WO2012108577A1 - Dispositif et procédé de surveillance - Google Patents

Dispositif et procédé de surveillance Download PDF

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Publication number
WO2012108577A1
WO2012108577A1 PCT/KR2011/002121 KR2011002121W WO2012108577A1 WO 2012108577 A1 WO2012108577 A1 WO 2012108577A1 KR 2011002121 W KR2011002121 W KR 2011002121W WO 2012108577 A1 WO2012108577 A1 WO 2012108577A1
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WO
WIPO (PCT)
Prior art keywords
imaging module
target
fixed
rotation
module
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PCT/KR2011/002121
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English (en)
Korean (ko)
Inventor
제인아닐쿠마
박운상
최현철
Original Assignee
고려대학교 산학협력단
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Priority claimed from KR1020110010645A external-priority patent/KR101150563B1/ko
Priority claimed from KR1020110010639A external-priority patent/KR101170269B1/ko
Application filed by 고려대학교 산학협력단 filed Critical 고려대학교 산학협력단
Publication of WO2012108577A1 publication Critical patent/WO2012108577A1/fr

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/61—Control of cameras or camera modules based on recognised objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums

Definitions

  • the present invention relates to a monitoring apparatus and method, and more particularly, to a monitoring apparatus and method for precisely facing a target using a fixed camera and a PTZ camera.
  • surveillance cameras are installed in dark alleys, parking lots, or indoor entrances to prevent various crimes and track criminals.
  • the problem of low magnification images is that objects or people occupy a small percentage of the total image when monitored using a conventional wide area camera (also called a "fixed camera").
  • a combination of a fixed camera and a PTZ (Pan / Tilt / Zoom) camera is often used.
  • the fixed camera captures a wide angle region.
  • the PTZ camera captures the details of the target through Pan, Tilt and Zoom functions.
  • the PTZ camera pans / tilts to focus the desired position of the captured target (e.g., a specific position, such as a face), thereby increasing the magnification of the target. To get an image.
  • Systems using one PTZ camera and multiple fixed cameras allow for the calculation of the distance between an object and a camera.
  • the system generates three-dimensional coordinates of a target by stereo compositing using a number of fixed cameras, just as a person obtains three-dimensional information of an object with two eyes.
  • the system can theoretically calculate the pan and tilt angles of a PTZ camera using three-dimensional coordinates.
  • such a system is disadvantageous in terms of cost since it uses a large number of fixed cameras.
  • the stereo synthesis method requires complex computations.
  • the stereo synthesis method shows a lot of errors due to inaccuracies due to acquiring corresponding points between stereo images.
  • the system limits the distance between the camera and the object that can be calculated depending on the resolution and configuration of the camera used.
  • the correlation between the image coordinates of the fixed camera and the pan and tilt angle values of the PTZ camera obtained during the calibration process is determined by the distance between the camera and the object. Results in dependence. That is, even an object observed at the same coordinates on the image of the fixed camera may require different pan and tilt angle values according to the actual three-dimensional coordinates of the object.
  • This distance dependency requires the camera calibration process to be performed at the distance at which the object is expected to be observed.
  • distance dependence acts as an obstacle to accurate adjustment of the PTZ camera.
  • the PTZ camera may not point exactly at the target and out of the shooting area.
  • the present invention has been proposed to solve the above-described problems, and an object thereof is to provide a monitoring apparatus and method capable of accurately pointing a target regardless of the distance between the target and the camera.
  • the image pickup module for imaging a target in the area to be monitored;
  • a first fixed imaging module provided in the longitudinal direction with respect to the rotation imaging module, and configured to image an area to be monitored;
  • a second fixed imaging module provided in the transverse direction with respect to the rotation imaging module, and configured to image an area to be monitored;
  • a control module for controlling the rotation imaging module based on the information.
  • the respective direction axes of the first fixed imaging module, the second fixed imaging module, and the rotary imaging module are parallel to each other.
  • the control module provides one rotation angle value to the rotation imaging module regardless of the distance to the target.
  • one rotation angle value includes one or more of the pan and tilt angle values.
  • the control module includes a position calculating unit that calculates a position of a target in the area to be monitored from image information from the first and second fixed imaging modules; And generating position information of a target of the virtual fixed imaging module in which the rotation center point of the rotation imaging module and the position of the focus coincide based on the position information from the position calculating unit, and adjusting the rotation angle of the rotation imaging module based on the virtual position information. It includes a control unit for controlling.
  • the position calculating unit may include: a first position calculating unit that calculates a position of a target in the area to be monitored from image information from the first fixed imaging module; And a second position calculator configured to calculate a position of a target in the area to be monitored in the image information from the second fixed imaging module.
  • the position calculating unit calculates the position of the target in the area to be monitored using the background difference image.
  • the controller generates virtual position information by combining the horizontal coordinates of the position information of the target in the monitoring target area photographed by the first fixed imaging module and the vertical coordinates of the position information of the target in the monitoring target area photographed by the second fixed imaging module. do.
