WO2019242672A1 - 一种目标跟踪方法、装置及系统 - Google Patents
一种目标跟踪方法、装置及系统 Download PDFInfo
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- the present application relates to the field of image processing technology, and in particular, to a method, a device, and a system for tracking an object.
- Target tracking refers to tracking a moving object in a continuous image sequence, obtaining the position of the moving object in each frame of the image, and then determining the moving trajectory of the moving object.
- Target tracking has a wide range of applications in video surveillance, autonomous driving and video entertainment.
- the target tracking method includes: initializing the characteristic information of the target moving object, predicting the position of the target moving object in the current image based on the current moving information of the target moving object; and then determining multiple containing motions from the current image based on the predicted position
- the candidate frame of the object determine the confidence of the moving object contained in each candidate frame based on the feature information of the target moving object and the characteristic information of the moving object contained in each candidate frame; select the moving object contained in the candidate frame with the highest confidence
- the target moving object the current moving track of the target moving object is determined.
- the purpose of the embodiments of the present application is to provide a target tracking method, device, and system to improve the efficiency of achieving target tracking and optimize the tracking effect.
- the specific technical solutions are as follows:
- an embodiment of the present application provides a method for tracking an object, where the method includes:
- the target attribute information is the attribute information of the tracking target
- the step of detecting the target image and determining a plurality of target frames containing moving objects includes:
- a candidate frame of a moving object of the same type as the target type is selected as the target frame.
- the target type includes one or more of a vehicle, a person, and a human face.
- the method further includes:
- the step of extracting attribute information of each target frame includes:
- the method After acquiring the target frame with the same attribute information as the preset target attribute information as the current frame, the method further includes:
- the method further includes:
- a target frame with the same identifier as the target identifier is obtained from multiple target frames as the current frame.
- the method further includes:
- the target position information includes a pitch angle, a yaw angle, and a roll angle of the image acquisition device.
- the tracking target is a vehicle
- the attribute information includes a vehicle color and a vehicle type.
- an embodiment of the present application further provides a target tracking device, where the device includes:
- a first acquisition module configured to acquire a target image including a tracking target
- a first determining module configured to detect the target image and determine multiple target frames containing moving objects
- An extraction module for extracting attribute information of each target frame
- a second obtaining module configured to obtain, from a plurality of target frames, a target frame having the same attribute information as preset target attribute information as the current frame; the target attribute information is attribute information of the tracking target;
- a second determining module is configured to determine a motion trajectory of the tracking target according to the position information of the current frame.
- the first determining module is specifically configured to:
- a candidate frame of a moving object of the same type as the target type is selected as the target frame.
- the target type includes one or more of a vehicle, a person, and a human face.
- the first determining module is further configured to determine an identifier of each target frame; wherein the identifiers of all target frames including the same moving object are the same;
- the extraction module is specifically configured to determine whether a target identifier corresponding to the tracking target is recorded; if not, extract attribute information of each target frame;
- the second obtaining module is further configured to obtain the target frame with the same attribute information as the preset target attribute information as the current frame, and use the identifier of the current frame as the target identifier to record the target identifier and the tracking target. Corresponding relationship.
- the second obtaining module is further configured to, if it is determined that the target identifier is recorded, obtain a target frame having the same identifier as the target identifier from multiple target frames as the current frame.
- the device further includes:
- a third determining unit configured to determine motion information of the tracking target
- a fourth determining unit configured to determine target position information of the image acquisition device according to the motion information
- a sending unit is configured to send the target position information to the image acquisition device, so that the image acquisition device adjusts a position according to the target position information.
- the target position information includes a pitch angle, a yaw angle, and a roll angle of the image acquisition device.
- the tracking target is a vehicle
- the attribute information includes a vehicle color and a vehicle type.
- an embodiment of the present application further provides an electronic device including a processor and a memory; the memory is used to store a computer program; the processor is used to execute a program stored on the memory, Implement any of the above target tracking method steps.
- an embodiment of the present application further provides a target tracking system, which includes an image acquisition device and any of the foregoing target tracking devices.
- an embodiment of the present application further provides a machine-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, implements any of the foregoing target tracking method steps .
