CN117729414A - Cruise-based image acquisition method, device, equipment and storage medium - Google Patents

Abstract

The application discloses an image acquisition method, device and equipment based on cruising and a storage medium, wherein the image acquisition method based on cruising comprises the following steps: based on the obtained initial acquisition parameters of each acquisition point in the current cruising path and the current cruising path, respectively carrying out image acquisition on each acquisition point in the current cruising path according to the corresponding initial acquisition parameters to obtain an image set corresponding to each acquisition point; respectively carrying out difference degree analysis on the images in each image set to obtain a difference degree sequence of each image set; adjusting initial acquisition parameters of corresponding acquisition points based on analysis results of the different degree sequences to obtain target acquisition parameters; and based on the current cruising path, respectively carrying out image acquisition by using the initial acquisition parameters and/or the target acquisition parameters. By the aid of the scheme, efficient image acquisition can be achieved.

Description

Cruise-based image acquisition method, device, equipment and storage medium

Technical Field

The present disclosure relates to the field of security detection, and in particular, to a method, an apparatus, a device, and a storage medium for image acquisition based on cruising.

Background

With the rapid development of technologies such as computers, network communication and image processing, security technologies also show rapid development trend, wherein image acquisition is an important component of a security system.

Currently, cruising type image acquisition devices such as a tripod head camera are often used in security detection processes to periodically acquire images and/or videos within a set range.

However, in the prior art, the cruising period of the image acquisition device is fixed, the image acquisition parameters are fixed, and related parameters cannot be adaptively adjusted according to specific detection scenes, so that the image acquisition device can acquire more low-value pictures, and the problems of storage space waste and the like are caused.

Disclosure of Invention

The application provides at least one cruising-based image acquisition method, device, equipment and computer readable storage medium.

The first aspect of the application provides a cruise-based image acquisition method, which comprises the following steps: based on the obtained current cruising path and initial acquisition parameters of all acquisition points in the current cruising path, respectively carrying out image acquisition on all the acquisition points in the current cruising path according to the corresponding initial acquisition parameters to obtain an image set corresponding to all the acquisition points; respectively carrying out difference degree analysis on the images in each image set to obtain a difference degree sequence of each image set; adjusting initial acquisition parameters of corresponding acquisition points based on analysis results of the different degree sequences to obtain target acquisition parameters; and based on the current cruising path, respectively carrying out image acquisition according to the initial acquisition parameters and/or the target acquisition parameters.

In an embodiment, the acquisition parameters include an acquisition frame rate, the difference degree sequence includes a difference degree between adjacent images in the image set, and the step of adjusting initial acquisition parameters of corresponding acquisition points based on an analysis result of each difference degree sequence to obtain target acquisition parameters includes: performing numerical analysis on each difference degree in the difference degree sequence to obtain an analysis result; if the analysis result represents that the slope of a difference curve fitted by each difference in the difference sequence is smaller than or equal to a preset slope threshold and each difference is larger than a preset first difference threshold, the initial acquisition parameter is used as the target acquisition parameter; if the analysis result represents that the slope of the difference curve is smaller than or equal to the slope threshold and each difference is smaller than or equal to the first difference threshold, the acquisition frame rate is reduced, and the target acquisition parameters are obtained; and if the analysis result indicates that the slope of the difference curve is larger than the slope threshold, the acquisition frame rate is increased, and the target acquisition parameter is obtained.

In one embodiment, the step of performing a variance analysis on the images in each image set includes: acquiring the difference degree between two adjacent images in the image set; arranging the different degrees in the image set based on the time sequence relation between the two adjacent images to obtain the arranged different degrees; fitting each arranged difference degree to obtain a difference degree curve of the image set.

In an embodiment, after the step of performing image acquisition with the initial acquisition parameter and/or the target acquisition parameter, respectively, based on the current cruising path, the method further comprises: acquiring an image set obtained after image acquisition by the initial acquisition parameters and/or the target acquisition parameters based on the current cruising path; if the slopes of the difference curves of the two adjacent image sets acquired at the same acquisition point are all larger than zero, correspondingly improving the acquisition frame rate of the initial acquisition parameters or the acquisition frame rate of the target acquisition parameters; and if the slopes of the difference curves of the two adjacent image sets acquired at the same acquisition point are smaller than zero, correspondingly reducing the acquisition frame rate of the initial acquisition parameters or the acquisition frame rate of the target acquisition parameters.

In an embodiment, after the step of performing a difference analysis on the images in each image set to obtain a difference sequence of each image set, the method further includes: if a target difference degree is larger than a difference degree adjacent to the target difference degree in the difference degree sequence and the target difference degree is larger than a preset second difference degree threshold value, image acquisition is carried out on the acquisition point position based on the initial acquisition parameters, and a target image set is obtained; respectively carrying out difference degree analysis on the images in each target image set to obtain a target difference degree sequence of each target image set; adjusting initial acquisition parameters of corresponding acquisition points based on analysis results of the target difference sequences to obtain target acquisition parameters; and based on the current cruising path, respectively carrying out image acquisition according to the initial acquisition parameters and/or the target acquisition parameters.

In an embodiment, the step of performing image acquisition with the initial acquisition parameter and/or the target acquisition parameter based on the current cruising path includes: adjusting the current cruising path based on the initial acquisition parameters and/or the target acquisition parameters to obtain a target cruising path; and respectively carrying out image acquisition in the target cruising path according to the initial acquisition parameters and/or the target acquisition parameters.