  • a surveillance apparatus comprising: first and second fixed imaging modules for imaging an area to be monitored; And a rotational imaging module installed in the longitudinal direction with respect to the first fixed imaging module and provided in the horizontal direction with respect to the second fixed imaging module, for imaging a target in the area to be monitored.
  • the rotation imaging module generates position information of the target of the virtual fixed imaging module whose position of the focal point coincides with the rotation center point of the rotation imaging module based on the image information including the targets from the first and second fixed imaging modules. And a control module that controls the rotation of the rotation imaging module based on the virtual position information.
  • the spectrometer the spectrometer; A rotation imaging module for imaging a target in the area to be monitored through a spectroscope; A fixed imaging module which is provided at a coaxial concentric position with the rotation imaging module with the spectroscope interposed therebetween, and captures an image of a surveillance target region reflected by the spectroscope; And a control module generating position information of the target from an image of the fixed imaging module and controlling the rotation imaging module based on the position information.
  • the control module controls the angle formed by the spectroscope and the direction axis of the rotating imaging module toward the target and the angle formed by the spectroscope and the straight line that is refracted by the spectroscope at the target to the focal point of the fixed imaging module to be equal to each other. .
  • the control module provides the rotating imaging module with one rotation angle value corresponding to the position of the target in the image information from the fixed imaging module regardless of the distance to the target.
  • One rotation angle value includes one or more of the pan and tilt angle values.
  • the control module includes a position calculating unit that calculates a position of a target in the area to be monitored from the image information from the fixed imaging module; And a controller configured to control a rotation angle of the rotation imaging module based on the position information from the position calculation unit.
  • the position calculating unit calculates the position of the target in the area to be monitored using the background difference image.
  • the apparatus further includes a container having an accommodation space and having an opening formed at one side thereof, and having a spectrometer installed at the opening.
  • the inner surface of the container is black, and a rotation imaging module is installed in the receiving space of the container.
  • the spectrometer Monitoring device according to another embodiment of the present invention, the spectrometer; A rotation imaging module for imaging a target in the area to be monitored through a spectroscope; And a fixed imaging module configured to capture an image of a surveillance target region reflected by the spectroscope.
  • the angle formed by the direction axis of the rotating imaging module toward the target and the spectroscope and the angle formed by the spectroscope and the straight line that are refracted by the spectroscope at the target and reach the focal point of the fixed imaging module are the same.
  • the container further includes a container having an accommodation space and having an opening formed at one side thereof, and having a spectrometer installed at the opening.
  • the inner surface of the container is black, and a rotation imaging module is installed in the receiving space of the container.
  • a monitoring method is a monitoring method for a monitoring apparatus including a rotational imaging module for imaging a target in a region to be monitored, first and second fixed imaging modules for imaging a region to be monitored, and a control module.
  • the virtual position information generation step may be performed by combining the horizontal coordinates of the position information of the target in the monitoring target area photographed by the first fixed imaging module and the vertical coordinates of the position information of the target in the monitoring target area photographed by the second fixed imaging module. Create location information.
  • the virtual position information generating step may include calculating a position of a target in the area to be monitored in the image information from the first and second fixed imaging modules; And generating position information of a target of the virtual fixed imaging module whose position of the focal point and the rotation center point of the rotation imaging module coincide based on the position information from the position calculating step.
  • the position calculating step calculates the position of the target in the area to be monitored using a background subtraction image.
  • the rotation imaging module control step provides the rotation imaging module with one rotation angle value regardless of the distance to the target.
  • one rotation angle value includes one or more of the pan and tilt angle values.
  • the first fixed imaging module is installed in the longitudinal direction with respect to the rotary imaging module
  • the second fixed imaging module is installed in the horizontal direction with respect to the rotary imaging module.
  • the respective direction axes of the first fixed imaging module, the second fixed imaging module, and the rotary imaging module are parallel to each other.
  • a monitoring method includes a spectroscope, a rotation imaging module for imaging a target in a surveillance target area through a spectroscope, a fixed imaging module for imaging an image of a surveillance target area reflected from a spectroscope, and a control module.
  • a monitoring method of the monitoring device to include,
  • the location information generation step generates location information of the target by using the background difference image.
  • the rotating imaging module control step provides the rotating imaging module with one rotation angle value corresponding to the position of the target in the image information from the fixed imaging module regardless of the distance to the target.
  • One rotation angle value includes one or more of the pan and tilt angle values.
  • the direction of the rotational imaging module toward the target and the angle formed by the spectroscope and the straight line from the target to the focal point of the fixed imaging module are refracted by the spectroscope are equal to each other. Control to lose.
  • the spectroscope is installed in an opening formed in one side of the container having a storage space.
  • the inner side of the container is made black.
  • the rotation imaging module is installed in the storage space of the container.