- the electronic device after obtaining a target image including a tracking target, extracts attribute information of each target frame including a moving object, and obtains a target frame with the same attribute information as the target attribute information from multiple target frames as the current frame. After that, the electronic device determines the motion trajectory of the tracking target according to the position information of the current frame.
- the target attribute information is attribute information of the tracking target.
- the electronic device can determine the motion trajectory of the tracking target through the attribute information.
- the attribute information is structured data, and the complexity of extracting the attribute information is lower than the complexity of calculating the confidence level, which improves the efficiency of achieving target tracking and further optimizes the tracking effect.
- it is not necessary to achieve all the advantages described above at the same time.
- FIG. 1 is a first flowchart of a target tracking method according to an embodiment of the present application
- FIG. 2 is a second schematic flowchart of a target tracking method according to an embodiment of the present application.
- FIG. 3 is a schematic flowchart of a third method of a target tracking method according to an embodiment of the present application.
- FIG. 4 is a schematic flowchart of a fourth method of a target tracking method according to an embodiment of the present application.
- FIG. 5 is a first schematic structural diagram of a target tracking device according to an embodiment of the present application.
- FIG. 6 is a second schematic structural diagram of a target tracking device according to an embodiment of the present application.
- FIG. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
- the target tracking method can be applied to an image acquisition device or an electronic device connected to the image acquisition device.
- the electronic device may be a mobile phone, a tablet computer, and a desktop computer.
- the following description is made by taking an electronic device as an example.
- the target tracking method includes: acquiring a target image including a tracking target; detecting the target image to determine a plurality of target frames containing a moving object; extracting attribute information of each target frame; and obtaining attribute information and a prediction from the multiple target frames Set a target frame with the same target attribute information as the current frame, where the target attribute information is the attribute information of the tracking target; and determine the motion trajectory of the tracking target based on the position information of the current frame.
- the electronic device can determine the motion trajectory of the tracking target through the attribute information.
- the attribute information is structured data, and the complexity of extracting the attribute information is lower than the complexity of calculating the confidence level, which improves the efficiency of achieving target tracking and further optimizes the tracking effect.
- FIG. 1 is a schematic flowchart of a first method of a target tracking method according to an embodiment of the present application. The method includes the following steps.
- Step 101 Obtain a target image including a tracking target.
- the target image acquired by the electronic device may be an image sent by the image acquisition device after acquisition.
- the target image acquired by the electronic device may also be an image input by a user.
- the image acquisition device may be a dome camera, a binocular camera, and the like.
- the tracking target may be a moving object detected by the electronic device in the image. That is, after the electronic device obtains the image, all the moving objects detected from the image are used as the tracking target.
- the tracking target can also be a moving object specified by the user. That is, before the electronic device performs target tracking, the user inputs information of the tracking target in advance.
- Step 102 The target image is detected, and a plurality of target frames containing moving objects are determined.
- the electronic device may use a HOG (Histogram of Oriented Gradient) + SVM (Support Vector Machine) algorithm, a YOLO (You Only Look Look Once) algorithm or a neural network model,
- HOG Heistogram of Oriented Gradient
- SVM Serial Vector Machine
- YOLO You Only Look Look Once
- the above step 102 may include the following steps.
- Step 1021 Determine the type of the tracking target as the target type.
- the target type may include one or more of a vehicle, a person, and a human face.
- the target type may also include other types, which are not limited in the embodiment of the present application.
- the target type may be a type specified by the user in advance, or may be a type determined by the electronic device when performing image detection. For example, after the electronic device obtains an image, it detects the image, determines multiple moving objects in the image, and the type of each moving object, and stores the type of each moving object. When the electronic device needs to track a moving object detected from the image, it obtains the type of the tracking target from the types of stored moving objects as the target type.
- Step 1022 Detect the target image, and determine multiple candidate frames containing moving objects.
- the electronic device detects the target image and can determine multiple candidate frames, for example, a candidate frame containing a human face, a candidate frame containing a person, and a candidate frame containing a vehicle.
- the embodiment of this application does not limit the execution order of steps 1021 and 1022.
- Step 1023 From multiple candidate frames, select a candidate frame of a moving object of the same type as the target type as the target frame.
- the electronic device filters out a plurality of candidate frames of moving objects whose types are different from the target type, and retains candidate frames of moving objects of the same type as the target type as target frames.
