TW202025703A - Methods for deploying and scheduling cameras, monitoring systems and non-transitory computer-readable medium - Google Patents
Methods for deploying and scheduling cameras, monitoring systems and non-transitory computer-readable medium Download PDFInfo
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本發明係有關於一種攝影機佈建與排程方法、控系統以及非暫態電腦可讀取媒體,特別係有關於一種以最少攝影機達成最佳覆蓋率以及可即時地調派攝影機以進行動態追蹤之攝影機佈建與排程方法以及非暫態電腦可讀取媒體。The present invention relates to a camera deployment and scheduling method, control system, and non-transitory computer readable media, and particularly relates to a method that achieves the best coverage with a minimum of cameras and can dispatch cameras in real time for dynamic tracking Camera deployment and scheduling methods and non-transitory computer-readable media.
隨著科技之進步,使用者對於環境監控之需求也越來越高。然而,於現有的攝影機監控系統中,通常係採用固定式的攝影機,而隨著監控目標物體之數量越來越多,固定式攝影機的佈建成本將大幅地提高。此外,於習知的監控技術中,通常僅將目標物體視為一個質點,如此將可能產生對應於該目標物體之可視範圍過小或者可視角偏差過大的問題,使得顯示畫面可能無法清楚地呈現對應於該目標物體之狀況。以及,現有的監控技術並未考慮不同目標物體之重要性以及時效性,如此將可能造成監控效率不佳之情況。因此如何提供一種高效率且低複雜度的攝影機佈建及循環排程技術為目前必須解決之問題。With the advancement of technology, users have higher and higher requirements for environmental monitoring. However, in the existing camera monitoring system, a fixed camera is usually used. As the number of monitored objects increases, the deployment cost of the fixed camera will increase significantly. In addition, in the conventional monitoring technology, the target object is usually only regarded as a mass point. This may cause the problem that the visible range corresponding to the target object is too small or the viewing angle deviation is too large, so that the display screen may not clearly show the corresponding The condition of the target object. Moreover, the existing monitoring technology does not consider the importance and timeliness of different target objects, which may result in poor monitoring efficiency. Therefore, how to provide a high-efficiency and low-complexity camera deployment and cyclic scheduling technology is a problem that must be solved at present.
本發明一實施例提供一種攝影機佈建與排程方法,步驟包括:取得對應於一監控場所之三維空間資訊;根據三維空間資訊於監控場所中定義複數預設設置位置;以及根據複數攝影機之每一者所對應之攝影機資訊、複數目標物體之每一者所對應之物體資訊以及預設設置位置產生一設置結果。其中,設置結果包括攝影機之每一者對應於預設設置位置的一設置位置以及於攝影機之每一者所監控之目標物體。An embodiment of the present invention provides a camera deployment and scheduling method. The steps include: obtaining three-dimensional space information corresponding to a monitoring location; defining a plurality of preset installation positions in the monitoring location according to the three-dimensional space information; and according to each of the plurality of cameras The camera information corresponding to one, the object information corresponding to each of the plurality of target objects, and the preset setting position generate a setting result. Wherein, the setting result includes a setting position of each of the cameras corresponding to a preset setting position and the target object monitored by each of the cameras.
本發明另一實施例更提供一種非暫態電腦可讀取媒體,具有複數指令儲存於其中,當上述指令透過一電子裝置之一處理器執行時,致使電子裝置所執行之操作包括:取得對應於一監控場所之三維空間資訊;根據三維空間資訊於監控場所中定義複數預設設置位置;以及根據複數攝影機之每一者所對應之攝影機資訊、複數目標物體之每一者所對應之物體資訊以及預設設置位置產生一設置結果。其中,設置結果包括攝影機之每一者對應於預設設置位置的一設置位置以及於攝影機之每一者所監控之目標物體。Another embodiment of the present invention further provides a non-transitory computer readable medium having a plurality of instructions stored therein. When the instructions are executed by a processor of an electronic device, the operations performed by the electronic device include: obtaining the corresponding Three-dimensional space information in a surveillance site; a plurality of preset positions are defined in the surveillance site based on the three-dimensional space information; and camera information corresponding to each of the plurality of cameras, and object information corresponding to each of the plurality of target objects And the preset setting position produces a setting result. Wherein, the setting result includes a setting position of each of the cameras corresponding to a preset setting position and the target object monitored by each of the cameras.
有關本發明之攝影機佈建與排程方法以及非暫態電腦可讀取媒體適用之其他範圍將於接下來所提供之詳述中清楚易見。必須了解的是下列之詳述以及具體之實施例,當提出有關攝影機佈建與排程方法以及非暫態電腦可讀取媒體之示範實施例時,僅作為描述之目的以及並非用以限制本發明之範圍。The camera deployment and scheduling method of the present invention and other ranges applicable to non-transitory computer-readable media will be clearly seen in the detailed description provided below. It must be understood that the following detailed and specific embodiments are presented for the purpose of description and are not intended to limit the present when presenting exemplary embodiments related to camera deployment and scheduling methods and non-transitory computer readable media The scope of the invention.