In an embodiment, the step of adjusting the current cruising path based on the initial acquisition parameter and/or the target acquisition parameter to obtain a target cruising path includes: sequencing all the acquisition points based on the acquisition frame rate in the initial acquisition parameters and/or the acquisition frame rate in the target acquisition parameters to obtain a target cruising sequence of all the acquisition points; and adjusting the current cruising path based on the target cruising sequence to obtain the target cruising path.

A second aspect of the present application provides a cruise-based image acquisition device, comprising: the acquisition module is used for acquiring images of all the acquisition points in the current cruising path according to the acquired initial acquisition parameters of all the acquisition points in the current cruising path and the acquired initial acquisition parameters of all the acquisition points in the current cruising path, so as to obtain an image set corresponding to all the acquisition points; the difference analysis module is used for respectively carrying out difference degree analysis on the images in each image set to obtain a difference degree sequence of each image set; the adjusting module is used for adjusting initial acquisition parameters of corresponding acquisition points based on analysis results of the different degree sequences to obtain target acquisition parameters; and the acquisition module is also used for carrying out image acquisition by the initial acquisition parameters and/or the target acquisition parameters respectively based on the current cruising path.

A third aspect of the present application provides an electronic device, including a memory and a processor, where the processor is configured to execute program instructions stored in the memory, to implement the above-mentioned cruise-based image acquisition method.

A fourth aspect of the present application provides a computer readable storage medium having stored thereon program instructions which, when executed by a processor, implement the above-described cruise-based image acquisition method.

According to the scheme, the initial acquisition parameters of all the acquisition points in the current cruising path and the current cruising path are acquired, and the image acquisition is carried out on all the acquisition points of the current cruising path according to the corresponding initial acquisition parameters, so that an image set corresponding to all the points is obtained; the difference degree analysis is carried out on the images in each image set to obtain a difference degree sequence of each image set, so that the difference degree of each image in the image set along with the change of the acquisition time can be determined; adjusting initial acquisition parameters of corresponding acquisition points based on analysis results of the different degree sequences to obtain target acquisition parameters so as to realize self-adaptive adjustment of the acquisition parameters of the acquisition points according to the different degree sequences of the acquisition points; based on the current cruising path, respectively carrying out image acquisition by using initial acquisition parameters and/or target acquisition parameters; therefore, the acquisition parameters of each point position can be adaptively adjusted based on the images acquired at each point position, and the image acquisition efficiency is improved.

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 application.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and, together with the description, serve to explain the technical aspects of the application.

FIG. 1 is a flow chart of an exemplary embodiment of a cruise-based image acquisition method of the present application;

FIG. 2 is an application scenario diagram of an exemplary embodiment of a cruise-based image acquisition method of the present application;

FIG. 3 is an effect schematic of a difference sequence of an exemplary embodiment of a cruise-based image acquisition method of the present application;

FIG. 4 is a trend graph of a sequence of degrees of difference for an exemplary embodiment of a cruise-based image acquisition method of the present application;

FIG. 5 is an effect schematic of a difference sequence of another exemplary embodiment of a cruise-based image acquisition method of the present application;

FIG. 6 is an effect schematic of a difference sequence of yet another exemplary embodiment of a cruise-based image acquisition method of the present application;

FIG. 7 is a target cruise path effect schematic view of an exemplary embodiment of a cruise-based image acquisition method of the present application;

FIG. 8 is a block diagram of a cruise-based image acquisition device, as shown in an exemplary embodiment of the present application;

FIG. 9 is a schematic diagram of an embodiment of an electronic device of the present application;

FIG. 10 is a schematic diagram of an embodiment of a computer-readable storage medium of the present application.

Detailed Description

The following describes the embodiments of the present application in detail with reference to the drawings.

In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, interfaces, techniques, etc., in order to provide a thorough understanding of the present application.

The term "and/or" is herein merely an association relationship describing an associated object, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship. Further, "a plurality" herein means two or more than two. In addition, the term "at least one" herein means any one of a plurality or any combination of at least two of a plurality, for example, including at least one of A, B, C, and may mean including any one or more elements selected from the group consisting of A, B and C.

For the existing cruising-based image acquisition method, most of the image acquisition is performed at the acquisition points in the preset cruising path according to the fixed time interval, so that the shooting period is fixed, the cruising path is fixed, a better image acquisition effect cannot be provided, and the problems of storage space waste and the like caused by too many captured low-value images are solved.

Referring to fig. 1, fig. 1 is a flowchart illustrating an exemplary embodiment of a cruise-based image acquisition method according to the present application. Specifically, the method may include the steps of:

step S110, based on the obtained initial acquisition parameters of the current cruising path and each acquisition point in the current cruising path, image acquisition is carried out on each acquisition point in the current cruising path according to the corresponding initial acquisition parameters, and an image set corresponding to each acquisition point is obtained.

The cruising path refers to a path in which the image acquisition device repeatedly performs image acquisition in one or more sections of paths; for example, referring to fig. 2, fig. 2 is a schematic view of an application scenario of an exemplary embodiment of the cruise-based image capturing method of the present application, taking an image capturing device fixed at a certain position (the image capturing device may be a pan-tilt camera) as an example, if the obtained current cruise path is P1-P2-P3-P4-P5, the image capturing device sequentially starts to capture images from a capturing point P1 according to the current cruise path; and if the image acquisition is completed at the point P1, controlling the pan-tilt camera to rotate to the acquisition point P2 for image acquisition, and the same is true until the image set of the acquisition point P5 is acquired, and returning to the acquisition point P1 for next cruising image acquisition.

The acquisition points can be preset by a user or points corresponding to the region of interest selected by target detection according to the acquired image, each acquisition point has corresponding acquisition parameters, and each time the image acquisition equipment rotates to one acquisition point, image acquisition is carried out according to the acquisition parameters of the acquisition point to obtain a corresponding image set; it should be noted that the acquisition parameters of each acquisition point may be the same or different, and are not limited herein.