- the candidate frames of the above-mentioned moving objects of the same type as the target type are candidate frames containing the same types of moving objects as the target type.
- the electronic device detects a target image, and the determined candidate frames include: a candidate frame containing a human face, a candidate frame containing a person, and a candidate frame containing a vehicle. If the tracking target is a vehicle, the electronic device can filter out the candidate frame containing the face and the candidate frame containing the person, retain the candidate frame containing the vehicle, and use the candidate frame containing the vehicle as the target frame.
- Step 103 Extract attribute information of each target frame.
- the attribute information is structured data, that is, information obtained after the electronic device performs video structure processing on the image data.
- Video structure is to intelligently analyze the original video to extract key information, and to describe the semantic information of the extracted key information.
- the complexity of the electronic device to extract the attribute information is low, which is much lower than the complexity of calculating the confidence level.
- the attribute information of the target frame is the attribute information of the moving object contained in the target frame.
- attribute information of the target frame may include vehicle color, vehicle model, and vehicle brand.
- the attribute information may include polygons formed by key points on the human face, eye distance, and the like.
- the attribute information may also include other information, which is not repeated here one by one.
- the user sets the attribute information of the tracking target in advance, that is, the user sets the target attribute information in advance.
- the electronic device can extract attribute information of each target frame according to the target attribute information. For example, if the tracking target is a vehicle and the user sets the target attribute information including the vehicle color and the vehicle model in advance, the electronic device extracts the vehicle color and the vehicle model of the target frame from the target frame.
- Step 104 Obtain a target frame with the same attribute information as the preset target attribute information from the multiple target frames as the current frame.
- the target attribute information is attribute information of the tracking target.
- the electronic device filters target frames with different attribute information from the target attribute information from multiple target frames, and retains the target frame with the same attribute information as the target attribute information as the current frame.
- the target frame with the same attribute information as the preset target attribute information is a target frame containing attribute information of a moving object that is the same as the preset target attribute information.
- the target attribute information is: the vehicle color is “red” and the vehicle type is “small car”.
- the attribute information of the target frame extracted by the electronic device is:
- ⁇ Attribute information of target box 1 vehicle color is "black”, vehicle type is "small car” ⁇ ;
- ⁇ Attribute information of target box 2 vehicle color is "yellow” and vehicle type is "SUV" ⁇ ;
- ⁇ Attribute information of target box 3 vehicle color is "yellow” and vehicle type is "mini car” ⁇ ;
- ⁇ Attribute information 4 of target frame 4 vehicle color is "red” and vehicle type is "small car” ⁇ .
- the electronic device can determine that the attribute information 4 is the same as the target attribute information, and the attribute information 1-3 is different from the target attribute information.
- the electronic device filters out target frames 1-3, keeps target frame 4, and uses target frame 4 as the current frame.
- Step 105 Determine the trajectory of the tracking target according to the position information of the current frame.
- the position information may be position information of the current frame in the image coordinate system, or may be position information of the current frame in the world coordinate system.
- the electronic device After the electronic device determines the position information of the current frame, it adds the position information to the motion trajectory set of the tracking target, and then determines the motion trajectory of the tracking target.
- the track set of the tracking target includes position information 1 and position information 2.
- the track of the tracking target is: position information 1 ⁇ position information 2. If the electronic device determines that the position information of the current frame is position information 3, the position information 3 is added to the motion track set of the tracking target, and then the motion track of the tracking target is determined as: position information 1 ⁇ position information 2 ⁇ position information 3.
- the electronic device can determine the motion trajectory of the tracking target through the attribute information.
- the attribute information is structured data.
- the complexity of extracting the attribute information is lower than the complexity of calculating the confidence level, which improves the efficiency of achieving target tracking, improves the real-time performance of target tracking, and then optimizes the tracking effect.
- FIG. 2 a second flowchart of the target tracking method shown in FIG. 2. Based on FIG. 1, the inclusion may include the following steps.
- Step 201 Obtain a target image including a tracking target.
- Step 201 is the same as step 101.
- Step 202 Detect the target image, and determine a plurality of target frames containing moving objects.
- Step 202 is the same as step 102.
- Step 203 Determine the identifier of each target frame. Among them, the identifiers of all target frames containing the same moving object are the same.