  • the spectrometer Monitoring device according to another embodiment of the present invention, the spectrometer; A rotation imaging module for imaging a target in the area to be monitored through a spectroscope; And a fixed imaging module installed at a coaxial concentric position with the rotating imaging module with the spectrometer interposed therebetween, for capturing an image of a surveillance target region reflected by the spectroscope.
  • the rotation imaging module includes a control module that generates position information of a target from an image of the fixed imaging module and controls rotation of the corresponding rotation imaging module based on the position information.
  • the control module controls the angle formed by the spectroscope and the direction axis of the rotating imaging module toward the target and the angle formed by the spectroscope and the straight line that is refracted by the spectroscope at the target to the focal point of the fixed imaging module to be equal to each other. .
  • the control module provides the rotating imaging module with one rotation angle value corresponding to the position of the target in the image information from the fixed imaging module regardless of the distance to the target.
  • One rotation angle value includes one or more of the pan and tilt angle values.
  • the control module includes a position calculating unit that calculates a position of a target in the area to be monitored from the image information from the fixed imaging module; And a controller configured to control a rotation angle of the rotation imaging module based on the position information from the position calculation unit.
  • the container further includes a container having an accommodation space and having an opening formed at one side thereof, and having a spectrometer installed at the opening.
  • the inner surface of the container is black, and a rotation imaging module is installed in the receiving space of the container.
  • an unmanned and automated AI video security system can be implemented at low cost.
  • the PTZ camera can be controlled to precisely point at the target, thus increasing the surveillance distance.
  • the fixed camera Since the fixed camera is always waiting for the appearance of another monitoring object, when a new target is captured from the fixed camera, it can be quickly moved / tracked from the current PTZ camera position to the newly detected target.
  • one fixed imaging module and a rotating scratch module have a coaxial concentric structure, so that a plurality of targets photographed at the same coordinates in the fixed imaging module correspond to the same pan and tilt angle values regardless of the distance between the camera and the target. .
  • the rotation imaging module can accurately point the target.
  • FIG. 1 is a diagram illustrating a monitoring apparatus using a conventional PTZ camera and a fixed camera.
  • FIG. 2 is a block diagram of a monitoring apparatus according to a first embodiment of the present invention.
  • FIG. 3 is a diagram illustrating an installation example of the first fixed imaging module, the second fixed imaging module, and the rotary imaging module of FIG. 2.
  • FIG. 4 is a flowchart for explaining the operation of the monitoring apparatus according to the first embodiment of the present invention.
  • FIG. 5 is a view for explaining position data output from a position calculating unit in the monitoring apparatus according to the first embodiment of the present invention.
  • FIG. 6 is a view for explaining an operation of generating position information of a virtual fixed imaging module in the monitoring apparatus according to the first embodiment of the present invention.
  • FIG. 7 is a diagram for explaining the features of the monitoring device of FIG. 2.
  • FIG. 8 is a schematic view illustrating an operation region of the monitoring device of FIG. 2.
  • FIG. 9 is a diagram illustrating a difference between a final image for each distance between the monitoring device and the target of FIG. 2 and a final image for each distance between the existing monitoring device and the target.
  • FIG. 10 is a block diagram of a monitoring apparatus according to a second embodiment of the present invention.
  • 11 to 13 are diagrams showing examples of installation of the fixed imaging module, the rotating imaging module, and the spectroscope of FIG.
  • FIG. 14 is a view for explaining the features of the monitoring apparatus according to the second embodiment of the present invention.
  • 15 is a flowchart for explaining a monitoring method according to a second embodiment of the present invention.
  • the present invention provides a coaxial concentric structure by adjusting the structure of a PTZ camera and a fixed camera to control the PTZ camera so that the target is accurately directed to the target regardless of the distance between the target and the camera (or surveillance apparatus) with a simple calculation. do.
  • the present invention implements a coaxial concentric structure by adjusting the structure of the PTZ camera and the fixed camera by using a spectroscope (for example, a beam splitter) to implement a coaxial concentric structure, regardless of the distance between the target and the camera (or surveillance apparatus) with a simple calculation. It is a second feature to control so that the target points precisely to the target.
  • a spectroscope for example, a beam splitter
  • FIG. 2 is a block diagram of a monitoring apparatus according to a first embodiment of the present invention.
  • FIG. 3 is a diagram illustrating an installation example of the first fixed imaging module, the second fixed imaging module, and the rotary imaging module of FIG. 2.
  • the monitoring apparatus includes a first fixed imaging module 20, a second fixed imaging module 24, a rotation imaging module 30, and a control module 60.
  • the first fixed imaging module 20 is installed in the longitudinal direction (see FIG. 3) with respect to the rotation imaging module 30.
  • the first fixed imaging module 20 picks up a large area while being fixed with respect to the monitoring target area. That is, the first fixed imaging module 20 is fixed to be imageable in the zoom-out state so as to cover the entire surveillance target area.
  • An example of the first fixed imaging module 20 is a wide area camera (also referred to as a "fixed camera").