The acquisition parameters may include, but are not limited to, acquisition frame rate, acquisition number, aperture size, shutter speed, etc., and the number of images, image quality, etc. of the image set of each point bit may be the same or different.

In addition, it should be noted that, in the application scenario of the present application, image acquisition may be performed by an image acquisition device fixed at a certain position, or may be performed by a movable robot (such as an unmanned aerial vehicle) moving between acquisition points according to a cruising path and performing image acquisition.

For an exemplary acquisition point position Pn, if the acquisition frame rate in the initial acquisition parameters of the acquisition point position Pn is 1 second and the acquisition number is 10 images, when the image acquisition device acquires images at the acquisition point position Pn, acquiring one image every 1 second at intervals according to the acquisition frame rate of 1 second until 10 images are acquired at the point position, and completing the image acquisition at the point position at this time to obtain an image set corresponding to the acquisition point position Pn; the following description can refer to the foregoing description, and the image acquisition device is controlled to rotate to the next acquisition point for image acquisition.

And step S120, respectively carrying out difference degree analysis on the images in each image set to obtain a difference degree sequence of each image set.

The difference degree refers to the difference degree between two images in an image set, and specifically may be the difference degree between two adjacent images; for example, the difference degree may be represented by a distance similarity between feature information of two images, such as a cosine distance, a euclidean distance, and the like, and the specific scheme may refer to an existing algorithm for analyzing the difference of the images, which is not described herein; or comparing the pixel information of the two images to determine the difference degree of the two images; if the similarity of the two images is high, the difference is low; if the similarity of the two images is low, the difference is high.

For example, continuing to take the acquisition point Pn in step S110 as an example, if 10 images in the image set acquired at the point Pn are C1, C2, C3, C4, C5, C6, C7, C8, C9, and C10 respectively, calculating the difference between two adjacent images, for example, calculating the difference between C1 and C2, and marking the difference between C1 and C2 as x2-1, and similarly calculating the difference between other adjacent images in the image set until the difference between all adjacent two images in the image set is obtained, and sequentially arranging the difference according to the acquisition time sequence of each image, as shown in fig. 3, and fig. 3 is a schematic diagram of the effect of the difference sequence of an exemplary embodiment of the cruise-based image acquisition method according to the present application, so as to obtain the difference sequence of the acquisition point Pn: x2-1, x3-2, x4-3, x5-4, x6-5, x7-6, x8-7, x9-8, x10-9.

Step S130, initial acquisition parameters of corresponding acquisition points are adjusted based on analysis results of the different degree sequences, and target acquisition parameters are obtained.

The analysis result refers to a result of analyzing a numerical value of a difference degree in the difference degree sequence and a variation trend of the difference degree, wherein the variation trend of the difference degree sequence is represented by a slope of a difference degree curve obtained by fitting each difference degree in the difference degree sequence, and/or represented by a difference value between each difference degree in the difference degree sequence, and the like, and the variation trend includes a steady trend, an ascending trend, and a descending trend.

Illustratively, as shown in fig. 4, fig. 4 is a trend diagram of a difference sequence of an exemplary embodiment of the cruise-based image acquisition method of the present application, in which a steady trend 4a, an ascending trend 4b, and a descending trend 4c are included.

It should be noted that, if the difference degree of a certain image set is higher, it is indicated that the acquisition time interval for performing image acquisition at the acquisition point corresponding to the image set may be longer (corresponding to lower acquisition frame rate) so that the two adjacent images acquired in the image set undergo long-time change to cause larger difference, therefore, the acquisition frame rate in the initial acquisition parameters can be increased to obtain the target acquisition parameters; similarly, if the difference degree of a certain image set is lower, it means that the acquisition time interval for performing image acquisition at the acquisition point corresponding to the image set may be shorter (corresponding to higher acquisition frame rate) so that two adjacent images acquired in the image set only undergo a short-time change, so that no larger difference exists between the two adjacent images, and therefore, the acquisition frame rate in the initial acquisition parameters can be reduced, and the target acquisition parameters can be obtained.

The step can realize that the acquisition point positions for generating the high-difference image set adopt a high-frequency image acquisition mode so as to reduce the difference of the point positions; the acquisition point positions for generating the low-difference image set are acquired by adopting a low-frequency image acquisition mode so as to improve the difference degree of the point positions; and further, the self-adaptive adjustment of the image acquisition process is realized, and the image acquisition effect is optimized.

Step S140, based on the current cruising path, image acquisition is performed with the initial acquisition parameters and/or the target acquisition parameters, respectively.

As described in connection with the foregoing steps, the current cruising path may be P1-P2-P3-P4-P5 as exemplified in step S110, where the initial acquisition parameters of all the possible acquisition points are adjusted to be target acquisition parameters, or the initial acquisition parameters of some of the acquisition points are adjusted to be target acquisition parameters; however, according to the method provided by the foregoing steps, the image acquisition device may be controlled to sequentially perform image acquisition from P1 to P5 by using the acquisition parameters (the initial acquisition parameters or the target acquisition parameters) corresponding to each acquisition point.