- the electronic device when it detects a plurality of target frames containing the same moving object, it marks the plurality of target frames with the same identifier. For example, the electronic device marks a target frame including the vehicle 1 in the image 1 and identifies the target a. When the electronic device obtains the image 2, the target frame containing the vehicle 1 is also detected in the image 2, and the target frame containing the vehicle 1 in the image 2 is also marked with the identifier a.
- the electronic device when the electronic device detects a target image and determines a plurality of candidate frames containing a moving object, it marks an identifier for each candidate frame. After the electronic device determines the target frame, it can directly obtain the identification of the target frame.
- Step 204 Determine whether a target identifier corresponding to the tracking target is recorded. If not, step 205 is performed. If yes, go to step 208.
- the identification of the target frame corresponds to the moving object
- the identification of the target frame is the same
- the moving object contained in the target frame is the same. If the target identifier corresponding to the tracking target is recorded, the electronic device can directly search the current frame according to the target identifier without determining the current frame by comparing the attribute information, which effectively improves the efficiency of achieving target tracking.
- Step 205 Extract attribute information of each target frame.
- Step 205 is the same as step 103.
- Step 206 Obtain a target frame with the same attribute information as the preset target attribute information from the multiple target frames as the current frame.
- the target attribute information is attribute information of the tracking target. Go to steps 207 and 209.
- Step 206 is the same as step 104.
- Step 207 Use the identifier of the current frame as the target identifier, and record the correspondence between the target identifier and the tracking target.
- the electronic device records a target identifier corresponding to the tracking target, so that subsequent electronic devices can track the tracking target according to the recorded target identifier, and improve the efficiency of target tracking.
- Step 208 Obtain a target box with the same identifier as the target box from the multiple target boxes as the current box. Go to step 209.
- a target frame with the same identification as the target identification may be obtained from multiple target frames.
- the identifier of the target frame acquired by the electronic device is the same as the target identifier, it can be determined that the acquired target frame includes a tracking target, and the acquired target frame is used as the current frame.
- the electronic device directly searches for the current frame according to the target identifier, and does not have to compare the attribute information to determine the current frame, which effectively improves the efficiency of achieving target tracking.
- Step 209 Determine the trajectory of the tracking target according to the position information of the current frame.
- Step 209 is the same as step 105.
- the identification of the target frame is also one of the attribute information.
- the electronic device can determine the motion trajectory of the tracking target, improve the efficiency of target tracking, and then optimize the tracking effect.
- the inclusion may include:
- Step 301 Obtain a target image including a tracking target.
- Step 302 Detect the target image and determine a plurality of target frames containing moving objects.
- Step 303 Extract attribute information of each target frame.
- Step 304 Obtain a target frame with the same attribute information as the preset target attribute information from the multiple target frames as the current frame.
- the target attribute information is attribute information of the tracking target.
- Step 305 Determine the trajectory of the tracking target according to the position information of the current frame.
- Steps 301-305 are the same as steps 101-105.
- Step 306 Determine the motion information of the tracking target.
- the movement information may include the movement speed and movement direction of the tracking target.
- the movement speed may be how many meters are moved in a unit time in the world coordinate system, or how many pixels are moved in a unit time in the image coordinate system.
- the embodiments of the present application are not limited.
- the direction of movement can be east, south, west, north, northeast, southeast, northwest, southwest, etc.
- the direction of movement can also be the direction of the clock, such as 1 o'clock, 2 o'clock ... 12 o'clock.
- the embodiments of the present application are not limited.
- Step 306 may be performed before or after any step of step 305, for example, step 306 is performed after step 304, and step 305 is performed after that. This embodiment of the present application does not limit this.
- Step 307 Determine target position information of the image acquisition device according to the motion information of the tracking target.
- the image acquisition device may be a dome camera, a binocular camera, or the like.
- the target position information may include a pitch angle, a yaw angle, a roll angle, and the like of the image acquisition device.
- the electronic device determines position information, such as a pitch angle, a yaw angle, and a roll angle, of the image acquisition device according to the motion information of the tracking target as target position information.
- Step 308 Send the target position information to the image acquisition device.
- the image acquisition device can adjust the position according to the target position information, such as adjusting the pitch angle, yaw angle, and roll angle, etc., and then determine the detection area again to track the target as much as possible.
