in the plurality of image acquisition equipment; and controlling the second image acquisition equipment to track and monitor the monitored target. The method and the system can realize the handover of the monitoring targets among a plurality of monitoring devices, improve the continuity of target monitoring, continuously enrich the characteristic information of the monitoring targets according to the images acquired by different monitoring devices in real time, and improve the intelligent degree and the accuracy of tracking and monitoring.

FIG. 5 is a block diagram illustrating an object monitoring system, according to an exemplary embodiment, as shown in FIG. 5, the system 500 including:

a plurality of image acquisition devices 510, the image acquisition devices 510 being configured to track a monitoring target to acquire a tracking monitoring image of the monitoring target.

A position collecting device 520 for collecting position information of the monitoring target.

The electronic device 530 includes: a memory having a computer program stored thereon;

a processor for executing the computer program in the memory to implement the object monitoring method shown in fig. 1 to 4.

A communication line 540.

Illustratively, the plurality of image capturing devices 510 and the position capturing device 520 are coupled to the electronic device 530 via a communication link 540. The electronic device 530 receives the monitoring images transmitted from the plurality of image capturing devices and the position information transmitted from the position capturing device 520 through the communication line 540.

In summary, in the technical solution provided by the embodiments of the present disclosure, in the process of controlling a first image capturing device of a plurality of image capturing devices to track and monitor a monitored target, it can be determined whether the monitored target enters an overlapping area, where the overlapping area is an overlapping area of a monitoring area of the first image capturing device and a monitoring area of a second image capturing device of the plurality of image capturing devices; after the monitored target enters the overlapping area, identifying the monitored target through the second image acquisition equipment according to the position information of the monitored target and the historical characteristic information of the monitored target, wherein the historical characteristic information is the characteristic information acquired by performing characteristic extraction on the monitored image of the monitored target acquired by one or more image acquisition equipment in the plurality of image acquisition equipment; and controlling the second image acquisition equipment to track and monitor the monitored target. The method can realize the handover of the monitoring targets among a plurality of monitoring devices, improve the continuity of target monitoring, continuously enrich the characteristic information of the monitoring targets according to the images acquired by different monitoring devices in real time, and improve the intelligent degree and the accuracy of tracking and monitoring.

Fig. 6 is a block diagram illustrating an electronic device according to an exemplary embodiment, and as shown in fig. 6, an electronic device 600 provided by an embodiment of the invention includes a processor 610 and a communication interface 630. Communication interface 630 is coupled to processor 610.

As shown in fig. 6, the processor 610 may be a general processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more ics for controlling the execution of programs according to the present invention. The communication interface 630 may be one or more. Communication interface 630 may use any transceiver or the like for communicating with other devices or a communication network.

As shown in fig. 6, the electronic device 600 may further include a communication line 640. Communication link 640 may include a path for transmitting information between the aforementioned components.

Optionally, as shown in fig. 6, the electronic device 600 may further include a memory 620. The memory 620 is used to store computer instructions that implement aspects of the present invention and is controlled for execution by the processor 610. The processor 610 is configured to execute the computer instructions stored in the memory 620, thereby implementing the target monitoring method provided by the embodiment of the present invention.

As shown in fig. 6, the memory 620 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a Random Access Memory (RAM) or other types of dynamic storage devices that can store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compact disc, laser disc, optical disc, digital versatile disc, blu-ray disc, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to such. The memory 620 may be separate and coupled to the processor 610 via a communication line 640. The memory 620 may also be integrated with the processor 610.

Optionally, the computer instructions in the embodiment of the present invention may also be referred to as application program codes, which is not specifically limited in this embodiment of the present invention.

In particular implementations, as one embodiment, processor 610 may include one or more CPUs, such as CPU0 and CPU1 in fig. 6, as shown in fig. 6.

In particular implementations, as shown in fig. 6, for one embodiment, electronic device 600 may include multiple processors 610, such as processor 610 and processor 650 in fig. 6. Each of these processors may be a single core processor or a multi-core processor.

FIG. 7 is a block diagram illustrating a chip in accordance with an example embodiment. As shown in fig. 7, the chip 700 includes one or more (including two) processors 710 and a communication interface 720.

