CN205693789U - A kind of Moving Object in Video Sequences follows the tracks of device - Google Patents
A kind of Moving Object in Video Sequences follows the tracks of device Download PDFInfo
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- CN205693789U CN205693789U CN201521012334.7U CN201521012334U CN205693789U CN 205693789 U CN205693789 U CN 205693789U CN 201521012334 U CN201521012334 U CN 201521012334U CN 205693789 U CN205693789 U CN 205693789U
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Abstract
The utility model discloses a kind of Moving Object in Video Sequences and follow the tracks of device, it relates to a kind of tracking system.Image sequence source control module connects target following control module, target following control module respectively with objective management module, follow the tracks of information display module, tracking information preserves module and connects, user operation module is connected with objective management module, described target following control module is by image tracker, operation bench, monitor, servosystem, three-axle steady platform and optical system form with video camera, image tracker is connected with operation bench, image tracker also connects monitor, operation bench connects servosystem successively, three-axle steady platform, optical system and video camera are to image tracker.This utility model utilizes hierarchical search to reduce searching times, utilizes weighted strategy to carry out more new template, improves the real to property, stability and robustness of tracking.
Description
Technical field
This utility model relates to a kind of tracking system, particularly relates to a kind of Moving Object in Video Sequences and follows the tracks of dress
Put.
Background technology
The tracking problem of video sequence image target is an important branch in machine vision research, is that high level machine regards
The basis of feel research, has a wide range of applications, such as video monitor, intelligent transportation, military guidance etc., template matching track algorithm pair
Rigid-object has good tracking performance, but to non-rigid object, robustness is poor.
Therefore, those skilled in the art is devoted to develop a kind of Moving Object in Video Sequences tracking device.
Utility model content
Because the drawbacks described above of prior art, technical problem to be solved in the utility model is to provide a kind of video figure
As motion target tracking device in sequence, reasonable in design, utilize hierarchical search to reduce searching times, utilize weighted strategy
Carry out more new template, improve the real to property, stability and robustness of tracking, practical, it is easy to promote the use of.
For achieving the above object, this utility model provides a kind of Moving Object in Video Sequences and follows the tracks of device, bag
Include image sequence source control module, target following control module, objective management module, follow the tracks of information display module, tracking information
Preserving module and user operation module, image sequence source control module connects target following control module, target following control module
Preserve module with objective management module, tracking information display module, information of following the tracks of respectively to be connected, user operation module and target tube
Reason module connects, and described target following control module is put down by image tracker, operation bench, monitor, servosystem, three-axis stabilization
Platform and optical system form with video camera, and image tracker is connected with operation bench, and image tracker also connects monitor, and operation bench depends on
Secondary servosystem, three-axle steady platform, the optical system of connecing is with video camera to image tracker, and described image tracker includes center
Processing plate and multiple image processing board, optical system and video camera meet center processing plate, center processing plate and the two-way company of operation bench
Connecing, center processing plate connects monitor, and center processing plate is bi-directionally connected with multiple image processing boards by system bus, image trace
Device image acquisition to be completed and pretreatment, the identification of target, position and follow the tracks of, received from operation bench by centralized control unit
Control command, output tracking instructs to servosystem, coordinates and manage the work of each functional unit.
As preferably, described center processing plate is controlled by video signal processing unit, system time-base lock unit and center
Unit processed form, image processing board use DSP graphics processing unit, system time-base lock unit respectively with video frequency signal processing list
Unit, centralized control unit connect, video signal processing unit, system time-base lock unit all with multiple DSP graphics processing units
Connecting, centralized control unit is bi-directionally connected with DSP graphics processing unit, and video signal processing unit connects synchronization indicator, center
Control unit is bi-directionally connected with operation bench, servosystem the most respectively.
As preferably, described DSP graphics processing unit is by DSP, the first image storage, the second image storage group
Becoming, it is contemplated that the real-time of system and business's effect property, the first image storage, the second image storage all use dual port RAM, the
One end of one image storage is connected to system bus by address generator, and real-time reception is from the picture number of center processing plate
According to, the other end of the first image storage meets DSP, DSP by data/address bus and the storage of the second image connects, the second image storage
Device is for storing a pending image, during system work, and the first image storage trace on the scene real-time reception image,
View data in first image storage is quickly introduced in the second image storage by DSP in field flyback, in case at next
It is processed by individual field trace, DSP graphics processing unit by certain section of dual port RAM unit in the second image storage with in
The heart processes plate and realizes data exchange.