  • the second fixed imaging module 24 is provided in the horizontal direction (see FIG. 3) with respect to the rotation imaging module 30.
  • the second fixed imaging module 24 picks up a large area while being fixed with respect to the monitoring target area. That is, the second fixed imaging module 24 is fixed to be imageable in the zoom-out state so as to cover the entire surveillance target area.
  • An example of the second fixed imaging module 24 may be a fixed camera.
  • the rotation imaging module 30 picks up an image of the target in the area to be monitored.
  • the rotation imaging module 30 may be a PTZ camera.
  • the direction axes of the first fixed imaging module 20 and the second fixed imaging module 24 are parallel to the rotation axes of the initial rotation imaging module 30 in which the pan and tilt angle values are set to zero.
  • two lines were drawn in a direction perpendicular to the direction axis of the initial rotation imaging module 30 in which the pan and tilt angle values were set to zero. Assume The two straight lines then lie in a perpendicular relationship to each other and comprise the center of rotation of the rotation imaging module 30.
  • the surface perpendicular to the direction axis of the rotation imaging module 30 includes the focal points of the first fixed imaging module 20 and the second fixed imaging module 24.
  • the first fixed imaging module 20, the second fixed imaging module 24, and the rotation imaging module 30 are supported by the fastening members (not shown) to support frames 32, 34, 36, 38, and 40. It is fixedly installed on. Preferably, the distance between the first fixed imaging module 20, the second fixed imaging module 24, and the rotation imaging module 30 may be reduced as much as possible.
  • the first fixed imaging module 20, the second fixed imaging module 24, and the rotation imaging module 30 are slightly spaced apart from each other. Since the first fixed imaging module 20, the second fixed imaging module 24, and the rotation imaging module 30 are hard to be implemented as a single module in hardware, they are installed as shown in FIG. 3. Of course, the first fixed imaging module 20, the second fixed imaging module 24, and the rotation imaging module 30 may be implemented as one module in hardware.
  • the control module 60 is a target of the virtual fixed imaging module coinciding with the rotation center point of the rotary imaging module 30 based on the image information including the targets from the first fixed imaging module 20 and the second fixed imaging module. Create location information.
  • the control module 60 controls the rotation imaging module 30 based on the virtual position information.
  • the control module 60 has one rotation angle value irrespective of the distance (for example, the distance between the rotation imaging module 30 and the target) with respect to the target in the image captured by the first and second fixed imaging modules 20 and 24.
  • one rotation angle value includes at least one or more of the pan, tilt angle value.
  • the control module 60 may perform zoom control of the rotation imaging module 30.
  • the embodiment of the present invention does not include a zoom because it is important to point the rotation imaging module 30 accurately to the target. However, the size of the target can be confirmed as shown in FIG. Therefore, it is natural that a high magnification image can be obtained by using an appropriate zoom.
  • the control module 60 includes a position calculator 70 and a controller 28.
  • the position calculating unit 70 calculates the position of the target in the monitoring target area from the image information from the first and second fixed imaging modules 20 and 24.
  • the position calculating unit 70 calculates the position of the target in the monitoring target area by using the background subtraction image.
  • the position calculating unit 70 calculates the position of the target in the surveillance target area from the image information from the first fixed imaging module 20, and the image from the second fixed imaging module 24. And a second position calculating section 26 for calculating a position with respect to the target in the surveillance region from the information.
  • the control unit 28 generates the position information of the target of the virtual fixed imaging module that coincides with the rotation center point of the rotation imaging module 30 based on the position information from the position calculating unit 70.
  • the controller 28 monitors the horizontal coordinates (for example, X coordinates) of the position information of the target in the surveillance target region captured by the first fixed imaging module 20 and the surveillance target captured by the second fixed imaging module 24.
  • Virtual position information is generated by combining vertical coordinates (for example, Y coordinates) among the position information of the target in the area.
  • the control unit 28 controls (adjusts) the rotation angle (eg, pan and tilt angle values) of the rotation imaging module 30 based on the virtual position information.
  • control module 60 is configured separately from the rotation imaging module 30.
  • control module 60 may be provided inside the rotation imaging module 30 as necessary. Even if the description of the configuration for this case is not separately, those who are engaged in the same industry will be fully understood by the above description.
  • FIG. 5 is a view for explaining position data output from a position calculating unit in the monitoring apparatus according to the first embodiment of the present invention.
  • 6 is a view for explaining an operation of generating position information of a virtual fixed imaging module in the monitoring apparatus according to the first embodiment of the present invention.
  • an image captured by the first fixed imaging module 20 and the second fixed imaging module 24 (that is, an image including a target in the area to be monitored) is transmitted to the control module 60.
  • the control module 60 calculates the position of the target in the monitoring target area from the image information from the first and second fixed imaging modules 20 and 24 (S10).
  • the position calculating unit 70 in the control module 60 performs position calculation.
  • the position calculator 70 calculates a position of the target, and transmits the calculated position data of the target to the controller 28.