Optionally, as shown in fig. 7, the chip 700 further includes a memory 730, and the memory 730 may include a read-only memory and a random access memory and provide operating instructions and data to the processor 710. The portion of memory may also include non-volatile random access memory (NVRAM).

In some embodiments, as shown in FIG. 7, memory 730 stores elements, execution modules or data structures, or a subset or expanded set of them.

In the embodiment of the present invention, as shown in fig. 7, the processor 710 performs the corresponding operation by calling the operation instruction stored in the memory (the operation instruction may be stored in the operating system).

As shown in fig. 7, the processor 710 controls processing operations of any one of the electronic devices, and the processor 710 may also be referred to as a Central Processing Unit (CPU).

As shown in fig. 7, memory 730 may include both read-only memory and random access memory and provides instructions and data to processor 710. A portion of the memory 730 may also include NVRAM. For example, in applications where the memory, communication interface, and memory are coupled together by a bus system that may include a power bus, a control bus, a status signal bus, etc., in addition to a data bus. For clarity of illustration, however, the various buses are labeled as bus system 740 in fig. 7.

The method disclosed by the embodiment of the invention can be applied to a processor or realized by the processor. The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above target monitoring method may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The processor may be a general purpose processor, a Digital Signal Processor (DSP), an ASIC, an FPGA (field-programmable gate array) or other programmable logic device, discrete gate or transistor logic device, or discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the memory, and the processor reads the information in the memory and combines the hardware to complete the steps of the target monitoring method.

The embodiment of the invention also provides a computer readable storage medium. The computer readable storage medium has stored therein instructions that, when executed, implement the functions performed by the electronic device in the above embodiments.

In summary, in the technical solution provided by the embodiments of the present disclosure, in the process of controlling a first image capturing device of a plurality of image capturing devices to track and monitor a monitored target, it can be determined whether the monitored target enters an overlapping area, where the overlapping area is an overlapping area of a monitoring area of the first image capturing device and a monitoring area of a second image capturing device of the plurality of image capturing devices; after the monitored target enters the overlapping area, identifying the monitored target through the second image acquisition equipment according to the position information of the monitored target and the historical characteristic information of the monitored target, wherein the historical characteristic information is the characteristic information acquired by performing characteristic extraction on the monitored image of the monitored target acquired by one or more image acquisition equipment in the plurality of image acquisition equipment; and controlling the second image acquisition equipment to track and monitor the monitored target. The method can realize the handover of the monitoring targets among a plurality of monitoring devices, improve the continuity of target monitoring, continuously enrich the characteristic information of the monitoring targets according to the images acquired by different monitoring devices in real time, and improve the intelligent degree and the accuracy of tracking and monitoring.

In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, it may be implemented in whole or in part in the form of a computer program product. The computer program product described above includes one or more computer programs or instructions. When the above-described computer program or instructions are loaded and executed on a computer, the procedures or functions described in the embodiments of the present invention are wholly or partially performed. The computer may be a general purpose computer, a special purpose computer, a computer network, a terminal, a user device, or other programmable apparatus. The computer program or instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer program or instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire or wirelessly. The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that incorporates one or more available media. The usable medium may be a magnetic medium, such as a floppy disk, a hard disk, a magnetic tape; or optical media such as Digital Video Disks (DVDs); it may also be a semiconductor medium, such as a Solid State Drive (SSD).

While the invention has been described in connection with various embodiments, other variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed invention, from a review of the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other elements or steps, and the word "a" or "an" does not exclude a plurality. A single processor or other unit may fulfill the functions of several items recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.