第1圖係顯示根據本發明一實施例所述之用以實施攝影機佈建與排程方法之電子裝置之系統架構圖。系統架構100可實施於例如桌上型電腦、筆記型電腦、平板電腦或者智慧型手機等的電子裝置中,且至少包含一第一處理單元110以及一第一儲存單元120。第一處理單元110可透過多種方式實施,例如以專用硬體電路或者通用硬體(例如,單一處理器、具平行處理能力之多處理器、圖形處理器或者其它具有運算能力之處理器),且於執行程式碼或者軟體時,提供之後所描述的功能。於本發明之某些實施例中,第一處理單元110首先根據一監控場所之三維空間資訊取得可架設攝影機之複數預設設置位置,並根據複數攝影機之每一者所包含的攝影機資訊和/或欲監控之複數目標物體之每一者所對應之物體資訊取得對應於目標物體之每一者之一影像解析度、一可視角度、一視線遮蔽狀況和/或一時域覆蓋需求等,以於複數預設設置位置中取得最佳或者最快的攝影機佈建方案。其中,攝影機資訊可包括攝影機之每一者所對應的一最大景深以及一轉動角度等,而物體資訊則可包括目標物體之每一者之一尺寸(即目標物體的長度、寬度、高度)、目標物體之一面向(即欲監控之表面所對應之方向)、目標物體於監控場所中的一位置(座標)以及目標物體之每一者所對應的一時域覆蓋需求等。系統架構100更可包括一第一儲存單元120,用以儲存實施攝影機佈建與排程方法所需要的相關資料,例如各種演算法、對應於監控場所之三維空間相關資訊、前述之攝影機資訊、前述之物體資訊以及根據攝影機資訊與物體資訊所計算得的各種結果等,以供第一處理單元110於執行相關運算時進行存取。其中,第一儲存單元120可為硬碟、隨身碟等非揮發性儲存裝置。此外,本發明中所使用之攝影機可為具有水平/垂直旋轉以及可變景深/光圈之攝影機(Pan–Tilt–Zoom Camera, PTZ Camera),但並不以此為限。FIG. 1 shows a system architecture diagram of an electronic device for implementing a camera deployment and scheduling method according to an embodiment of the invention. The
第2圖係顯示根據本發明一實施例所述之計算影像解析度之示意圖。影像解析度(Pixel-per-foot)係指每平方單位出現於影像畫面中之像素量,於本發明中係以目標物體平行於影像畫面之長度作為基準值進行計算。而為了得到較佳的辨識效果,使用者可事先根據影像處理之效能以及使用者之監控需求自定義一第一既定值,並於計算得到攝影機與目標物體之每一者所對應之影像解析度後,刪除影像解析度小於第一既定值的目標物體,以確保目標物體的監控品質。其中,本發明所述之影像解析度可透過以下公式取得:(1) 其中,表示目標物體於該攝影機所取得的影像解析度(於圖式中僅以目標物體之高度(如圖中所示之)作為示例),表示攝影機之感光元件單位轉換為影像畫面之像素比,為目標物體平行於影像平面之投影長度,表示攝影機之景深,表示攝影機與目標物體之間之距離,而則為使用者所自定義之對應於影像解析度之既定值。值得注意的是,上述之公式僅為計算影像解析度之一示例,而計算影像解析度之方法並不以此為限。FIG. 2 is a schematic diagram of calculating the image resolution according to an embodiment of the invention. Image resolution (Pixel-per-foot) refers to the amount of pixels that appear in the image frame per square unit. In the present invention, the length of the target object parallel to the image frame is used as a reference value for calculation. In order to obtain a better recognition effect, the user can customize a first predetermined value according to the performance of image processing and the user's monitoring requirements in advance, and calculate the image resolution corresponding to each of the camera and the target object Then, delete the target object whose image resolution is less than the first predetermined value to ensure the monitoring quality of the target object. Wherein, the image resolution of the present invention can be obtained through the following formula: (1) Among them, Indicates the image resolution of the target object obtained by the camera (in the figure, only the height of the target object (as shown in the figure) ) As an example), It means the unit of the photosensitive element of the camera is converted into the pixel ratio of the image frame, Is the projection length of the target object parallel to the image plane, Indicates the depth of field of the camera, Represents the distance between the camera and the target object, and It is the defined value corresponding to the image resolution customized by the user. It is worth noting that the above formula is only an example of calculating the image resolution, and the method of calculating the image resolution is not limited to this.
