JPS60150390A - Picture tracking device - Google Patents

Abstract

PURPOSE:To keep stably the tracking of an object even at a short range by measuring always an area of the object, and decreasing the number of picture elements when the area is larger than the predetermined value so as to decrease the spread of the object picture. CONSTITUTION:A switch 18 is thrown to the position of a contact (a) at start and when a full screen picture data 3 is selected by a processing gate 4, the data is converted into a binary picture data 9, the centroid is operated and an object position signal 11 is outputted. In this case, a binary picture data 9 is inputted also to an area measuring circuit 19 at the same time and the area S of the binary-coding object picture 14 is measured. The S is expressed in Equation I , where Sg is the area of the processing gate 13 and when (a) is selected as 0.3, since the size of the object picture is sufficiently smaller than the area of the processing gate, the traking of the object is continued stably. When the object approaches and the area is expressed in Equation II, it is discriminated that the size of the object picture is sufficiently larger, a switching signal 21 is outputted to the switch 18 and the switch is thrown to the position of a contact (b). A horizontal direction picture element maximum value detecting circuit 16 decreased the horizontal direction total picture element number to 1/m, where (m) is a natural number. Similarly, a vertical direction picture element maximum value detection circuit 17 decreases the vertical direction picture element number to 1/n so as to keep stably the tracking of the object.

Description

[Detailed description of the invention] [Technical portion of the invention 1υT] This invention allows the tracking target to be tracked even if the target image is too large compared to the size of the processing gate. The present invention relates to a two-image tracking device that can stably maintain tracking of images.

[Prior art]

2 is a diagram showing an example of the configuration of this conventional ground device. In FIG. 1, (l) is an imaging unit, (2) is /D resolution 8K, (31 is full screen image data, (4) is a processing gate setting circuit, (5) is gate white image r-bit data, (6
) is a binary circuit, +71 is a threshold circuit, (8) is threshold data, (9) is a binary image! data, open is center of gravity calculation circuit.

(Ill is a signal indicating the target position I〆.

FIG. 2 is a diagram showing the positional relationship between the target imaged by the imaging section (1) and the screen. In Figure 2, 0 is the screen,
+131 is the processing gate, (141 is the binarized 101-vote image,
09 is the center of the screen.

Now, the video signal output by the imaging unit il+ is transformed into /D by the //I) transformer (2) and becomes the "elephant data (3)" on the planning screen.

The signal is input to the processing gate setting circuit (4). The processing gate setting circuit (4) selects only the image data (5) in the gate surrounded by +1.1 on both sides shown in Fig. 2 (1'!l is the processing game set in Zochuo). The output is vortexed.

The signal is input to the binarization circuit +61 and the threshold [direct circuit (7)]. Threshold 1st page i, '4 (7) is calculated, for example, by calculating the average iσ of the image surrounded by the processing Pl gate (1 The conversion circuit (6) uses this threshold 1 data (8) to convert the input in-gate image data (5) to k 2 lil!r, and Value image data (9) All output to the center of gravity calculation circuit G Koji.The center of gravity point calculation circuit decoy calculates the center of gravity coordinates (a, a) with the origin Q of the double-sided centers of the binarized target image 0410, and y target position fj signal 01).This eye 4 position signal (lυ is, for example, not shown in the figure,
The direction of the servo mount is inputted to the direction control device of the servo mount equipped with 11, and the direction of the servo mount is controlled so that it converges to Gx, Oy, or 0. Tracking of the target image, that is, tracking of the target is performed.

By the way, in general, when the distance to the target decreases by 911F as the number 4 gets closer, the size of the binarization target (both 04) gradually becomes thicker, and eventually it begins to extend beyond the processing gate (1 well). This has the disadvantage that it is difficult to accurately locate the target's center of gravity, making it difficult to track the target.

[Summary of the invention]

In this invention, the surface edges of I-1A and V4 are always measured with one machine.
By reducing the cumulative number of strokes on platforms whose area is larger than the predetermined value and reducing the spread of the target image by ka4,
The purpose is to provide an image tracking device that can stably maintain target tracking even at short distances.
This invention will be explained in detail.

[Embodiments of the invention]

FIG. 3 is a diagram showing the configuration of an embodiment of the present invention, in which (1e is a horizontal pixel maximum value detection circuit, 07 is a vertical pixel maximum 1 direct detection circuit, (country is a switch, O 2 is the area measurement time; 2 is the reduced image data base; υ is the switching signal.

The process of obtaining full-screen image data (3) is the same as that of the conventional device, so the explanation will be omitted. In Fig. 3, initially, the switch outlet is connected to contact a (Jill,
Full-screen image data (3) is the same as in the conventional device.