The beneficial effects of the utility model are: the feature for correlation tracking algorithm has done preferable improvement, by fortune
The sort research of tracking of maneuvering target algorithm, explores and sums up a practical target tracking algorism storehouse to adapt to multiple situation
Need, it is proposed that sequential similarity detection algorithm based on hierarchical search and template renewal criterion, it is achieved follow the tracks of the image of system
Process, the feature of moving target, tracking, utilize hierarchical search to reduce searching times, utilize weighted strategy to update mould
Plate, improves the real to property, stability and robustness of tracking.
Below with reference to accompanying drawing, the technique effect of design of the present utility model, concrete structure and generation is made furtherly
Bright, to be fully understood from the purpose of this utility model, feature and effect.
Accompanying drawing explanation
Fig. 1 is system block diagram of the present utility model；
Fig. 2 is the system block diagram of this utility model target following control module；
Fig. 3 is the theory diagram of this utility model image tracker；
Fig. 4 is the theory diagram of this utility model DSP graphics processing unit.
Detailed description of the invention
With reference to Fig. 1-4, this detailed description of the invention by the following technical solutions: a kind of Moving Object in Video Sequences with
Track device, including image sequence source control module 1, target following control module 2, objective management module 3, tracking information display mould
Block 4, information of following the tracks of preserve module 5 and user operation module 6, and image sequence source control module 1 connects target following control module 2,
Target following control module 2 preserves module 5 be connected with objective management module 3, tracking information display module 4, tracking information respectively,
User operation module 6 is connected with objective management module 3, described target following control module 2 by image tracker 7, operation bench 8,
Monitor 9, servosystem 10, three-axle steady platform 11 and optical system form with video camera 12, image tracker 7 and operation bench
8 connect, and image tracker 7 also connects monitor 9, and operation bench 8 connects servosystem 10, three-axle steady platform 11, optical system successively
With video camera 12 to image tracker 7, image tracker 7 includes center processing plate 13 and multiple image processing board 14, optical system
System and video camera 12 connect center processing plate 13, and center processing plate 13 is bi-directionally connected with operation bench 8, and center processing plate 13 connects monitor
9, center processing plate 13 is bi-directionally connected with multiple image processing boards 14 by system bus.
Servosystem 10 mainly to carrying out comprehensively from operation bench 8, the instruction of image tracker 7, state and error signal,
Corrections etc. process, and form the control voltage driving servo platform electric machine rotation, it is achieved the search of target seeker, follow the tracks of and the optical axis steady
Fixed, during following the tracks of, servosystem 10 according to the given target position information of image tracker 7, adjust optical system and
The locus of video camera 12, to ensure that tracked target is in the field of view center of imaging sensor all the time, it is achieved to target
Real-time tracking.
It should be noted that described center processing plate 13 is by video signal processing unit 15, system time-base lock unit
16 and centralized control unit 17 form, image processing board 14 uses DSP graphics processing unit 18, system time-base lock unit 16 points
It is not connected with video signal processing unit 15, centralized control unit 17, video signal processing unit 15, system time-base lock unit
16 are all connected with multiple DSP graphics processing units 18, and centralized control unit 17 is bi-directionally connected with DSP graphics processing unit 18, depending on
Audio signalprocessing unit 15 connects synchronization indicator 19, centralized control unit 17 the most respectively with operation bench 8, the two-way company of servosystem 10
Connecing, image tracker 7 mainly completes image acquisition and pretreatment, the identification of target, positions and follow the tracks of, and passes through centralized control unit
17 receive the control command from operation bench 8, and output tracking instructs to servosystem 10, coordinates and manage the work of each functional unit
Making, center processing plate 13 is responsible for producing system time-base, video signal being carried out A/D conversion, digital signal is carried out D/A conversion,
Sequence image storage, video superimpose, faceplate formation process and exchange the work such as data with other image processing boards；At DSP image
Reason unit 18 is the core of whole image tracking system, and major function is the picture number first obtaining center processing plate 13
According to, and the image of every is processed, calculate the target bearing change appeared on the scene and between field, send center processing plate 13 back to, this
The information of a little Orientation differences is sent to servosystem 10, again to drive associated components, it is achieved the target following of real-time continuous.