第3圖係顯示根據本發明一實施例所述之計算攝影機之可視角度之示意圖。於習知的影像監控系統中,通常僅將目標物體視為一個質點,使得目標物體可能無法被精準地被攝影機的監控範圍所覆蓋,進而導致可視範圍過小,或者監控視野僅考慮目標物體之二維平面,並未考慮目標物體之面向(即目標物體之正面),導致僅拍攝到目標物體之背面之問題。而為了解決上述之問題,於本發明中,於監控目標物體時,更根據攝影機之轉動角度以及目標物體的面向所對應之一法線向量計算攝影機與目標物體之每一者所對應之一可視角度。並進一步地將可視角度大於使用者預先設定之一第二既定值之目標物體自攝影機的監控範圍內刪除,以確保使用者可透過攝影機於監視畫面中清楚地看見目標物體之正面。舉例來說,如第3圖所示,當攝影機C拍攝物體目標時(例如對焦於位於表面上的點P),其攝影機C之拍攝方向與目標物體之面向所對應之表面之法線向量所形成的夾角θ(即可視角度)必須小於使用者自定義之第二既定值,以確保使用者可透過監視畫面看見所欲監控之目標物體之正面。FIG. 3 is a schematic diagram of calculating the viewing angle of a camera according to an embodiment of the invention. In the conventional video surveillance system, the target object is usually only regarded as a mass point, so that the target object may not be accurately covered by the monitoring range of the camera, resulting in too small visual range, or the monitoring field of view only considers the target object. The dimensional plane does not consider the face of the target object (that is, the front side of the target object), which leads to the problem of only shooting the back side of the target object. In order to solve the above-mentioned problems, in the present invention, when monitoring the target object, a normal vector corresponding to the rotation angle of the camera and the orientation of the target object is calculated based on the normal vector corresponding to each of the camera and the target object. angle. Furthermore, the target object whose viewing angle is larger than a second predetermined value preset by the user is deleted from the monitoring range of the camera to ensure that the user can clearly see the front of the target object in the monitoring screen through the camera. For example, as shown in Figure 3, when the camera C shoots an object (for example, focusing on a point P on the surface), the shooting direction of the camera C and the face of the target object correspond to the normal vector of the surface The formed angle θ (that is, the viewing angle) must be smaller than the second predetermined value defined by the user to ensure that the user can see the front of the target object to be monitored through the monitoring screen.
請參閱第4圖。第4圖係顯示根據本發明一實施例所述之判斷攝影機與目標物體之間之視線遮蔽狀況之示意圖。為了確保攝影機可拍攝到目標物體之整個表面,第一處理單元110更可根據攝影機之預設設置位置之座標與目標物體之座標以及面向判斷攝影機與目標物體之間是否被其它物體所遮蔽。舉例來說,第一處理單元110首先對目標物體之面向所對應之表面S1
進行一二維格狀切割作業,以取得複數視點P1
~Pi
。接著,將攝影機與表面S1
上之各個視點連接,以判斷兩者的連線上是否被其它物體阻隔。例如,如第4圖所示,預設設置位置Cj
與視點P1
之連線上並未與其它物體相交,但預設設置位置Cj
與視點P2
之連線上則被另一物體OB
所阻隔,因此第一處理單元110判斷目標物體被其它物體所遮蔽。換言之,此表面S1
所對應之目標物體會自設置於預設設置位置Cj
上的攝影機的監控範圍中刪除。Please refer to Figure 4. FIG. 4 is a schematic diagram of judging the obstruction of the line of sight between the camera and the target object according to an embodiment of the present invention. In order to ensure that the camera can capture the entire surface of the target object, the
第5A圖係顯示根據本發明一實施例所述之一目標物體之各種可行的時域覆蓋需求之示意圖。其中,時域覆蓋需求包括一最短停留時間以及一最長間隔時間。最短停留時間為目標物體需要在攝影機的拍攝範圍內的最短時間,以及最長間隔時間為目標物體可在攝影機的拍攝範圍外的最長時間。舉例來說,如第5A圖所示,T1,m 表示一個目標物體的最短停留時間,而目標物體的停留時間亦可為T2,m 或者T3,m ,因為上述兩者之長度皆大於T1,m 。此外,T1,i 表示一個目標物體的最長間隔時間。同樣地,目標物體的間隔時間亦可為T2,i 或者T3,i ,因為上述兩者之長度皆小於T1,i 。FIG. 5A is a schematic diagram showing various feasible time domain coverage requirements of a target object according to an embodiment of the present invention. Among them, the time domain coverage requirements include a shortest stay time and a longest interval time. The shortest stay time is the shortest time the target object needs to be within the shooting range of the camera, and the longest interval time is the longest time the target object can be outside the shooting range of the camera. For example, as shown in Figure 5A, T 1,m represents the shortest residence time of a target object, and the residence time of the target object can also be T 2,m or T 3,m , because the length of both Greater than T 1,m . In addition, T 1,i represents the longest interval time of a target object. Similarly, the interval time of the target object can also be T 2,i or T 3,i , because the length of the above two is less than T 1,i .