While the invention has been described in conjunction with specific features and embodiments thereof, it will be evident that various modifications and combinations can be made thereto without departing from the spirit and scope of the invention. Accordingly, the specification and figures are merely exemplary of the invention as defined in the appended claims and are intended to cover any and all modifications, variations, combinations, or equivalents within the scope of the invention. It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (10)

1. A method of object monitoring, the method comprising:

in the process of controlling a first image acquisition device in a plurality of image acquisition devices to track and monitor a monitored target, determining whether the monitored target enters an overlapping area, wherein the overlapping area is the overlapping area of the monitoring area of the first image acquisition device and the monitoring area of a second image acquisition device in the plurality of image acquisition devices;

after the monitored target enters the overlapping area, identifying the monitored target through the second image acquisition equipment according to the position information of the monitored target and the historical characteristic information of the monitored target, wherein the historical characteristic information is the target characteristic information of the monitored target, which is obtained by performing characteristic extraction on the monitored image acquired by one or more image acquisition equipment in the plurality of image acquisition equipment;

and controlling the second image acquisition equipment to track and monitor the monitored target.

2. The method according to claim 1, wherein the identifying the monitoring target by the second image capturing device based on the position information of the monitoring target and the historical feature information of the monitoring target comprises:

under the condition that the monitoring target is determined to enter the overlapping area, controlling the second image acquisition equipment to acquire an area monitoring image of the position where the monitoring target is located;

and detecting the area monitoring image according to the historical characteristic information so as to identify the monitoring target.

3. The method according to claim 2, wherein after the identifying of the monitoring target by the second image capturing device from the position information of the monitoring target and the historical feature information of the monitoring target, the method further comprises:

performing feature extraction on the region monitoring image to acquire target feature information of the monitoring target corresponding to the second image acquisition device;

and updating the historical characteristic information through the target characteristic information to acquire the updated historical characteristic information.

4. The monitoring method of claim 2, wherein the historical characterization information comprises: the detecting the area monitoring image according to the historical feature information to identify the monitoring target comprises the following steps:

performing feature matching on the region monitoring image according to the shape feature to obtain one or more object monitoring images of candidate objects matched with the shape feature;

performing feature matching on one or more of the object surveillance images according to the image features to determine the surveillance target from one or more of the candidate objects;

wherein the shape feature comprises: geometric and contour features, the image features including: image color features and image texture features.

5. The method according to claim 2, wherein the controlling the second image capturing device to capture the area image of the position of the monitoring target according to the position information comprises:

determining image acquisition parameters of the second image acquisition equipment according to the position information;

and controlling the second image acquisition equipment according to the image acquisition parameters to acquire the area image.

6. An object monitoring apparatus, characterized in that the apparatus comprises:

the system comprises an area determining module, a tracking and monitoring module and a monitoring module, wherein the area determining module is used for determining whether a monitoring target enters an overlapping area in the process of controlling a first image acquisition device in a plurality of image acquisition devices to track and monitor the monitoring target, and the overlapping area is the overlapping area of the monitoring area of the first image acquisition device and the monitoring area of a second image acquisition device in the plurality of image acquisition devices;

the object identification module is used for identifying the monitoring object through the second image acquisition equipment according to the position information of the monitoring object and the historical characteristic information of the monitoring object after the monitoring object enters the overlapping area, wherein the historical characteristic information is the object characteristic information of the monitoring object, which is acquired by performing characteristic extraction on the monitoring image acquired by one or more image acquisition equipment in the plurality of image acquisition equipment;

and the monitoring control module is used for controlling the second image acquisition equipment to track and monitor the monitored target.

7. The apparatus of claim 6, wherein the object recognition module is configured to:

under the condition that the monitoring target is determined to enter the overlapping area, controlling the second image acquisition equipment to acquire an area monitoring image of the position where the monitoring target is located;

and detecting the area monitoring image according to the historical characteristic information so as to identify the monitoring target.

8. A computer storage medium having stored therein instructions that, when executed, cause the monitoring method of any one of claims 1 to 5 to be performed.

9. An electronic device, comprising:

a memory having a computer program stored thereon;

a processor for executing the computer program in the memory to implement the steps of the method of any one of claims 1-5.

10. An object monitoring system, comprising:

the system comprises a plurality of image acquisition devices, a monitoring server and a monitoring server, wherein the image acquisition devices are used for tracking a monitored target so as to acquire a tracking and monitoring image of the monitored target;

the position acquisition equipment is used for acquiring the position information of the monitoring target; and the number of the first and second groups,

the electronic device of claim 9.

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