Additionally, described DSP graphics processing unit 18 is by DSP20, first image storage the 21, second image storage 22
Composition, it is contemplated that the real-time of system and business's effect property, first image storage the 21, second image storage 22 all uses twoport
RAM, one end of the first image storage 21 is connected to system bus by address generator 23, and real-time reception is from center processing plate
View data, the other end of the first image storage 21 meets DSP20, DSP20 and the second image storage by data/address bus
22 connect, and the second image storage 22 is for storing a pending image, during system work, and the on image processing board
One image storage 21 trace on the scene real-time reception image, DSP20 in field flyback by the picture number in the first image storage 21
According to quickly introducing in the second image storage 22, in case processing it in next field trace, image processing board passes through
Certain section of dual port RAM unit concentricity process plate 13 in second image storage 22 realizes data exchange.
This detailed description of the invention is independent of specific track algorithm, it is possible to the target being applicable under various particular case with
Track, provides identical infrastructure service for different track algorithms, as obtained image sequence, the target of acquisition tracking, calling tracking
Algorithm, showing and preserve tracking result, in tracking system, image sequence source control module 1 is responsible for processing various different sequences
Image sources, such as the avi file of standard compression, or the real time imaging etc. gathered from video frequency collection card, image sequence source control mould
Block 1 they be abstracted into an object, after to this object initialization, it is provided that read next frame function；Native system uses people
The mode that machine is mutual, is chosen by stick, locking tracking target, and human-computer exchange system is used for choosing, revising and discharge tracking
Target；Owing to, in various algorithms, target also has many important features in addition to the region occupied, different at each
In algorithm, the describing mode of target is different, and feature is the most different, i.e. target and algorithm one_to_one corresponding, as at Mean-Shift
In method, each target has feature, is so provided with objective management module 3 in system framework, is responsible for specially as specifically
Algorithm provides specific goal description mode；When tracking is carried out, first system is loaded into a frame, user's hands from certain sequence chart image source
Dynamic selection follows the tracks of target, and the track algorithm that system is selected according to user produces corresponding target characteristic, is then sequentially loaded into next
Frame, until completing to follow the tracks of, this process is completed by target following control module 2, during tracking, showing of target position information
Show, completed by following the tracks of information display module 4, if needing tracing figure picture is preserved, then may select tracking information and preserve
Module 5 preserves selected target following result images frame by frame, in order to terminates post analysis and follows the tracks of result.
The key technical indexes of this detailed description of the invention:
1. video input: the standard television signal that ccd video camera produces.
Image digitization (is melted into 256 × 256 pixels) by 2. sample frequency: 5MHz；10MHz is also provided for for carrying out system extension
(image digitization is melted into 512X512 pixel).
3. form size: TV form: 256X256 pixel；Search window: 64X64 pixel；Track window: 64 × 64 pixels；Ash
Degree level: 8 Bit；Ripple door size: 32 × 32 pixels.
4. system time-base, line period: 64us active line: 51.2us；Field duration: 20 ms field traces: 16.384 ms.
5. tracing deviation: s exported once in every 20 days.
This detailed description of the invention has human-computer interaction function: man-machine interactive operation interface includes " the tracking mould on panel
Formula ", " increasing ", " subtracting ", " confirmation ", " servo/electricity with ", the button such as " sequence storage " and " two-value/many-valued " and " original/numeral/
Two-value " toggle switch, the most also stick of locking key, display interface includes ripple door, orientation and pitching coordinate, threshold value,
Tracking mode and system mode, its medium wave door has search window and tracking window two states, and search window is the four of rectangle
Angle, tracking window is rectangle, and orientation and pitching coordinate represent the position coordinates of Bo Men, and coordinate system is with field of view center point as initial point
Rectangular coordinate, threshold portion represents and relates to the value of closing in real time that the track algorithm of threshold value calculates (product correlation al gorithm need not
Threshold value, so threshold value position is invalid), tracking mode represents the tracking mode that system is currently in use, and system mode represents residing for system
State, be divided into " following the tracks of ", " following the tracks of unsuccessfully " and " searching for " three state；On indicator screen, it can be seen that 3
Planting the image of character, be original image, digital picture and bianry image respectively, the selection of these three image is to pass through toggle switch
Realizing, " original image " shelves of toggle switch are for observing the image that camera collection is come in, and " digital picture " gear is used for seeing
Examining the image after A/D changes, " bianry image " shelves are for observing the two-value that digital picture obtains relatively afterwards with threshold ratio
Image or multi thresholds image.