It can be seen that, according to the method and the device, the initial acquisition parameters of all acquisition points in the current cruising path and the current cruising path are obtained, and image acquisition is carried out on all the acquisition points of the current cruising path according to the corresponding initial acquisition parameters, so that an image set corresponding to all the points is obtained; the difference degree analysis is carried out on the images in each image set to obtain a difference degree sequence of each image set, so that the difference degree of each image in the image set along with the change of the acquisition time can be determined; adjusting initial acquisition parameters of corresponding acquisition points based on analysis results of the different degree sequences to obtain target acquisition parameters so as to realize self-adaptive adjustment of the acquisition parameters of the acquisition points according to the different degree sequences of the acquisition points; based on the current cruising path, respectively carrying out image acquisition by using initial acquisition parameters and/or target acquisition parameters; therefore, the acquisition parameters of each point position can be adaptively adjusted based on the images acquired at each point position, and the image acquisition efficiency is improved.

On the basis of the above embodiment, the step of adjusting the initial acquisition parameters of the corresponding acquisition points based on the analysis result of each difference sequence to obtain the target acquisition parameters is described in the embodiment of the present application. Specifically, the acquisition parameters include an acquisition frame rate, the difference sequence includes a difference between adjacent images in the image set, and the method of the embodiment includes the following steps:

carrying out numerical analysis on each difference degree in the difference degree sequence to obtain an analysis result; if the analysis result represents that the slope of a difference curve formed by fitting each difference in the difference sequence is smaller than or equal to a preset slope threshold and each difference is larger than a preset first difference threshold, taking the initial acquisition parameter as a target acquisition parameter; if the analysis result shows that the slope of the difference curve is smaller than or equal to the slope threshold value and each difference is smaller than or equal to the first difference threshold value, reducing the acquisition frame rate to obtain target acquisition parameters; and if the analysis result shows that the slope of the difference curve is larger than the slope threshold, the acquisition frame rate is increased, and the target acquisition parameters are obtained.

The method comprises the following steps of carrying out numerical analysis on the difference sequences of each image set respectively to obtain analysis results corresponding to the difference sequences; for convenience of description, a difference sequence is taken as an example, and analysis is performed on a difference sequence, and reference may be continued to fig. 4, where the analysis result may include, but is not limited to, one of the cases of the present embodiment.

For example, if the slope of the difference curve representing the difference sequence is smaller than or equal to the preset slope threshold, the variation trend of each difference in the difference sequence is stable; or the difference between two adjacent difference degrees in the difference degree sequence is smaller than or equal to the preset difference threshold, which also can indicate that the variation trend of each difference degree in the difference degree sequence is stable, which is equivalent to the situation shown as 4a in fig. 4.

However, it should be further described that, for the case that the environment where the image is acquired at a certain acquisition point is unchanged for a long time, the change trend of the difference sequence of the image set of the acquisition point is also characterized as stable, but the value of the difference between two adjacent images in the image set of the acquisition point is relatively low, as shown in fig. 5, fig. 5 is a schematic diagram of the effect of the difference sequence of another exemplary embodiment of the cruise-based image acquisition method of the present application; it follows that high frequency image acquisition is not required at this point. Therefore, the numerical range of the degree of difference needs to be considered in addition to the slope of the degree of difference curve; namely, for a difference sequence of a certain image set, the difference slope is smaller than or equal to the slope threshold value, and each difference (or a certain number of differences) is larger than a preset first difference threshold value, so that the image set acquired under an ideal state is obtained; for the difference sequence shown in fig. 5, the gradient of the difference is smaller than or equal to the gradient threshold, but each difference (or a certain number of differences) is smaller than or equal to the first difference threshold, so that the acquisition frame rate of the acquisition point needs to be reduced, the acquisition time interval between every two adjacent images in the image set is prolonged, and the acquisition of low frequency is realized, so that the difference between the adjacent images can be more highlighted.

It should be noted that if the slope of the difference curve representing the difference sequence is greater than the slope threshold, the variation trend of each difference in the difference sequence is unstable; or the difference between two adjacent difference degrees in the difference degree sequence is larger than the difference threshold, which also can indicate that the variation trend of each difference degree in the difference degree sequence is unstable, which is equivalent to the situation shown in 4b in fig. 4. Therefore, the acquisition frame rate of the acquisition point needs to be increased, and the acquisition time interval between every two adjacent images in the image set is shortened, so that high-frequency acquisition is realized, and the difference between the adjacent images can be reduced.

On the basis of the above embodiments, the embodiments of the present application describe the steps of performing the difference degree analysis on the images in each image set, respectively. Specifically, the method of the embodiment comprises the following steps:

acquiring the difference degree between two adjacent images in the image set; arranging the difference degrees in the image set based on the time sequence relation between two adjacent images to obtain the arranged difference degrees; fitting the arranged difference degrees to obtain a difference degree curve of the image set.

With reference to the foregoing embodiments, with continued reference to fig. 3, the differences x2-1 to x10-9 between two adjacent images in the images of C1 to C10 are shown in fig. 3, and according to the time sequence relationship of C1 to C10, that is, the differences should be C1, C2, C3, C4, C5, C6, C7, C8, C9, C10 from front to back, and the differences are correspondingly arranged, so as to obtain arranged differences x2-1, x3-2, x4-3, x5-4, x6-5, x7-6, x8-7, x9-8, x10-9; fitting each arranged difference degree based on the numerical relation of each difference degree to obtain a difference degree curve of the image set.

On the basis of the above embodiments, the steps after image acquisition with the initial acquisition parameters and/or the target acquisition parameters based on the current cruising path are described in the embodiments of the present application. Specifically, the method of the embodiment comprises the following steps:

acquiring an image set obtained after image acquisition by using initial acquisition parameters and/or target acquisition parameters based on a current cruising path; if the slopes of the difference curves of two adjacent image sets acquired at the same acquisition point are larger than zero, the acquisition frame rate of the initial acquisition parameters or the acquisition frame rate of the target acquisition parameters is correspondingly improved; if the slopes of the difference curves of the two adjacent image sets acquired at the same acquisition point are smaller than zero, the acquisition frame rate of the initial acquisition parameters or the acquisition frame rate of the target acquisition parameters is correspondingly reduced.