第5B圖係顯示根據本發明一實施例所述之對應於一目標物體之時域覆蓋需求之示意圖。於本發明之實施例中,當第一處理單元110對目標物體的時域覆蓋需求進行排程時,其停留時間以及間隔時間皆為固定的。舉例來說,如第5B圖所示,在一個排程中,對應於一目標物體的停留時間皆為Tn.m
,而其間隔時間皆為Tn,i
。其中,Tn.m
大於或等於該目標物體的最短停留時間,以及Tn,i
小於或等於該目標物體的最長間隔時間。FIG. 5B is a schematic diagram showing the time domain coverage requirement corresponding to a target object according to an embodiment of the invention. In the embodiment of the present invention, when the
第6圖係顯示根據本發明一實施例所述之攝影機佈建與排程方法之流程圖。首先,於步驟S601,第一處理單元110係根據儲存於第一儲存單元120中的監控場所之三維空間資訊執行一三維格狀切割動作,以於監控場所中定義複數預設設置位置。舉例來說,如第7圖所示,對應於監控場所之三維空間首先被平均切割為5*5*5個網點。其中,由於攝影機並無法設置於地面上,因此相對於地面之網點將被刪除。換言之,於此實施例中,監控場所可具有5*5*(5-1)個預設設置位置C1
~Ci
,且預設設置位置C1
~Ci
之座標係表示為(X1
, Y2
, Z3
)…(Xi
, Yi
, Zi
),即攝影機可設置於半空中,而並非僅限制於監控場所之天花板或者牆壁上。Fig. 6 shows a flowchart of a camera deployment and scheduling method according to an embodiment of the invention. First, in step S601, the
於步驟S602,第一處理單元110根據攝影機之每一者之景深於每個預設設置位置建立對應之覆蓋範圍,並取得預設設置位置之每一者之可覆蓋的目標物體數量。其中,覆蓋範圍可由最大景深所決定。舉例來說,如第8圖所示,位於預設設置位置C1
、C2
之攝影機可覆蓋1個目標物體,位於預設設置位置C3
之攝影機可覆蓋9個目標物體,而位於預設設置位置C4
之攝影機則可覆蓋2個目標物體。值得注意的是,於此實施例中,僅以二維平面顯示攝影機之覆蓋範圍,但於實際情況中,覆蓋範圍更可考慮攝影機之上下傾斜角度。In step S602, the
於步驟S603,第一處理單元110選取可覆蓋的目標物體數量之最大者所對應的預設設置位置作為當前設置點。舉例來說,於第9圖所示之實施例中,由於位於預設設置位置C3
之攝影機之覆蓋範圍內包括最多的目標物體(9個),因此第一處理單元110首先選取預設設置位置C3
作為優先處理的一第一設置位置。接著,進入步驟S604,第一處理單元110更根據攝影機之轉動角度、目標物體之面向和/或影像解析度等刪除覆蓋範圍中不符合條件的目標物體。舉例來說,由於現有的攝影機之左右旋轉角度尚無法達到360∘(目前所能涵蓋之範圍約為±170∘),因此第一處理單元110根據旋轉角度選擇能覆蓋最多目標物體之範圍作為覆蓋範圍,並捨棄位於覆蓋範圍外的目標物體。接著,第一處理單元110更根據攝影機的轉動角度以及目標物體之面向判斷目標物體之正面是否能被攝影機拍攝到。舉例來說,如第9圖所示,目標物體O8
、O9
對應於其表面之法線向量(如圖中之箭頭所示)與攝影機拍攝方向向量(如圖中之虛線所示)之夾角係明顯地顯示出目標物體之正面並無法被位於預設設置位置C3
的攝影機所拍攝到,因此第一處理單元110將目標物體O8
、O9
自攝影機C3
所監控的目標物體中刪除。此外,為了使得辨識結果更為清楚,使用者更可事先定義一影像解析度以供第一處理單元110進一步地刪除不符合使用者之規定之目標物體。舉例來說,儘管目標物體O1
~O7
皆位於預設設置位置C3
之攝影機之覆蓋範圍內且其正面皆可被攝影機所拍攝到,但第一處理單元110係可進一步地根據使用者自定義的影像解析度將影像解析度過低的目標物體O1
~O7
自欲監控的目標物體排除。In step S603, the
於步驟S605,第一處理單元110更根據攝影機與目標物體之間之視線遮蔽狀況刪除被遮蔽的目標物體。舉例來說,第一處理單元110透過前述之步驟將攝影機與目標物體之表面上各個視點連接,以判斷攝影機與目標物體之間之視線遮蔽狀況,並刪除被遮蔽的目標物體,以留下未被遮蔽之目標物體。In step S605, the
於步驟S606,第一處理單元110更根據符合前述條件的目標物體所分別對應的時域覆蓋需求對所有目標物體進行排序,以產生對應於該攝影機的一監控排程。舉例來說,第一處理單元110首先取可覆蓋最多目標物體之一視野作為一起始視野。接著,根據起始視野中所包含的目標物體中所有停留時間取最長之一者作為對應於起始視野的一起始停留時間,並取所有間隔時間中最短之一者作為對應於起始視野的一起始間隔時間。其中,前述之起始間隔時間即為剩餘目標物體所能接著排程的剩餘時間。其中,前述之目標物體之最佳時域排程係可透過以下公式實現:(2) 其中,為停留時間,為間隔時間,為可進行排程之剩餘時間,而則為需要監控的時間。In step S606, the
第10A~10E圖係顯示根據本發明一實施例所述之對複數目標物體進行排程之示意圖。如第10A圖所示,F1~F5表示位於預設設置位置Cj 之攝影機所取得的監控視野。其中,由於監控視野F1所監控的目標物體最多,因此攝影機係以目標視野F1作為起始視野。於此實施例中,三個目標物體所分別對應的停留時間以及間隔時間為(2,5)、(1,6)以及(1,5)。換言之,如第10B圖所示,對應於目標視野F1之最短停留時間TF1,m 為Max{2,1,1}=2(秒),而可進行排程的剩餘時間T1,r 則為Min{5,6,5}=5(秒)。Figures 10A to 10E are schematic diagrams showing scheduling of multiple target objects according to an embodiment of the present invention. As shown in Figure 10A, F1~F5 represent the monitoring field of view obtained by the camera located at the preset setting position C j . Among them, since the monitoring field of view F1 monitors the most target objects, the camera system uses the target field of view F1 as the initial field of view. In this embodiment, the residence time and interval time respectively corresponding to the three target objects are (2,5), (1,6) and (1,5). In other words, as shown in Figure 10B, the shortest stay time T F1,m corresponding to the target field of view F1 is Max{2,1,1}=2 (seconds), and the remaining time T 1,r that can be scheduled is It is Min{5,6,5}=5 (seconds).