  • the position calculation process in the position calculation unit 70 will be described in more detail as follows.
  • the first position calculating unit 22 and the second position calculating unit 26 of the position calculating unit 70 perform the same position calculating operation, only the operation of the first position calculating unit 22 will be described.
  • the operation description of the second position calculation unit 26 is sufficiently understood as the operation description of the first position calculation unit 22 described later.
  • the first position calculating unit 22 calculates the position of the target in the area to be monitored using the background difference image. That is, the first position calculator 22 uses the pre-photographed background image (refer to FIG. 5A) and the input image (refer to FIG. 5B) to target the area of the target (FIG. 5C). See In other words, the first position calculating unit 22 is a pixel of the background image (see (a) of FIG. 5) already photographed and the image (see (b) of FIG. 5) transmitted from the first fixed imaging module 20. Find the difference between units. The first position calculating unit 22 knows the presence or absence of the target of the surveillance target region and the region of the intrusion target through the difference for each pixel unit. For example, suppose the target is a person.
  • the center point of the uppermost block can be regarded as the image coordinate of the target's face by dividing the height approximately 7 times in the region of the target (FIG. 5 (c)) obtained by the background difference image. Accordingly, the first position calculator 22 transmits the image coordinates of the face of the target as the position data to the controller 28.
  • the controller 28 obtains the target position information in the image of the virtual fixed imaging module that coincides with the rotation center point of the rotation imaging module 30 based on the position information from the first and second position calculation units 22 and 26. It generates (S22). Assume that the three fixed cameras are arranged in the letter "L" shape as shown in FIG. The position coordinates of the target photographed by the center stationary camera (that is, installed at the position of the rotation imaging module 30 of FIG. 3) are positioned at the top of the stationary camera (that is, the position of the first fixed imaging module 20 of FIG. 3).
  • the horizontal and vertical position information of the position coordinates of the target object photographed by the fixed camera of the side and the fixed camera that is, installed at the position of the second fixed imaging module 24 of FIG. 3.
  • the horizontal axis (X coordinate) of the position information of the target photographed by the fixed camera at the top and the center is the same.
  • the positional information of the target photographed from the fixed camera at the side and center coincides with the vertical axis (Y coordinate).
  • the control unit 28 provides position information (( x s h , y s h ), ( x s v , y s v ) with respect to the targets in the images of the first and second fixed imaging modules 20 and 24. )),
  • the target position information ( x s h , y s v ) in the image of the virtual fixed imaging module coaxial with the rotation imaging module 30 is extracted.
  • ( x s h , y s h ) is positional information of an image plane (see 20a in FIG. 6) scratched in the first fixed imaging module 20.
  • ( x s v , y s v ) is positional information of an image plane (see 24A in FIG. 6) scratched on the second fixed imaging module 24.
  • the control unit 28 is a horizontal coordinate (X coordinate; x s h ) of the position information of the target photographed by the first fixed imaging module 20 and the vertical coordinate of the position information of the target photographed by the second fixed imaging module 24.
  • (Y coordinates; y s v ) are combined to generate positional information ( x s h , y s v ) of the target of the virtual fixed imaging module.
  • ( x s h , y s v ) is positional information of the target in the image plane (see 28A in FIG. 6) of the virtual fixed imaging module.
  • reference numeral K denotes a point where the focal point of the virtual fixed imaging module and the rotation center point of the rotation imaging module 30 coincide with each other.
  • Reference numeral 5 indicates a target.
  • the controller 28 controls the pan of the rotation imaging module 30 based on the virtual position information ( x s h , y s v ). ), The angle value of the tilt is controlled (S30).
  • the rotation imaging module 30 is adjusted so that it may exactly face a target.
  • the rotation imaging module 30 enlarges the image to recognize the target and captures a high resolution image (see 30a in FIG. 6) of the monitoring target.
  • the manager may easily recognize the face or the clothing worn by the person by analyzing the monitoring object through the image captured by the rotation imaging module 30.
  • the manager can take follow-up measures such as simply extracting the vehicle number if the analyzed monitoring object is a vehicle.
  • the existing monitoring device does not coincide with the focal point of the fixed camera and the center of rotation of the PTZ camera 14. Accordingly, the targets "a" and “b” photographed at the same image coordinates by the fixed camera correspond to different pan and tilt angle values. In other words, the existing monitoring device has a disadvantage in that the target must be accurately measured when the target is observed at a wide range of distance values from the monitoring camera.
  • the position of the image photographed by the fixed camera and the pan and tilt angle values of the PTZ camera are matched one-to-one by a coaxial concentric structure. That is, the monitoring apparatus according to the first embodiment of the present invention performs one pan and tilt angle value correction even if many targets exist at different positions, even if they are photographed with the same image coordinates. Therefore, in the first embodiment of the present invention, the PTZ camera can accurately point to the target by a simple calculation regardless of the distance between the target and the camera (or the monitoring device).