The foregoing embodiment is described, in which, after the acquisition parameters of the corresponding points are adjusted based on the acquired image set, image acquisition is performed again according to the current cruising path according to the initial acquisition parameters and/or the target acquisition parameters.

It should be noted that, the acquisition parameters of each acquisition point in the cruising path may be adjusted entirely, or may be adjusted partially, or may not be adjusted at all, and the specific adjustment mode depends on the difference sequence of the acquired image set; therefore, each acquisition point position may perform image acquisition according to the corresponding target acquisition parameters, or a part of the acquisition point positions may perform image acquisition according to the corresponding target acquisition parameters, another part of the acquisition point positions may perform image acquisition according to the initial acquisition parameters before the acquisition point positions are kept, or the initial acquisition parameters before all the acquisition point positions are kept may perform image acquisition.

Based on the possibly occurring multiple conditions, the difference degree among the obtained multiple image sets may also change after each acquisition point is subjected to cruising acquisition for multiple times; therefore, two adjacent image sets (a first image set and a second image set) acquired at the same acquisition point are analyzed, if the slopes of the difference curves of the two adjacent image sets acquired at the same acquisition point are all greater than zero, the difference curves of the two adjacent image sets are indicated to be mainly in an ascending trend, and even if the first image set and the second image set still belong to a stable range, the later image set (a third image set) of the two image sets may still show an ascending trend, so that the difference degree in the third image set is too high. Therefore, for the situation that the slope of the difference degree curve of two adjacent image sets acquired at the same acquisition point is larger than zero, the acquisition frame rate of the acquisition point is increased so as to avoid the unstable change image acquired when the third image set is acquired.

And otherwise, in the same way, for the situation that the slope of the difference degree curve of two adjacent image sets acquired at the same acquisition point is smaller than zero, the acquisition frame rate of the acquisition point is reduced so as to avoid the unstable change image acquired when the third image set is acquired.

On the basis of the above embodiments, the steps after the difference analysis is performed on the images in each image set to obtain the difference sequence of each image set in the embodiments of the present application are described. Specifically, the method of the embodiment comprises the following steps:

in step S121, if a target difference degree is greater than a difference degree adjacent to the target difference degree in the difference degree sequence and the target difference degree is greater than a preset second difference degree threshold, image acquisition is performed at the acquisition point based on the initial acquisition parameters, so as to obtain a target image set.

The second difference threshold is used for judging whether the value of the difference is too high, and the second difference threshold and the first difference threshold may be the same or different, and are not limited herein.

In connection with the foregoing embodiments, after the difference sequences of each image set are obtained, each difference sequence is analyzed, where, referring to fig. 6, fig. 6 is a schematic effect diagram of a difference sequence of another exemplary embodiment of the cruise-based image acquisition method of the present application, if at least one target difference degree is greater than a difference degree adjacent to the target difference degree in one or more difference degree sequences, and a value of the target difference degree is greater than a preset second difference degree threshold, it is indicated that when two images corresponding to the target difference degree are acquired, an environment where the image acquisition device is located may be changed, resulting in a larger mutation in the period, so that the target difference degree becomes a maximum value in an adjacent difference degree range; therefore, if the situation occurs, the image acquisition equipment needs to be controlled to acquire the images of the acquisition points again according to the initial acquisition parameters, so as to obtain a target image set; the target image set of the same acquisition point location and the image set acquired before can be the same or different; if the environments are different, the condition that the image acquisition equipment is located is indicated to be changed; if the two images are the same, it is indicated that a certain emergency exists when two images corresponding to the target difference degree are acquired, or an error occurs in the process of acquiring the target difference degree.

If there is no target difference in each difference sequence, the above-mentioned embodiment is referred to, and step S130 and step S140 may be continued after step S120.

It should be further noted that, in this embodiment, after all the image sets of the collection points are collected, difference analysis may be performed on the images in each image set to obtain a difference sequence of each image set; and after each image set of one or more acquisition points in all the acquisition points is acquired, performing difference degree analysis on the images in each image set to obtain a difference degree sequence of each image set. Similarly, the process of re-performing image acquisition may be performed immediately in response to detecting the occurrence of an event having a target degree of difference, or may be performed after waiting until the analysis results of all the degree of difference sequences are acquired in response to detecting the occurrence of an event having a target degree of difference.

Step S131, performing differential analysis on the images in each target image set to obtain a target differential sequence of each target image set.

As described in connection with the foregoing steps, the environment in which the image capturing device is located may change due to the detection of the target variability in one or more sequences of variability; therefore, the difference analysis is performed according to the images in the re-acquired target image sets to obtain the target difference sequence of each target image set, and the specific method can refer to the description of the steps in the foregoing embodiment in the same way, and will not be repeated here.

Step S141, adjusting initial acquisition parameters of corresponding acquisition points based on analysis results of each target difference sequence to obtain target acquisition parameters.

And adjusting initial acquisition parameters of corresponding acquisition points based on analysis results of the target difference sequences, wherein the obtained target acquisition parameters are acquisition parameters with relatively high accuracy.

Optionally, before executing this step, the same can analyze again whether there is a target difference in the differences of the target difference sequence.

Step S151, based on the current cruising path, image acquisition is carried out according to the initial acquisition parameters and/or the target acquisition parameters.