接著,於步驟S607以及步驟S608,每當第一處理單元110完成一個視野之排程後,不斷地重複判斷是否仍有其它目標物體尚未被排程,以及判斷剩餘時間是否仍大於剩餘目標物體中所有停留時間最長之一者。舉例來說,當第一處理單元110完成目標視野F1之排程後,目標視野F4所對應之停留時間為目標視野F2~F5中最長之一者,且目標視野F4所對應之停留時間TF4,m
小於剩餘時間T1,r
,因此第一處理單元110對目標視野F4進行排程。如第10C圖所示,t1
為攝影機將其目標視野自目標視野F1移動至目標視野F4所需的時間,TF4,m
則為目標視野F4之停留時間。換言之,剩餘時間T2,r
為T1,r
減去目標視野F4之停留時間TF4,m
與攝影機的移動時間t1
。接著,對於剩下的目標視野F2、F3、F5而言,目標視野F5所對應之停留時間為最長之一者,且目標視野F5所對應之停留時間TF5,m
小於剩餘時間T2,r
,因此第一處理單元110對目標視野F5進行排程。同樣地,如第10D圖所示,t2
為攝影機將其目標視野自目標視野F4移動至目標視野F5所需的時間,TF5,m
則為目標視野F5之停留時間。換言之,經過第一處理單元110對目標視野F5進行排程後,剩餘時間T3,r
為T2,r
減去目標視野F5之停留時間TF5,m
與攝影機的移動時間t2
。最後,於此一實施例中,由於剩餘的目標視野F2、F3之停留時間皆大於剩餘時間T3,r
,因此第10E圖所示之排程即為對應於預設設置位置Cj
之佈建結果。其中,t3
為攝影機將其目標視野自目標視野F5移動至目標視野F1所需的時間。值得注意的是,由於目標視野F2、F3並未被預設設置位置Cj
所對應之攝影機排程,因此目標視野F2、F3將被第一處理單元110重新標示為未被攝影機之覆蓋範圍所覆蓋之目標物體。Then, in step S607 and step S608, every time the
此外,由於不同的焦距具有不同的視野範圍(例如目標視野F1所對應之焦距較目標視野F4所對應之焦距短,因此目標視野F1相較於目標視野F4具有較大的視野範圍),因此攝影機於拍攝目標物體時,通常會以其與目標物體之間之距離作為焦距,以取得最大的視野範圍。In addition, because different focal lengths have different fields of view (for example, the focal length corresponding to the target field of view F1 is shorter than the focal length corresponding to the target field of view F4, so the target field of view F1 has a larger field of view than the target field of view F4), so the camera When shooting a target object, usually the distance between it and the target object is used as the focal length to obtain the largest field of view.
接著,當完成攝影機之覆蓋範圍內的所有目標物體之排程後,或者當剩餘目標物體之停留時間皆大於剩餘時間時,將當前排程設定為對應於預設設置位置Cj
之第一佈建結果,並進入步驟S609,第一處理單元110判斷監控場所中是否仍有未被攝影機之覆蓋範圍所覆蓋之目標物體。若有,則回到步驟S602,第一處理單元110重新根據剩餘的目標物體於剩餘的預設設置位置中取得每一者所對應之可覆蓋目標物體之數量,以及選取具有最多可覆蓋目標物體之數量之預設設置位置作為下一個攝影機設置位置,並重複步驟S702~S709之動作直到所有目標物體皆被攝影機覆蓋為止。Then, when the schedule of all target objects within the coverage of the camera is completed, or when the stay time of the remaining target objects is greater than the remaining time, the current schedule is set to the first cloth corresponding to the preset setting position C j If the result is established, the process proceeds to step S609, and the
值得注意的是,於上述示例性裝置中,儘管上述方法已在使用一系列步驟或方框之流程圖的基礎上描述,但本發明不侷限於這些步驟的順序,並且一些步驟可不同於其餘步驟的順序執行或其餘步驟可同時進行。此外,本領域的技術人士將理解在流程圖中所示的步驟並非唯一的,其可包括流程圖的其他步驟,或者一或多個步驟可被刪除而不會影響本發明的範圍。It is worth noting that in the above exemplary device, although the above method has been described on the basis of a flowchart using a series of steps or blocks, the present invention is not limited to the order of these steps, and some steps may be different from the others. The steps are performed sequentially or the remaining steps can be performed simultaneously. In addition, those skilled in the art will understand that the steps shown in the flowchart are not exclusive, and may include other steps of the flowchart, or one or more steps may be deleted without affecting the scope of the present invention.