The image tracking system work running of this detailed description of the invention: (1) system start-up, center processing plate 13 and figure
As processing plate 14, each program is imported the operation of OSP program storage area, self-inspection；
(2), when system is run, center processing plate 13 produces unified synchronizing signal and exports each image procossing thereafter
Plate 14, video signal is read in center processing plate 13 by video collector, at the center processing plate 13 video signal to reading in
Reason, including synchronism output, numeral output, two-value output, superposition tracking box and output to each image processing board 14；
(3) along with the movement of stick, coordinate signal and correlating markings are given all of image by center processing plate 13
Process plate 14, run the process plate of tracing program of selected track algorithm along with the mobile output Chan Zhidao center simultaneously of stick
Process plate 13；
(4) each image processing board 14 the most each self-operating program, once lever locked key is pressed, and center processing plate 13 is put
Corresponding flag bit, each image processing board 14 follows the tracks of according to respective tracing program simultaneously, and concrete tracking mode is by center processing
Plate 13 is read operation bench 8 button signal and is selected, divide here ' servo tracking " and " TV track " two kinds of situations: " servo tracking " refers to
Center processing plate 13 goes to control servosystem 10 according to the deviation signal that image processing board 14 is given, and makes servosystem 10 according to partially
Difference band moves photographic head and rotates, thus tracked target is remained at the center of visual field；" TV track " refers to do not have
During the participation of servosystem, photographic head makes static, the tracking of target is embodied in track window and moves in visual field with target.
This detailed description of the invention is followed the tracks of systematic search and follows the tracks of the process of target:
(1) mobile operating bar, pushes search window by the target in visual field, and image tracker 7 is by stick search window
Central point；
(2) view data that image processing board 14 reads in search window processes, and along with search window and cross
The movement of silk central point, calculates when the threshold value of every in early pulse, sends center processing plate 13 back to；
(3) explain value according to what image processing board was sent back to, can select to watch the digital picture of instant current field or
Bianry image, if now operator presses locking key, image tracker 7 proceeds to automatic gum track and processes, it is judged that center processing plate 13
The tracing mode be given, thus select corresponding track algorithm to carry out from motion tracking, and folded on the image of synchronization indicator 19
Add and indicate accordingly: tracking mode mark " 1 " or " 2 " and tracking mode mark " T "；
(4) image processing board 14 reads corresponding image real time transfer according to locking signal, implements to follow the tracks of to the target of locking,
Now export target centroid (or match point) coordinate and follow target to center processing plate 13, center processing plate 13 mobile tracking frame
The new coordinate of target that juxtaposition is followed the tracks of；
(5) tracking system, during being tracked target, to amendment target, the most manually presses locking/release
Key, tracker return to search, display shows search sign " S "；
(6) manual operation stick, drives photographic head, target pushes 256 × 256 search windows, and target is by CCD camera
Be converted into 256 grades of gray level images through A/D, after target lock-on, by sequence address generator 23 in field flyback produce address,
And gray level image is stored in image storage, by trace, ripple gated data read by image trace plate, sets according to center processing plate 13
Fixed tracing mode or adaptive model complete once to mate in trace, obtain the new coordinate of target, complete one and follow the tracks of week
Phase, the deviation of output, by decision analysis, determines normal tracking or mismatch, if mismatch, then proceeds by recall tracing,
Putting deviation is 0, if not finding target in recall tracing 200ms yet, then it is assumed that target is really lost, discharging target, carrying out weight
New locking.
Preferred embodiment of the present utility model described in detail above.Should be appreciated that the ordinary skill people of this area
Member just can make many modifications and variations according to design of the present utility model without creative work.Therefore, all technology neck
In territory, technical staff passes through logical analysis, reasoning or limited reality on the basis of existing technology according to design of the present utility model
Test available technical scheme, all should be in the protection domain being defined in the patent claims.