On the basis of the above embodiments, the embodiments of the present application describe the steps of image acquisition with initial acquisition parameters and/or target acquisition parameters, respectively, based on the current cruising path. Specifically, the method of the embodiment comprises the following steps:

adjusting the current cruising path based on the initial acquisition parameters and/or the target acquisition parameters to obtain a target cruising path; and respectively carrying out image acquisition in the target cruising path according to the initial acquisition parameters and/or the target acquisition parameters.

The foregoing embodiments are described with reference to the present cruising path setting the order of image acquisition at each acquisition point, but the degree of interest of images acquired at different acquisition points may be different, so that the order of the acquisition points in the present cruising path may be adjusted according to the analysis result of the acquired images, to obtain the target cruising path.

Specifically, because the acquisition parameters of all or part of the point positions are adjusted according to the analysis result of the images acquired by the point positions in the preamble step, the acquisition parameters of the point positions can reflect the attention degree of the images acquired by the point positions to a certain degree; for example, at an acquisition point where the acquisition frame rate is high (the acquisition time interval is short), image acquisition at a high frequency is required to obtain a compact image, and thus the image acquired at the point can be regarded as having a high degree of attention, and the point is also important.

Therefore, after the acquisition parameters of all or part of the point positions are adjusted, the point positions can be reordered according to the initial acquisition parameters or the target acquisition parameters of the point positions to obtain a new cruise path, namely a target cruise path.

Alternatively, if there is no point location with the acquisition parameters adjusted, the next round of cruise image acquisition can be performed in the same way as the current cruise path.

On the basis of the above embodiment, the steps of adjusting the current cruise path based on the initial acquisition parameters and/or the target acquisition parameters to obtain the target cruise path are described in the embodiments of the present application. Specifically, the method of the embodiment comprises the following steps:

Sequencing all the acquisition points based on the acquisition frame rate in the initial acquisition parameters and/or the acquisition frame rate in the target acquisition parameters to obtain the target cruising sequence of all the acquisition points; and adjusting the current cruising path based on the target cruising sequence to obtain the target cruising path.

In combination with the above steps, during the adjustment of the cruising path, the method performs sequencing treatment on each acquisition point location again based on the acquisition frame rate in the current acquisition parameters (initial acquisition parameters or target acquisition parameters) of each acquisition point location to obtain the target cruising sequence of each acquisition point location; and adjusting the current cruising path based on the target cruising sequence, so that the target cruising path can be obtained.

For example, there are 5 collection points, such as P1, P2, P3, P4, and P5, where the collection frame rate at the P1 point is highest (the collection time interval is smallest), the collection frame rates at the P2 point and the P3 point are the same and greater than the collection frame rate at the P1 point, and the collection frame rates at the P4 and the P5 are the same and greater than the collection frame rates at the P2 and the P3 points, so that the order between the points is P1< (p2=p3) < (p4=p5), that is, the target cruising path is P1-P2-P3-P4-P5, and P5 is collected sequentially from P1.

It should be noted that, in the process of adjusting the cruising path, a resident point position can be set; for example, the acquisition frame rate of P1 is the smallest of all the acquisition points, so that P1 is set as the resident point, so that after each acquisition point completes image acquisition, the image acquisition is returned to the P1 resident point, and then the image acquisition is continued from P1; therefore, the target cruising path may also be as shown in fig. 7, and fig. 7 is a schematic view of the effect of the target cruising path according to an exemplary embodiment of the cruising-based image capturing method of the present application, and since the capturing frame rates of P2 and P3 are the same, the image capturing can be performed from P1 to P2 and P3, and after the completion, the process returns to P1; then, starting from P1, carrying out image acquisition on the images from P4 and P5, and returning to P1 after finishing the image acquisition; wherein, the acquisition sequence of P2 and P3 can be replaced, and the acquisition sequence of P4 and P5 can be replaced.

If the acquisition frame rates of P1 and P5 are the same and the minimum of all the acquisition points, P1 and P5 can be set as candidate resident points, and one point is selected in turn from P1 and P5 as a resident point; if the resident point position at the time of the first cruising image acquisition is P1, the image acquisition device returns to the position of P1 after the completion of the first cruising image acquisition, and the resident point position is adjusted to P5, so that the image acquisition device returns to the position of P5 after the completion of the second cruising image acquisition, instead of returning to P1.

In addition, if the image acquisition equipment passes through one or more intermediate points in other sequences in the process of going from the last acquisition point to the next acquisition point, the intermediate points can still be subjected to rapid image acquisition in the moving process; for example, the previous acquisition point in the cruising path is P1, the next acquisition point is P5, the intervals of P2, P3 and P4 are points, and the three middle points are sequentially arranged after P5 for image acquisition; therefore, in the process from P1 to P5, the moving speed (for example, the rotation speed of the pan-tilt) of the image acquisition device can be increased, at least one image is acquired at the middle point for buffering, and if the difference between the buffered image of the middle point (for example, P2) and an image in the image set acquired at P2 (which may be the image with the latest acquisition time sequence in the image set) during the last cruising image acquisition is smaller than a preset third difference threshold, the buffered image is discarded; if the difference degree is greater than or equal to the third difference threshold value, a new image set of the P2 point location is created based on the cache image and stored therein. Therefore, when an image is acquired on a certain cruising path, other acquisition points where the cruising image acquisition is not executed can be considered.

It should be further noted that the main execution body of the cruise-based image capturing method may be a cruise-based image capturing apparatus, for example, the cruise-based image capturing method may be executed by a terminal device or a server or other processing device, where the terminal device may be a User Equipment (UE), a computer, a mobile device, a User terminal, a cellular phone, a cordless phone, a personal digital processing (Personal Digital Assistant, PDA), a handheld device, a computing device, an in-vehicle device, a wearable device, or the like. In some possible implementations, the cruise-based image acquisition method may be implemented by way of a processor invoking computer readable instructions stored in a memory.