- the target position information such as adjusting the pitch angle, yaw angle, and roll angle, etc.
- the tracking target is a vehicle
- the target attribute information is a vehicle color and a vehicle model.
- Step 1 The dome camera collects an image including the tracking target, and sends the acquired image to the electronic device.
- Step 2 The electronic device detects the received image, determines a plurality of candidate frames containing moving objects, filters out candidate frames containing non-vehicles, and retains the candidate frames containing vehicles as target frames.
- non-vehicles include people and faces.
- step 3 the electronic device marks an identifier for each target frame. Target boxes containing the same vehicle, with the same identification. Target boxes containing different vehicles with different identifications.
- step 4 If the electronic device does not store an ID (Identity) corresponding to the tracking target, step 4 is performed. If the electronic device stores an ID corresponding to the tracking target, step 6 is performed.
- Step 4 The electronic device extracts attribute information of each target frame.
- the attribute information of the target frame includes a vehicle color and a vehicle type.
- Step 5 The electronic device compares the attribute information of the target frame with the target attribute information, and obtains a target frame with the same attribute information as the preset target attribute information from the multiple target frames as the current frame. In addition, the electronic device obtains the ID of the current frame, and stores the ID of the current frame as the ID corresponding to the tracking target. After that, go to step 7.
- the electronic device determines the target frame as the current frame. To obtain the ID of the target frame, and store the ID of the target frame as the ID corresponding to the tracking target.
- Step 6 The electronic device compares the ID of the target frame with the ID corresponding to the stored tracking target, and uses the target frame with the same ID as the ID corresponding to the tracking target as the current frame. After that, go to step 7.
- step 7 the electronic device determines the motion trajectory of the tracking target according to the position information of the current frame.
- Step 8 The electronic device determines target position information of the dome camera according to the motion information of the tracking target, and sends the target position information to the dome camera.
- the dome camera adjusts according to the target position information to re-determine the detection area, and collects the image containing the tracking target according to the re-determined detection area.
- the electronic device detects an image sent by the dome camera according to a detection area newly determined by the dome camera to determine a target frame.
- the electronic device can determine the motion trajectory of the tracking target through the attribute information.
- the attribute information is structured data, and the complexity of extracting the attribute information is lower than the complexity of calculating the confidence level, which improves the efficiency of achieving target tracking and further optimizes the tracking effect.
- the electronic device updates the detection area of the dome camera in real time according to the motion information of the tracking target, which further improves the tracking effect.
- FIG. 5 is a first schematic structural diagram of a target tracking device according to an embodiment of the present application.
- the device includes:
- a first acquisition module 501 configured to acquire a target image including a tracking target
- a first determining module 502 configured to detect a target image and determine a plurality of target frames containing moving objects
- An extraction module 503, configured to extract attribute information of each target frame
- a second acquisition module 504 is configured to acquire, from multiple target frames, a target frame with the same attribute information as the preset target attribute information as the current frame; the target attribute information is the attribute information of the tracking target;
- the second determining module 505 is configured to determine a motion trajectory of the tracking target according to the position information of the current frame.
- the first determining module 502 may be specifically configured to:
- a candidate frame of a moving object of the same type as the target type is selected as the target frame.
- the target type may include one or more of a vehicle, a person, and a human face.
- the first determining module 502 may be further configured to determine an identifier of each target frame; wherein the identifiers of all target frames including the same moving object are the same;
- the extraction module 503 may specifically be used to determine whether a target identifier corresponding to a tracking target is recorded; if not, extract attribute information of each target frame;
- the second obtaining module 504 may be further configured to obtain the target frame with the same attribute information as the preset target attribute information as the current frame, use the identifier of the current frame as the target identifier, and record the correspondence between the target identifier and the tracking target.
- the second obtaining module 504 may be further configured to, if it is determined that a target identifier is recorded, obtain a target frame with the same identifier as the target frame from multiple target frames as the current frame.
- the method may further include:
- a third determining unit 506, configured to determine motion information of a tracking target
- a fourth determining unit 507 configured to determine target position information of the image acquisition device according to the motion information
- the sending unit 508 is configured to send the target position information to the image acquisition device, so that the image acquisition device adjusts the position according to the target position information.