  • FIG. 7 is a diagram for explaining the features of the monitoring device of FIG. 2.
  • reference numeral 50 denotes an image plane (image plane) of a virtual fixed camera.
  • 52 denotes images of targets “a” and “b” photographed by a virtual fixed camera.
  • 54 means a PTZ camera.
  • a virtual fixed camera image (including a target) having a coaxial concentric relationship with a PTZ camera using two fixed cameras (the first fixed imaging module 20 and the second fixed imaging module 24). ).
  • the imaging surface 50 of the virtual fixed camera of FIG. 7 can be understood as the imaging surface of one fixed camera.
  • the embodiment of the present invention coincides the focal point of one fixed camera with the rotation center point of one PTZ camera.
  • the first embodiment of the present invention can match one-to-one the position of an image captured by a virtual fixed camera with a pan and tilt angle value of a PTZ camera by a coaxial concentric structure.
  • FIG. 8 is a schematic view illustrating an operation region of the monitoring device of FIG. 2.
  • Reference numeral 42 in FIG. 8 denotes an operation region.
  • the operation region 42 is an intersection portion of the imageable surveillance subject area of the first fixed imaging module 20 and the imageable surveillance subject region of the second fixed imaging module 24.
  • the rotation imaging module 30 is provided in proximity to the first and second fixed imaging modules 20 and 24 so that the target 5 photographed by the rotation imaging module 30 is located in the operation region 42. In FIG. 8, it is assumed that the target 5 and the camera (that is, the first fixed imaging module 20, the second fixed imaging module 24, and the rotation imaging module 30) are spaced apart from each other by a predetermined distance.
  • the separation distance between the first fixed imaging module 20, the second fixed imaging module 24, and the rotation imaging module 30 is preferable to reduce the separation distance between the first fixed imaging module 20, the second fixed imaging module 24, and the rotation imaging module 30 as much as possible.
  • the operation region 42 becomes wider, and the target 5 photographed by the rotation imaging module 30 does not leave the operation region 42.
  • FIG. 9 is a diagram illustrating a difference between a final image for each distance between the monitoring device and the target of FIG. 2 and a final image for each distance between the existing monitoring device and the target.
  • the monitoring apparatus acquires a high resolution image of the target regardless of the distance between the target and the camera (or the monitoring apparatus) as shown in FIG.
  • the monitoring apparatus since the monitoring apparatus according to the first embodiment of the present invention implements a coaxial concentric structure, even if the distance between the camera and the target is different from the initial correction distance, the target of the high resolution obtained by the rotation imaging module 30 is changed. There is no distance invariance.
  • FIG. 10 is a block diagram of a monitoring apparatus according to a second embodiment of the present invention.
  • 11 to 13 are diagrams showing examples of installation of the fixed imaging module, the rotating imaging module, and the spectroscope of FIG.
  • the monitoring apparatus includes a fixed imaging module 61, a rotation imaging module 66, a control module 90, and a spectroscope 72.
  • the fixed imaging module 61 is provided to face the spectroscope 72.
  • the fixed imaging module 61 is installed at a position coaxial with the rotary imaging module 66 via the spectroscope 72.
  • the position of the focus 61a of the fixed imaging module 61 with respect to the spectroscope 72 is made to be symmetrical with the rotation center point 66a of the rotation imaging module 66, and the image axis of the fixed imaging module 61 is fixed.
  • the 85 is fixed to be symmetrical with the rotation axis 86 of the rotation imaging module 66.
  • the fixed imaging module 61 picks up an image of the surveillance subject area reflected by the spectroscope 72.
  • the fixed imaging module 61 is fixed to be imageable in the zoom-out state so as to cover the entire monitoring target region through the spectroscope 72.
  • An example of the fixed imaging module 61 is a fixed camera (also referred to as a "wide camera").
  • the rotation imaging module 66 picks up the target in the area to be monitored through the spectroscope 72.
  • an example of the rotation imaging module 66 may be a PTZ camera.
  • the control module 90 generates position information of the target in the image from the fixed imaging module 61.
  • the control module 90 controls the rotation imaging module 66 based on the positional information of the target.
  • the control module 90 rotates one rotation angle value with respect to the target in the image captured by the fixed imaging module 61 (for example, the distance between the rotation imaging module 66 and the target).
  • one rotation angle value includes at least one or more of the pan, tilt angle value.
  • the control module 90 may perform zoom control of the rotation imaging module 66.
  • it since it is important to point the rotation imaging module 66 accurately to the target, it does not necessarily include a zoom. However, the size of the target can be confirmed as shown in FIG. Therefore, it is natural that a high magnification image can be obtained by using an appropriate zoom.
  • the control module 90 includes a position calculator 62 and a controller 64.
  • the position calculating part 62 calculates the position of the target object in a monitoring object area
  • the position calculating unit 62 calculates the position of the target in the monitoring target area by using the background subtraction image.
  • the control part 64 controls (adjusts) the rotation angle (for example, pan and tilt angle values) of the rotation imaging module 66 based on the positional information from the position calculating part 62.