Fig. 8 is a block diagram of a cruise-based image acquisition device, as shown in an exemplary embodiment of the present application. As shown in fig. 8, the exemplary cruise-based image capture device 800 includes: an acquisition module 810, a variance analysis module 820, and an adjustment module 830. Specifically:

the acquisition module 810 is configured to perform image acquisition on each acquisition point in the current cruise path according to the acquired initial acquisition parameters of each acquisition point in the current cruise path and the acquired initial acquisition parameters of each acquisition point in the current cruise path, so as to obtain an image set corresponding to each acquisition point.

The difference analysis module 820 is configured to perform difference analysis on the images in each image set, so as to obtain a difference sequence of each image set.

The adjusting module 830 is configured to adjust the initial acquisition parameters of the corresponding acquisition points based on the analysis result of each difference sequence, so as to obtain the target acquisition parameters.

The acquisition module 810 is further configured to perform image acquisition with initial acquisition parameters and/or target acquisition parameters, respectively, based on the current cruising path.

In the exemplary cruising-based image acquisition device, initial acquisition parameters of all acquisition points in a current cruising path and the current cruising path are acquired, and image acquisition is carried out on all the acquisition points of the current cruising path according to the corresponding initial acquisition parameters, so that an image set corresponding to all the points is obtained; the difference degree analysis is carried out on the images in each image set to obtain a difference degree sequence of each image set, so that the difference degree of each image in the image set along with the change of the acquisition time can be determined; adjusting initial acquisition parameters of corresponding acquisition points based on analysis results of the different degree sequences to obtain target acquisition parameters so as to realize self-adaptive adjustment of the acquisition parameters of the acquisition points according to the different degree sequences of the acquisition points; based on the current cruising path, respectively carrying out image acquisition by using initial acquisition parameters and/or target acquisition parameters; therefore, the acquisition parameters of each point position can be adaptively adjusted based on the images acquired at each point position, and the image acquisition efficiency is improved.

The functions of each module may be referred to an embodiment of the cruise-based image acquisition method, which is not described herein.

Referring to fig. 9, fig. 9 is a schematic structural diagram of an embodiment of an electronic device of the present application. The electronic device 900 comprises a memory 901 and a processor 902, the processor 902 being adapted to execute program instructions stored in the memory 901 for implementing the steps of any of the cruise-based image acquisition method embodiments described above. In one particular implementation scenario, electronic device 900 may include, but is not limited to: the microcomputer and the server, and the electronic device 900 may also include mobile devices such as a notebook computer and a tablet computer, which are not limited herein.

In particular, the processor 902 is configured to control itself and the memory 901 to implement the steps in any of the cruise-based image acquisition method embodiments described above. The processor 902 may also be referred to as a CPU (Central Processing Unit ). The processor 902 may be an integrated circuit chip having signal processing capabilities. The processor 902 may also be a general purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a Field programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. In addition, the processor 902 may be commonly implemented by an integrated circuit chip.

According to the scheme, the initial acquisition parameters of all the acquisition points in the current cruising path and the current cruising path are acquired, and the image acquisition is carried out on all the acquisition points of the current cruising path according to the corresponding initial acquisition parameters, so that an image set corresponding to all the points is obtained; the difference degree analysis is carried out on the images in each image set to obtain a difference degree sequence of each image set, so that the difference degree of each image in the image set along with the change of the acquisition time can be determined; adjusting initial acquisition parameters of corresponding acquisition points based on analysis results of the different degree sequences to obtain target acquisition parameters so as to realize self-adaptive adjustment of the acquisition parameters of the acquisition points according to the different degree sequences of the acquisition points; based on the current cruising path, respectively carrying out image acquisition by using initial acquisition parameters and/or target acquisition parameters; therefore, the acquisition parameters of each point position can be adaptively adjusted based on the images acquired at each point position, and the image acquisition efficiency is improved.

Referring to fig. 10, fig. 10 is a schematic structural diagram of an embodiment of a computer readable storage medium of the present application. The computer readable storage medium 110 stores program instructions 111 executable by the processor, the program instructions 111 for implementing the steps in any of the cruise-based image acquisition method embodiments described above.

According to the scheme, the initial acquisition parameters of all the acquisition points in the current cruising path and the current cruising path are acquired, and the image acquisition is carried out on all the acquisition points of the current cruising path according to the corresponding initial acquisition parameters, so that an image set corresponding to all the points is obtained; the difference degree analysis is carried out on the images in each image set to obtain a difference degree sequence of each image set, so that the difference degree of each image in the image set along with the change of the acquisition time can be determined; adjusting initial acquisition parameters of corresponding acquisition points based on analysis results of the different degree sequences to obtain target acquisition parameters so as to realize self-adaptive adjustment of the acquisition parameters of the acquisition points according to the different degree sequences of the acquisition points; based on the current cruising path, respectively carrying out image acquisition by using initial acquisition parameters and/or target acquisition parameters; therefore, the acquisition parameters of each point position can be adaptively adjusted based on the images acquired at each point position, and the image acquisition efficiency is improved.

In some embodiments, functions or modules included in an apparatus provided by the embodiments of the present disclosure may be used to perform a method described in the foregoing method embodiments, and specific implementations thereof may refer to descriptions of the foregoing method embodiments, which are not repeated herein for brevity.

The foregoing description of various embodiments is intended to highlight differences between the various embodiments, which may be the same or similar to each other by reference, and is not repeated herein for the sake of brevity.