- the target position information may include a pitch angle, a yaw angle, and a roll angle of the image acquisition device.
- the tracking target is a vehicle
- the attribute information includes a vehicle color and a vehicle type.
- the electronic device can determine the motion trajectory of the tracking target through the attribute information.
- the attribute information is structured data, and the complexity of extracting the attribute information is lower than the complexity of calculating the confidence level, which improves the efficiency of achieving target tracking and further optimizes the tracking effect.
- an embodiment of the present application further provides an electronic device, as shown in FIG. 7, including a processor 701 and a memory 702; the memory 702 is used to store a computer program; the processor 701 When used to execute a computer program stored in the memory 702, any one of the target tracking method embodiments shown in FIG. 1 to FIG. 4 is implemented.
- target tracking methods include:
- the target attribute information is the attribute information of the tracking target
- the electronic device can determine the motion trajectory of the tracking target through the attribute information.
- the attribute information is structured data, and the complexity of extracting the attribute information is lower than the complexity of calculating the confidence level, which improves the efficiency of achieving target tracking and further optimizes the tracking effect.
- the memory may include RAM (Random Access Memory, Random Access Memory), and may also include NVM (Non-Volatile Memory, non-volatile memory), such as at least one magnetic disk memory.
- NVM Non-Volatile Memory, non-volatile memory
- the memory may also be at least one storage device located far from the foregoing processor.
- the processor may be a general-purpose processor, including CPU (Central Processing Unit), NP (Network Processor), etc .; it may also be DSP (Digital Signal Processing), ASIC (Application Specific) Integrated Circuit (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
- CPU Central Processing Unit
- NP Network Processor
- DSP Digital Signal Processing
- ASIC Application Specific
- Application Specific Integrated Circuit Application Specific Integrated Circuit
- FPGA Field-Programmable Gate Array
- programmable logic devices discrete gate or transistor logic devices, discrete hardware components.
- an embodiment of the present application further provides a machine-readable storage medium.
- the machine-readable storage medium stores a computer program, and the computer program is executed by a processor to implement the above-mentioned FIG. 1-
- An embodiment of any target tracking method shown in FIG. 4. Among them, the target tracking method may include:
- the target attribute information is the attribute information of the tracking target
- the electronic device can determine the motion trajectory of the tracking target through the attribute information.
- the attribute information is structured data, and the complexity of extracting the attribute information is lower than the complexity of calculating the confidence level, which improves the efficiency of achieving target tracking and further optimizes the tracking effect.
- an embodiment of the present application further provides a target tracking system, which includes an image acquisition device and any one of the above target tracking devices.
- an embodiment of the present application further provides a computer program.
- the computer program is executed by a processor, any one of the target tracking method embodiments shown in FIG. 1 to FIG. 4 is implemented.
- the target tracking method may include:
- the target attribute information is the attribute information of the tracking target
- the electronic device can determine the motion trajectory of the tracking target through the attribute information.
- the attribute information is structured data, and the complexity of extracting the attribute information is lower than the complexity of calculating the confidence level, which improves the efficiency of achieving target tracking and further optimizes the tracking effect.
- each embodiment in this specification is described in a related manner, and the same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments.
- the description is relatively simple, and the related parts are shown in FIG. 1 -Partial description of the embodiment of the target tracking method shown in FIG. 4 is sufficient.