根據本發明另一實施例,為了取得最佳化之攝影機佈建方案,係可透過一混合型整數及線性規劃(Mixed Integer-Linear Programming, ILP)來計算具有最少攝影機數量之最佳化佈建方案。其中,混合型整數及線性規劃之原理為根據複數限制條件於一空間中取得符合前述每個限制條件之一空間,再於該空間中求得一目標函數之最大值或者最小值。舉例來說,第11圖係顯示一二維座標中符合限制條件之空間之示意圖。如圖所示,於此實施例中,限制條件為、、、、。而根據上述之限制條件,即可求得一二維座標中取得符合上述限制條件之由原點以及點A~點D所形成之斜線區域。最後,再根據一目標函數於該斜線區域中找出對應於該目標函數之最大值/最小值。舉例來說,根據本發明一實施例,可先根據攝影機之每一者之攝影機資訊(例如最大景深以及轉動角度)以及目標物體之每一者之物體資訊(例如尺寸、面向、位置與時域覆蓋需求)求得對應於目標物體之每一者之影像解析度、可視角度以及視線遮蔽狀況等限制條件,再根據影像解析度、可視角度以及視線遮蔽狀況等限制條件求得複數佈建結果。其中,於上述佈建結果中,攝影機之每一者皆符合前述之限制條件,且目標物體之每一者皆被攝影機所監控。接著,選擇具有攝影機數量之最少一者作為最後的設置結果。然而,於本發明中,最佳化佈建方案係可透過以下之公式取得:(3)(4)(5)(6)(7) 其中,表示有被覆蓋之目標物體數量,表示環境中所挑選的排程數量,表示每個預設設置位置挑選的排程數量不能超過1種,表示能覆蓋的目標物體之排程為1,以及則表示能否覆蓋目標物體數量。According to another embodiment of the present invention, in order to obtain an optimized camera deployment plan, a Mixed Integer-Linear Programming (ILP) can be used to calculate the optimal deployment with the least number of cameras Program. Among them, the principle of mixed integer and linear programming is to obtain a space that meets each of the aforementioned constraints in a space according to complex constraints, and then obtain the maximum or minimum value of an objective function in the space. For example, Figure 11 is a schematic diagram showing a space that meets the restriction conditions in a two-dimensional coordinate. As shown in the figure, in this embodiment, the restriction condition is , , , , . According to the above-mentioned restriction conditions, the oblique line area formed by the origin and point A~point D that meet the above-mentioned restriction conditions can be obtained in a two-dimensional coordinate. Finally, according to an objective function, the maximum/minimum value corresponding to the objective function is found in the oblique area. For example, according to an embodiment of the present invention, the camera information (such as the maximum depth of field and rotation angle) of each of the cameras and the object information of each of the target objects (such as size, orientation, position, and time domain) Coverage requirements) Obtain the image resolution, viewing angle, and line-of-sight occlusion conditions corresponding to each of the target objects, and then obtain multiple deployment results based on the image resolution, viewing angle, and line-of-sight occlusion conditions. Among them, in the above deployment result, each of the cameras meets the aforementioned restriction conditions, and each of the target objects is monitored by the cameras. Then, choose the one with the least number of cameras as the final setting result. However, in the present invention, the optimized deployment scheme can be obtained through the following formula: (3) (4) (5) (6) (7) Among them, Indicates the number of target objects covered, Indicates the number of schedules selected in the environment, Indicates that the number of schedules selected for each preset setting position cannot exceed one. Indicates that the schedule of the target object that can be covered is 1, and Means Whether it can cover the number of target objects.
其中,由於前述之混合型整數及線性規劃會找出所有可能之組合,再從中挑選出最佳之一者作為最後的佈建方案,因此需要大量的時間進行運算。而第7圖所示之攝影機佈建與排程方法係透過於每一個步驟中採取在當前條件下最有利的選擇,因此相較於混合型整數及線性規劃,其可更快速地求得最接近最佳佈建方案之另一方案,以達成高效率佈建以及排程之目的。Among them, since the aforementioned mixed integer and linear programming will find all possible combinations, and then select the best one as the final deployment plan, a lot of time is required for calculations. The camera deployment and scheduling method shown in Figure 7 adopts the most advantageous choice under current conditions in each step. Therefore, compared with mixed integer and linear programming, it can get the most Another solution close to the best deployment solution to achieve the purpose of efficient deployment and scheduling.