  • the spectrometer 72 is installed between the fixed imaging module 61 and the rotary imaging module 66.
  • the spectrometer 72 reflects an image of the incident target 65 and transmits the reflected image to the fixed imaging module 61.
  • the spectrometer 72 transmits the image of the target 65 to the rotation imaging module 66.
  • the spectrometer 72 is inclinedly installed in the opening of the container 37 of a predetermined form.
  • the spectrometer 72 consists of a flat beam splitter of predetermined thickness.
  • the container 74 has a receiving space.
  • the rotation imaging module 66 is installed in the accommodation space of the container 74.
  • Inner surface of the container 74 in order to maximize the contrast between the inside (ie, the receiving space) and the outside of the container 74 so that the fixed imaging module 61 and the rotating imaging module 66 can obtain a clear image. It is preferable to make the color black. If necessary, the outer surface of the container 74 may also be black.
  • One fixed camera and one PTZ camera can be used to install one fixed camera and one PTZ camera in order to implement a coaxial concentric structure, but it is difficult to realize such a coaxial concentric structure in hardware.
  • a spectrometer 72 is disposed between the fixed imaging module 61 and the rotary imaging module 66, so that the coaxial concentric structure can be installed without installing the two modules 61 and 66 in hardware.
  • the rotary imaging module 66 and the fixed imaging module 61 are provided so as to be symmetrical with respect to the surface of the spectroscope 62.
  • the angle ⁇ 2 formed by the 80 and the spectrometer 72 is made equal to each other.
  • the line 83 connecting the rotation center point 66a of the rotation imaging module 66 and the focal point 61a of the fixed imaging module 61 is perpendicular to the plane of the spectrometer 72.
  • the angle ⁇ 3 formed with the spectrometer 72 by rotating (pan, tilting) the rotating imaging module 66 toward the target 65 is obtained.
  • the image of the target 65 is always the same as the straight line 84 that is refracted by the spectroscope 72 and reaches the focus 61a of the fixed imaging module 61 and the angle ⁇ 4 formed with the spectroscope 72.
  • the fixed imaging module 61 and the rotation scratch module 66 always operate coaxially concentrically.
  • FIG. 14 is a view for explaining the features of the monitoring apparatus according to the second embodiment of the present invention.
  • reference numeral 50 denotes an image plane (image plane) of the fixed image pickup module 61
  • reference numeral 52 denotes an image of targets "a" and "b” captured by the fixed image pickup module 61.
  • the fixed imaging module 61 and the rotation scratch module 66 have a coaxial concentric structure by using the spectroscope 72. This means that the targets a and b captured by the same coordinates in the fixed imaging module 61 correspond to the same pan and tilt angle values regardless of the distance between the camera and the target. As a result, the rotation imaging module 66 can accurately point the target.
  • control module 90 is configured separately from the rotation imaging module 66.
  • control module 90 may be provided inside the rotation imaging module 66 as necessary. Even if the description of the configuration for this case is not separately, those who are engaged in the same industry will be fully understood by the above description.
  • the fixed imaging module 61 picks up an image of the surveillance target region reflected by the spectroscope 72 (that is, an image including a target in the surveillance target region) (S100).
  • the fixed imaging module 61 transmits the captured image to the control module 90.
  • the control module 90 calculates the position of the target in the monitoring target area from the image information from the fixed imaging module 61 (S200).
  • the position calculating part 62 in the control module 90 performs a position calculation. If the target is detected, the position calculator 62 calculates the position of the target and transmits the calculated position data of the target to the controller 64.
  • the position calculation process in the position calculation unit 62 will be described in more detail as follows.
  • the position calculating unit 62 calculates the position of the target in the area to be monitored using the background difference image. That is, the position calculating unit 62 uses the pre-photographed background image (see FIG. 5 (a)) and the input image (see FIG. 5 (b)) to target the region of the target (see FIG. 5 (c)).
  • the position calculating unit 62 determines the difference of the pixel unit between the background image (see FIG. 5A) and the image transmitted from the fixed imaging module 61 (see FIG. 5B). Obtain The position calculating unit 62 knows the presence or absence of the target of the surveillance target region and the region of the intrusion target through the difference for each pixel unit. For example, suppose the target is a person. Since most people stand and move, the center point of the uppermost block can be regarded as the image coordinate of the target's face by dividing the height approximately 7 times in the region of the target (FIG. 5 (c)) obtained by the background difference image. Therefore, the position calculator 62 transmits the image coordinates of the face of the target as the position data to the controller 64.
  • the controller 64 controls (adjusts) the pan and tilt angle values of the rotation imaging module 66 based on the input position data (that is, image coordinates of the face of the target).