Claims (4)
1. a Moving Object in Video Sequences follows the tracks of device, it is characterised in that: include image sequence source control module
(1), target following control module (2), objective management module (3), tracking information display module (4), information of following the tracks of preserve module
And user operation module (6) (5), image sequence source control module (1) connects target following control module (2), and target following controls
Module (2) preserves module (5) with objective management module (3), tracking information display module (4), information of following the tracks of respectively and is connected, user
Operation module (6) is connected with objective management module (3), and described target following control module (2) is by image tracker (7), manipulation
Platform (8), monitor (9), servosystem (10), three-axle steady platform (11) and optical system form with video camera (12), image
Tracker (7) is connected with operation bench (8), and image tracker (7) also connects monitor (9), and operation bench (8) connects servosystem successively
(10), three-axle steady platform (11), optical system and video camera (12) to image tracker (7).
2. a kind of Moving Object in Video Sequences as claimed in claim 1 follows the tracks of device, it is characterised in that: described figure
As tracker (7) includes that center processing plate (13) and multiple image processing board (14), optical system and video camera (12) connect center
Processing plate (13), center processing plate (13) is bi-directionally connected with operation bench (8), and center processing plate (13) connects monitor (9), center
Reason plate (13) is bi-directionally connected with multiple image processing boards (14) by system bus.
3. a kind of Moving Object in Video Sequences as claimed in claim 2 follows the tracks of device, it is characterised in that: in described
The heart processes plate (13) by video signal processing unit (15), system time-base lock unit (16) and centralized control unit (17) group
Become, image processing board (14) use DSP graphics processing unit (18), system time-base lock unit (16) respectively with video signal at
Reason unit (15), centralized control unit (17) connect, video signal processing unit (15), system time-base lock unit (16) all with
Multiple DSP graphics processing units (18) connect, and centralized control unit (17) is bi-directionally connected with DSP graphics processing unit (18), depending on
Audio signalprocessing unit (15) connects synchronization indicator (19), centralized control unit (17) the most respectively with operation bench (8), servosystem
(10) it is bi-directionally connected.
4. a kind of Moving Object in Video Sequences as claimed in claim 3 follows the tracks of device, it is characterised in that: described
DSP graphics processing unit (18) is made up of DSP (20), the first image storage (21), the second image storage (22), the first figure
As memorizer (21), the second image storage (22) all use dual port RAM, one end of the first image storage (21) to pass through address
Generator (23) is connected to system bus, and the other end of the first image storage (21) meets DSP (20), DSP by data/address bus
(20) it is connected with the second image storage (22).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521012334.7U CN205693789U (en) | 2015-12-09 | 2015-12-09 | A kind of Moving Object in Video Sequences follows the tracks of device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201521012334.7U CN205693789U (en) | 2015-12-09 | 2015-12-09 | A kind of Moving Object in Video Sequences follows the tracks of device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107389318A (en) * | 2017-08-01 | 2017-11-24 | 赵淑娟 | A kind of LED light source detection method and system |
| CN108880007A (en) * | 2018-06-07 | 2018-11-23 | 南京航空航天大学 | A kind of wireless energy transfer method towards power grid high potential monitoring device sensor |
| CN112634315A (en) * | 2020-11-24 | 2021-04-09 | 河北汉光重工有限责任公司 | Video tracking system based on DSP |
| CN113108811A (en) * | 2021-04-08 | 2021-07-13 | 西安应用光学研究所 | Photoelectric turret tracking precision automatic analysis and calculation device |
-
2015
- 2015-12-09 CN CN201521012334.7U patent/CN205693789U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107389318A (en) * | 2017-08-01 | 2017-11-24 | 赵淑娟 | A kind of LED light source detection method and system |
| CN108880007A (en) * | 2018-06-07 | 2018-11-23 | 南京航空航天大学 | A kind of wireless energy transfer method towards power grid high potential monitoring device sensor |
| CN112634315A (en) * | 2020-11-24 | 2021-04-09 | 河北汉光重工有限责任公司 | Video tracking system based on DSP |
| CN113108811A (en) * | 2021-04-08 | 2021-07-13 | 西安应用光学研究所 | Photoelectric turret tracking precision automatic analysis and calculation device |
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