請參閱第12圖,第12圖係顯示根據本發明一實施例所述之監控系統之系統架構圖。其中,監控系統200可實施於例如桌上型電腦、筆記型電腦、平板電腦或者智慧型手機等的電子裝置中。其中,第二處理單元210以及第二儲存單元220之配置係與系統架構100之第一處理儲存單元110以及第一儲存單元120之配置相同,在此即不加以描述以精簡說明。監控系統200更可包括一通訊介面250,用以透過有線或者無線之通訊協定與佈建好的攝影機260a~260n連接,以自攝影機260a~260n接收影像畫面或者控制攝影機260a~260n之拍攝方向。輸入單元230(例如滑鼠、觸控筆、鍵盤和/或觸控面板等),用以供使用者執行指令輸入等之操作。此外,系統架構100更可包括一顯示單元240,顯示單元240可為顯示面板(例如,薄膜液晶顯示面板、有機發光二極體面板或者其它具顯示能力的面板),用以顯示輸入的字元、數字、符號、拖曳鼠標的移動軌跡或者應用程式所提供的使用者介面,以提供給使用者觀看。其中,輸入單元230與顯示單元240亦可結合為一觸控顯示面板,例如智慧型手機或者平板電腦之觸控顯示螢幕。值得注意的是,前述有關電子裝置之說明僅為一些示例,但本發明並不以此為限。Please refer to Fig. 12, which shows a system architecture diagram of a monitoring system according to an embodiment of the present invention. Among them, the
根據本發明另一實施例,於完成攝影機之佈建以及排程後,監控系統200更可根據使用者之需求進行即時運算以調派攝影機進行動態監控與追蹤。舉例來說,當特定目標物體發生異常事件時,可根據目標物體之所在位置以及朝向以調派相應之特定攝影機進行即時監控。或者,使用者亦可透過輸入單元230於監視場所所對應之地圖上圈選特定區域或者特定目標物體,並給予對應的特定時域覆蓋需求,使得第二處理單元210可根據特定區域或者特定目標目標之位置、面向以及時域覆蓋需求更新攝影機之排程,以達到動態監控與追蹤之目的。According to another embodiment of the present invention, after the deployment and scheduling of the cameras are completed, the
綜上所述,根據本發明一些實施例所提出之攝影機佈建與排程方法以及非暫態電腦可讀取媒體,透過考慮監控目標之各種監控需求條件(例如物體之尺寸以及面向等),使得每個監控目標皆可清楚地呈現於監控畫面上,且透過考慮不同目標物體之重要性以及時效性,亦可滿足各個監控目標之監控品質。此外,本發明透過找出攝影機佈建位置之視野範圍與監控目標之配對之集合,以決定合適的攝影機擺放角度,以及透過最佳剩餘時間策略來進行攝影機之排程,並同時考量監控時效需求及涵蓋監控目標數量,以取得具有最少攝影機數量之最佳化排程結果。In summary, according to the camera deployment and scheduling methods and non-transitory computer-readable media proposed in some embodiments of the present invention, by considering the various monitoring requirements of the monitoring target (such as the size and orientation of the object), Each monitoring target can be clearly displayed on the monitoring screen, and by considering the importance and timeliness of different target objects, the monitoring quality of each monitoring target can also be met. In addition, the present invention determines the appropriate camera placement angle by finding the matching set of the field of view of the camera deployment position and the monitoring target, and uses the best remaining time strategy to schedule the camera, and also considers the monitoring timeliness Demand and cover the number of monitoring targets to obtain the optimal scheduling result with the least number of cameras.
本發明之方法,或特定型態或其部份,可以以程式碼的型態存在。程式碼可以包含於實體媒體,如軟碟、光碟片、硬碟、或是任何其他機器可讀取(如電腦可讀取)儲存媒體,亦或不限於外在形式之電腦程式產品,其中,當程式碼被機器,如電腦載入且執行時,此機器變成用以參與本發明之裝置。程式碼也可透過一些傳送媒體,如電線或電纜線、光纖、或是任何傳輸型態進行傳送,其中,當程式碼被機器,如電腦接收、載入且執行時,此機器變成用以參與本發明之裝置。當在一般用途處理單元實作時,程式碼結合處理單元提供一操作類似於應用特定邏輯電路之獨特裝置。The method of the present invention, or a specific type or part thereof, can exist in the form of code. The program code can be included in physical media, such as floppy disks, CDs, hard disks, or any other machine-readable (such as computer-readable) storage media, or not limited to external forms of computer program products. Among them, When the program code is loaded and executed by a machine, such as a computer, the machine becomes a device for participating in the present invention. The code can also be transmitted through some transmission media, such as wire or cable, optical fiber, or any transmission type. When the code is received, loaded and executed by a machine, such as a computer, the machine becomes used to participate The device of the present invention. When implemented in a general-purpose processing unit, the program code combined with the processing unit provides a unique device that operates similar to the application of specific logic circuits.