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Abstract
Description
Claims (20)
- 一种目标跟踪方法,其特征在于,所述方法包括:获取包含跟踪目标的目标图像;对所述目标图像进行检测,确定多个包含运动物体的目标框;提取各个目标框的属性信息;从多个目标框中,获取属性信息与预设的目标属性信息相同的目标框,作为当前框;所述目标属性信息为所述跟踪目标的属性信息;根据所述当前框的位置信息,确定所述跟踪目标的运动轨迹。
- 根据权利要求1所述的方法,其特征在于,所述对所述目标图像进行检测,确定多个包含运动物体的目标框的步骤,包括:确定所述跟踪目标的类型,作为目标类型;对所述目标图像进行检测,确定多个包含运动物体的候选框;从多个候选框中,选择类型与所述目标类型相同的运动物体的候选框,作为目标框。
- 根据权利要求2所述的方法,其特征在于,所述目标类型包括:车辆、人和人脸中的一种或多种。
- 根据权利要求1所述的方法,其特征在于,所述方法还包括:确定每一目标框的标识;其中,包含同一运动物体的所有目标框的标识相同;所述提取各个目标框的属性信息的步骤,包括:判断是否记录有所述跟踪目标对应的目标标识;若否,则提取各个目标框的属性信息;在获取属性信息与预设的目标属性信息相同的目标框,作为当前框之后,还包括:将当前框的标识作为目标标识,记录所述目标标识与所述跟踪目标的对 应关系。
- 根据权利要求4所述的方法,其特征在于,所述方法还包括:若判定记录有所述目标标识,则从多个目标框中,获取标识与所述目标标识相同的目标框,作为当前框。
- 根据权利要求1所述的方法,其特征在于,所述方法还包括:确定所述跟踪目标的运动信息;根据所述运动信息,确定图像采集设备的目标位置信息;将所述目标位置信息发送给所述图像采集设备,以使所述图像采集设备根据所述目标位置信息调整位置。
- 根据权利要求6所述的方法,其特征在于,所述目标位置信息包括:所述图像采集设备的俯仰角、偏航角和滚转角。
- 根据权利要求1-7任一项所述的方法,其特征在于,所述跟踪目标为车辆,所述属性信息包括车辆颜色和车型。
- 一种目标跟踪装置,其特征在于,所述装置包括:第一获取模块,用于获取包含跟踪目标的目标图像;第一确定模块,用于对所述目标图像进行检测,确定多个包含运动物体的目标框;提取模块,用于提取各个目标框的属性信息;第二获取模块,用于从多个目标框中,获取属性信息与预设的目标属性信息相同的目标框,作为当前框;所述目标属性信息为所述跟踪目标的属性信息;第二确定模块,用于根据所述当前框的位置信息,确定所述跟踪目标的运动轨迹。
- 根据权利要求9所述的装置,其特征在于,所述第一确定模块,具体用于:确定所述跟踪目标的类型,作为目标类型;对所述目标图像进行检测,确定多个包含运动物体的候选框;从多个候选框中,选择类型与所述目标类型相同的运动物体的候选框,作为目标框。
- 根据权利要求10所述的装置,其特征在于,所述目标类型包括:车辆、人和人脸中的一种或多种。
- 根据权利要求9所述的装置,其特征在于,所述第一确定模块,还用于确定每一目标框的标识;其中,包含同一运动物体的所有目标框的标识相同;所述提取模块,具体用于判断是否记录有所述跟踪目标对应的目标标识;若否,则提取各个目标框的属性信息;所述第二获取模块,还用于在获取属性信息与预设的目标属性信息相同的目标框,作为当前框之后,将当前框的标识作为目标标识,记录所述目标标识与所述跟踪目标的对应关系。
- 根据权利要求12所述的装置,其特征在于,所述第二获取模块,还用于若判定记录有所述目标标识,则从多个目标框中,获取标识与所述目标标识相同的目标框,作为当前框。
- 根据权利要求9所述的装置,其特征在于,还包括:第三确定单元,用于确定所述跟踪目标的运动信息;第四确定单元,用于根据所述运动信息,确定图像采集设备的目标位置信息;发送单元,用于将所述目标位置信息发送给所述图像采集设备,以使所述图像采集设备根据所述目标位置信息调整位置。
- 根据权利要求14所述的装置,其特征在于,所述目标位置信息包括:所述图像采集设备的俯仰角、偏航角和滚转角。
- 根据权利要求9-15任一项所述的装置,其特征在于,所述跟踪目标 为车辆,所述属性信息包括车辆颜色和车型。
- 一种目标跟踪系统,其特征在于,包括图像采集设备,以及权利要求9-16中任一项所述的装置。
- 一种电子设备,其特征在于,包括处理器和存储器;所述存储器,用于存放计算机程序;所述处理器,用于执行所述存储器上所存放的程序,实现权利要求1-8任一所述的方法步骤。
- 一种机器可读存储介质,其特征在于,存储有计算机程序,所述计算机程序被处理器执行时实现权利要求1-8任一所述的方法步骤。
- 一种计算机程序,其特征在于,所述计算机程序被处理器执行时实现权利要求1-8任一所述的方法步骤。
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