In the several embodiments provided in the present application, it should be understood that the disclosed methods and apparatus may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of modules or units is merely a logical functional division, and there may be additional divisions of actual implementation, e.g., units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical, or other forms.

In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units. The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in part or all or part of the technical solution contributing to the prior art or in the form of a software product stored in a storage medium, including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to perform all or part of the steps of the methods of the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

Claims (10)

1. A cruise-based image acquisition method, the method comprising:

based on the obtained current cruising path and initial acquisition parameters of all acquisition points in the current cruising path, respectively carrying out image acquisition on all the acquisition points in the current cruising path according to the corresponding initial acquisition parameters to obtain an image set corresponding to all the acquisition points;

respectively carrying out difference degree analysis on the images in each image set to obtain a difference degree sequence of each image set;

adjusting initial acquisition parameters of corresponding acquisition points based on analysis results of the different degree sequences to obtain target acquisition parameters;

and based on the current cruising path, respectively carrying out image acquisition according to the initial acquisition parameters and/or the target acquisition parameters.

2. The method according to claim 1, wherein the acquisition parameters include an acquisition frame rate, the difference degree sequences include a difference degree between adjacent images in the image set, and the step of adjusting initial acquisition parameters of corresponding acquisition points based on an analysis result of each difference degree sequence to obtain target acquisition parameters includes:

performing numerical analysis on each difference degree in the difference degree sequence to obtain an analysis result;

If the analysis result represents that the slope of a difference curve fitted by each difference in the difference sequence is smaller than or equal to a preset slope threshold and each difference is larger than a preset first difference threshold, the initial acquisition parameter is used as the target acquisition parameter;

if the analysis result represents that the slope of the difference curve is smaller than or equal to the slope threshold and each difference is smaller than or equal to the first difference threshold, the acquisition frame rate is reduced, and the target acquisition parameters are obtained;

and if the analysis result indicates that the slope of the difference curve is larger than the slope threshold, the acquisition frame rate is increased, and the target acquisition parameter is obtained.

3. The method of claim 1, wherein the step of separately performing a variance analysis on the images in each set of images comprises:

acquiring the difference degree between two adjacent images in the image set;

arranging the different degrees in the image set based on the time sequence relation between the two adjacent images to obtain the arranged different degrees;

fitting each arranged difference degree to obtain a difference degree curve of the image set.

4. A method according to claim 3, wherein, after said step of image acquisition with said initial acquisition parameters and/or said target acquisition parameters, respectively, based on said current cruising path, the method further comprises:

acquiring an image set obtained after image acquisition by the initial acquisition parameters and/or the target acquisition parameters based on the current cruising path;

if the slopes of the difference curves of the two adjacent image sets acquired at the same acquisition point are all larger than zero, correspondingly improving the acquisition frame rate of the initial acquisition parameters or the acquisition frame rate of the target acquisition parameters;

and if the slopes of the difference curves of the two adjacent image sets acquired at the same acquisition point are smaller than zero, correspondingly reducing the acquisition frame rate of the initial acquisition parameters or the acquisition frame rate of the target acquisition parameters.

5. The method of claim 1, wherein after the step of performing a variance analysis on the images in each image set, respectively, to obtain a variance sequence for each image set, the method further comprises:

if a target difference degree is larger than a difference degree adjacent to the target difference degree in the difference degree sequence and the target difference degree is larger than a preset second difference degree threshold value, image acquisition is carried out on the acquisition point position based on the initial acquisition parameters, and a target image set is obtained;

Respectively carrying out difference degree analysis on the images in each target image set to obtain a target difference degree sequence of each target image set;

adjusting initial acquisition parameters of corresponding acquisition points based on analysis results of the target difference sequences to obtain target acquisition parameters;

and based on the current cruising path, respectively carrying out image acquisition according to the initial acquisition parameters and/or the target acquisition parameters.

6. The method according to claim 1, wherein the step of image acquisition with the initial acquisition parameters and/or the target acquisition parameters, respectively, based on the current cruising path, comprises:

adjusting the current cruising path based on the initial acquisition parameters and/or the target acquisition parameters to obtain a target cruising path;

and respectively carrying out image acquisition in the target cruising path according to the initial acquisition parameters and/or the target acquisition parameters.

7. The method according to claim 6, wherein the step of adjusting the current cruise path based on the initial acquisition parameters and/or the target acquisition parameters to obtain a target cruise path comprises:

Sequencing all the acquisition points based on the acquisition frame rate in the initial acquisition parameters and/or the acquisition frame rate in the target acquisition parameters to obtain a target cruising sequence of all the acquisition points;

and adjusting the current cruising path based on the target cruising sequence to obtain the target cruising path.

8. A cruise-based image acquisition device, comprising:

the acquisition module is used for acquiring images of all the acquisition points in the current cruising path according to the acquired initial acquisition parameters of all the acquisition points in the current cruising path and the acquired initial acquisition parameters of all the acquisition points in the current cruising path, so as to obtain an image set corresponding to all the acquisition points;

the difference analysis module is used for respectively carrying out difference degree analysis on the images in each image set to obtain a difference degree sequence of each image set;

the adjusting module is used for adjusting initial acquisition parameters of corresponding acquisition points based on analysis results of the different degree sequences to obtain target acquisition parameters;

and the acquisition module is also used for carrying out image acquisition by the initial acquisition parameters and/or the target acquisition parameters respectively based on the current cruising path.

9. An electronic device comprising a memory and a processor for executing program instructions stored in the memory to implement the method of any one of claims 1 to 7.

10. A computer readable storage medium having stored thereon program instructions, which when executed by a processor, implement the method of any of claims 1 to 7.