以上敘述許多實施例的特徵,使所屬技術領域中具有通常知識者能夠清楚理解本說明書的形態。所屬技術領域中具有通常知識者能夠理解其可利用本發明揭示內容為基礎以設計或更動其他製程及結構而完成相同於上述實施例的目的及/或達到相同於上述實施例的優點。所屬技術領域中具有通常知識者亦能夠理解不脫離本發明之精神和範圍的等效構造可在不脫離本發明之精神和範圍內作任意之更動、替代與潤飾。The features of many embodiments are described above, so that those skilled in the art can clearly understand the form of this specification. Those skilled in the art can understand that they can use the disclosure of the present invention as a basis to design or modify other processes and structures to accomplish the same purpose as the above-mentioned embodiment and/or achieve the same advantages as the above-mentioned embodiment. Those with ordinary knowledge in the technical field can also understand that equivalent structures that do not depart from the spirit and scope of the present invention can be arbitrarily changed, substituted and modified without departing from the spirit and scope of the present invention.
110:第一處理單元120:第一儲存單元210:第二處理單元220:第二儲存單元230:輸入單元240:顯示單元250:通訊介面260a:260n:攝影機Ci:攝影機的預設設置位置O:目標物體Pi:視點S601:S609:步驟流程T1,i:T3,i、Tn,i:間隔時間T1,m:T3,m、Tn,m、TF1,m、TF4,m、TF5,m:停留時間T1,r、T2,r、T3,r:剩餘時間t1、t2、t3:移動攝影機所需的時間θ:對應於目標物體之面向之表面之法線向量與攝影機拍攝方向向量之夾角110: first processing unit 120: first storage unit 210: second processing unit 220: second storage unit 230: input unit 240: display unit 250: communication interface 260a: 260n: camera C i : camera's preset setting position O: target object P i : viewpoint S601: S609: step flow T 1, i : T 3,i , T n,i : interval time T 1,m : T 3,m , T n,m , T F1,m , T F4,m , T F5,m : stay time T 1,r , T 2,r , T 3,r : remaining time t 1 , t 2 , t 3 : time required to move the camera θ: corresponding to the target The angle between the normal vector of the object's facing surface and the camera shooting direction vector
第1圖係顯示根據本發明一實施例所述之用以實施攝影機佈建與排程方法之電子裝置之系統架構圖。 第2圖係顯示根據本發明一實施例所述之計算影像解析度之示意圖。 第3圖係顯示根據本發明一實施例所述之計算攝影機之可視角度之示意圖。 第4圖係顯示根據本發明一實施例所述之判斷攝影機與目標物體之間之視線遮蔽狀況之示意圖。 第5A圖係顯示根據本發明一實施例所述之一目標物體之各種可行的時域覆蓋需求之示意圖。 第5B圖係顯示根據本發明一實施例所述之對應於一目標物體之時域覆蓋需求之示意圖。 第6圖係顯示根據本發明一實施例所述之攝影機佈建與排程方法之流程圖。 第7圖係顯示根據本發明一實施例所述之對監控場所執行三維格狀切割動作之示意圖。 第8圖係顯示根據本發明一實施例所述之對應於不同預設設置位置之覆蓋範圍之示意圖。 第9圖係顯示根據本發明一實施例所述之位於攝影機之拍攝範圍內之目標物體之示意圖。 第10A~10E圖係顯示根據本發明一實施例所述之對複數目標物體進行排程之示意圖。 第11圖係顯示一二維座標中符合限制條件之空間之示意圖。 第12圖係顯示根據本發明一實施例所述之監控系統之系統架構圖。FIG. 1 shows a system architecture diagram of an electronic device for implementing a camera deployment and scheduling method according to an embodiment of the invention. FIG. 2 is a schematic diagram of calculating the image resolution according to an embodiment of the invention. FIG. 3 is a schematic diagram of calculating the viewing angle of a camera according to an embodiment of the invention. FIG. 4 is a schematic diagram of judging the obstruction of the line of sight between the camera and the target object according to an embodiment of the present invention. FIG. 5A is a schematic diagram showing various feasible time domain coverage requirements of a target object according to an embodiment of the present invention. FIG. 5B is a schematic diagram showing the time domain coverage requirement corresponding to a target object according to an embodiment of the invention. Fig. 6 shows a flowchart of a camera deployment and scheduling method according to an embodiment of the invention. Fig. 7 is a schematic diagram showing the execution of a three-dimensional grid cutting operation on a monitored place according to an embodiment of the present invention. FIG. 8 is a schematic diagram showing the coverage area corresponding to different preset positions according to an embodiment of the present invention. FIG. 9 is a schematic diagram showing a target object located within the shooting range of the camera according to an embodiment of the invention. Figures 10A to 10E are schematic diagrams showing scheduling of multiple target objects according to an embodiment of the present invention. Figure 11 is a schematic diagram showing a space that meets the restriction conditions in a two-dimensional coordinate. Figure 12 shows a system architecture diagram of the monitoring system according to an embodiment of the invention.
S601~S609:步驟流程 S601~S609: Step flow
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