The mausoleum selected in the processing gate (4), 2 @ picture 19 data (
9), the center of gravity is calculated, and the second vote position signal Ql) is output. At this time, at the same time, the binary image data (9) is also input to the surface 11i11 times 1 (field), and the surface Q and S of the binary image 04 are measured.

Assuming that S has a processing gate of 0 and 5 bonds as S.

S ((a °Bg (1) where a is a positive number smaller than 1, for example a-, -
If it is 0.3, the size of the target image is sufficiently smaller than the processing gate, so it is possible to increase the total tracking stability of the target by +11i V4.

Next, when the target approaches and becomes Sa-8g+21, it is determined that the size of the target image has become sufficiently large, and a switching signal (21) is output to the switching device.

The switch is connected to the contact side.

By the way, the horizontal direction pixel maximum value detection circuit flQ is as follows.

Every m pixels in the horizontal (row) direction, where m is a natural number.

The input image P, . (k is 0. or a natural number), the total number of pixels in the horizontal direction is reduced to 1/2. Namely.

Qk, j=) laxcPkm, j' km+l, j
, Pkrn+2. j ' ・・・・・・P Kokan □-1
), ρ (3) where M (a, b, c, -, d) is # (albl”
It shows the seriousness in 'd).

Similarly, 9-ply vertical pixel m large value detection circuit Q? ), where n is a natural number, Q,, k is divided into every n pixels in the vertical (column) direction, the maximum @wo in each division, the representative value of that division R, t (l 0. or a natural number) By doing so, the total number of pixels in the vertical direction is reduced to four. Namely.

RJl=”ax(Qk, 1.n” Qk, In-)1
"k, /n+2""'"" Qk, An-1-(
n -1)) "The reduced image data set described above is represented by the above Rk, l', and as is clear from the above explanation,
This is the original image data. Full screen image data (3),
It can be seen that the data have been thinned out by 1/m in the horizontal direction and by 4 in the vertical direction.

In the sickle of this process, the function of the eye 1 cloud painting is directly MiT
The life span is 1/(mn) of the value of , and after 1, given 1, S
(・Sg), and stable target tracking will continue.

As described above, according to the present invention, if the area of the target image increases due to 9 etc. where the target approaches.

Pixels are thinned out horizontally and vertically to reduce the spread of the two images, making it possible to track the target stably for a longer period of time, which greatly contributes to improving the reliability and operability of the device. becomes possible.

In addition, in the horizontal/vertical image system maximum value detection described above, m,
If either dimension or n is set to 1, pixels in that direction will not be thinned out, so the present invention can also be applied to reducing the number of pixels in only one direction.

[Brief explanation of drawings]

Figure εB1 is a diagram showing an example of the configuration of a conventional 11!11 i*ζ tracking device, and Figure 2 is a diagram showing the positional relationship between the target and the screen. No. 31 No. 1 is a configuration diagram of an image tracking device showing an embodiment of the present invention. In the figure, (X) is the imaging unit, (3) is full-screen image data, (
4) is the processing gate setting circuit, QI is the center of gravity calculation circuit, a
υ is the target position signal, (19 is the processing game), (11 is the horizontal direction pixel maximum value detection circuit, flη is the vertical direction pixel maximum value detection circuit, (1 bag is the area measurement circuit, (a) is the reduced image data In Figure 1, the same or corresponding parts are indicated by the same reference numerals. Agent: Masao Oiwa Figure 1 Figure 2

Claims (1)

[Claims] In an image tracking device that outputs all position data of a target included in one image by inputting an image signal output from an imaging unit and processing one image signal, a processing gate is provided surrounding the target. a processing gate setting means for setting a processing gate; and an area meter i[111 means for measuring the area of the target image surrounded by the processing gate set by the means. Take the upper left corner of the screen as the origin, and coordinate in the horizontal direction. Sitting in the vertical direction at coordinates j ('+J is a natural number) (1゜j
), let 1mf be a natural number 1J, and @contact J(1 pixel fPInk + J' m
k4-1,5+,mic+(l1),3)
(k is 0. or a continuous natural number) maximum value Q,
,'f? , are representative values of these m silk pixels, and n sets of adjacent data f Qk , nt'', where n is a natural number.
k, n7+1'... Qk, nj-1-(n-1) l Cl&'! O, or consecutive natural numbers), the maximum value Rk, 7' of these n
The target screen is set as the representative value of the set of data, and until the bond exceeds the specified value, 1. Pl obtained by changing j
, J are all pixels to be processed, and if the target screen area exceeds the predetermined value, R k, t obtained by changing t.
1. A single-image tracking device characterized by comprising: means for determining a pixel as a processing target pixel.