  • the pan and tilt angle adjustments of the control unit 64 match the direction data of the rotation imaging module 66 with the position in the image captured by the fixed imaging module 61 to adjust a specific position of the corresponding image. May be determined, and the direction data of the rotation imaging module 66 matched thereto may be inverted. This is possible because the coaxial concentric structure matches the position of the image photographed by the fixed imaging module 61 and the pan and tilt angle values of the rotation imaging module 66 one-to-one regardless of the distance to the target.
  • the pan and tilt angle values in the control unit 64 are transmitted to the rotation imaging module 66.
  • the rotation imaging module 66 rotates based on the pan and tilt angle values from the control unit 64 so as to accurately face the target (S400).
  • the rotation imaging module 66 enlarges the image to recognize the target and captures a high resolution image of the monitoring target.
  • the manager can easily recognize the face or clothing worn by the person by analyzing the monitored object through the image captured by the rotation imaging module 66.
  • the manager can take follow-up measures such as simply extracting the vehicle number if the analyzed monitoring object is a vehicle.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Studio Devices (AREA)

Abstract

L'invention concerne un dispositif de surveillance et un procédé pour indiquer avec précision une cible indépendamment de la distance entre la cible et une caméra. Le dispositif de surveillance de l'invention comprend : un module de capture rotatif capturant une cible dans une zone de surveillance ; un premier module de capture fixe installé dans la direction verticale par rapport au module de capture rotatif, et capturant la zone de surveillance de cible ; un second module de capture fixe installé dans la direction horizontale par rapport au module de capture rotatif, et capturant la zone de surveillance de cible ; et un module de commande qui génère des informations de position de la cible d'un module de capture fixe virtuel où le point central de rotation du module de capture rotatif et la position de foyer sont identiques sur la base d'informations d'image comprenant la cible provenant des premier et second modules de capture fixes, et qui commande le module de capture rotatif sur la base d'informations de position virtuelles. En utilisant une caméra fixe et une caméra PTZ, une surveillance à large plage est effectuée et une image de haute résolution d'un intrus ou d'une cible dans la zone de surveillance est capturée avec précision et simultanément indépendamment de la distance. La fiabilité d'un système de sécurité utilisant une détection de visage et une reconnaissance d'objet peut être de ce fait considérablement augmentée. Indépendamment de la distance entre une caméra et une cible, une caméra PTZ est commandée pour indiquer avec précision la cible de sorte qu'une distance de surveillance peut être étendue.
PCT/KR2011/002121 2011-02-07 2011-03-28 Dispositif et procédé de surveillance WO2012108577A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR10-2011-0010639 2011-02-07
KR1020110010645A KR101150563B1 (ko) 2011-02-07 2011-02-07 분광기를 이용한 감시 장치 및 방법
KR10-2011-0010645 2011-02-07
KR1020110010639A KR101170269B1 (ko) 2011-02-07 2011-02-07 감시 장치 및 방법

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WO2012108577A1 true WO2012108577A1 (fr) 2012-08-16

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108549413A (zh) * 2018-04-27 2018-09-18 全球能源互联网研究院有限公司 一种云台旋转控制方法、装置及无人飞行器
CN112672057A (zh) * 2020-12-25 2021-04-16 维沃移动通信有限公司 拍摄方法及装置
CN117649449A (zh) * 2024-01-30 2024-03-05 鲁东大学 一种基于计算机视觉的机械臂抓取定位系统

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Publication number Priority date Publication date Assignee Title
JPH0837615A (ja) * 1994-07-22 1996-02-06 Nec Corp 移動体撮影装置
KR20050103597A (ko) * 2004-04-26 2005-11-01 주식회사 일리시스 실시간 파노라마 비디오 영상을 이용한 감시 시스템 및 그시스템의 제어방법
JP2007116666A (ja) * 2005-09-20 2007-05-10 Fujinon Corp 監視カメラ装置及び監視カメラシステム
JP2007120993A (ja) * 2005-10-25 2007-05-17 Tokyo Institute Of Technology 物体形状測定装置

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0837615A (ja) * 1994-07-22 1996-02-06 Nec Corp 移動体撮影装置
KR20050103597A (ko) * 2004-04-26 2005-11-01 주식회사 일리시스 실시간 파노라마 비디오 영상을 이용한 감시 시스템 및 그시스템의 제어방법
JP2007116666A (ja) * 2005-09-20 2007-05-10 Fujinon Corp 監視カメラ装置及び監視カメラシステム
JP2007120993A (ja) * 2005-10-25 2007-05-17 Tokyo Institute Of Technology 物体形状測定装置

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108549413A (zh) * 2018-04-27 2018-09-18 全球能源互联网研究院有限公司 一种云台旋转控制方法、装置及无人飞行器
CN112672057A (zh) * 2020-12-25 2021-04-16 维沃移动通信有限公司 拍摄方法及装置
CN117649449A (zh) * 2024-01-30 2024-03-05 鲁东大学 一种基于计算机视觉的机械臂抓取定位系统
CN117649449B (zh) * 2024-01-30 2024-05-03 鲁东大学 一种基于计算机视觉的机械臂抓取定位系统

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