WO2021208252A1 - Procédé de détermination de cible de suivi, dispositif et caméra portative - Google Patents

Procédé de détermination de cible de suivi, dispositif et caméra portative Download PDF

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Publication number
WO2021208252A1
WO2021208252A1 PCT/CN2020/099829 CN2020099829W WO2021208252A1 WO 2021208252 A1 WO2021208252 A1 WO 2021208252A1 CN 2020099829 W CN2020099829 W CN 2020099829W WO 2021208252 A1 WO2021208252 A1 WO 2021208252A1
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Prior art keywords
identification information
tracking target
tracking
information corresponding
continuous
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PCT/CN2020/099829
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English (en)
Chinese (zh)
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霍磊
梁峰
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上海摩象网络科技有限公司
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Publication of WO2021208252A1 publication Critical patent/WO2021208252A1/fr

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/25—Determination of region of interest [ROI] or a volume of interest [VOI]
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/07—Target detection

Definitions

  • the embodiments of the present application relate to the field of image recognition technology, and in particular, to a tracking target determination method, device, and handheld camera.
  • Computer vision refers to a simulation of biological vision using computers and related equipment. Its main task is to process the collected pictures or videos to obtain the three-dimensional information of the corresponding scene. Target detection and tracking is an important branch in the field of computer vision, which has a wide range of applications in military guidance, visual navigation, robotics, intelligent transportation, public safety and other fields.
  • handheld smart cameras can also apply target detection and tracking technology to track shooting targets.
  • the field of view of handheld smart cameras is more limited, and the position needs to be continuously converted to obtain panoramic images; and the multi-target tracking management method of handheld smart cameras is not perfect, which makes tracking the number of shooting targets, or tracking When there are many types of shooting targets, tracking failures and recognition failures often occur.
  • one of the technical problems solved in this embodiment is to provide a tracking target determination method, device and handheld camera to overcome the large number of tracking shooting targets in the prior art, or tracking the shooting target.
  • the defects of tracking failure and recognition failure often appear.
  • the embodiment of the present application provides a tracking target determination method, which includes: obtaining tracking information of the tracking target according to the status identification information corresponding to the tracking target; wherein the tracking information is used to identify the continuous occurrence time value of the tracking target in the captured image, Or, it is used to identify the time value of the continuous disappearance of the tracking target in the captured image; according to the tracking information, the status identification information corresponding to the tracking target is updated.
  • the embodiment of the application provides a tracking target determination device, including: a memory, a processor, and a video collector.
  • the video collector is used to collect the target to be tracked in the target area;
  • the memory is used to store program code;
  • the processor is used to call the program code.
  • the program code is executed, it is used to perform the following operations: according to the status identification information corresponding to the tracking target, and obtaining the tracking information of the tracking target; where the tracking information is used to identify the continuous occurrence time value of the tracking target in the captured image, or , Used to identify the continuous disappearance value of the tracking target in the captured image; according to the tracking information, update the status identification information corresponding to the tracking target.
  • the embodiment of the present application provides a handheld camera, including the tracking target determination device in the above embodiment, and further includes: a carrier, which is fixedly connected to the video collector, and is configured to carry at least a part of the video collector.
  • the tracking information of the tracking target is obtained according to the status identification information corresponding to the tracking target; and then the status identification information corresponding to the tracking target is updated according to the tracking information of the tracking target.
  • the range of the tracking target can be managed according to the status identification information, and there is no need to record the appearance or disappearance time of all objects in the captured image frame, thereby effectively releasing the pressure of memory processing and improving the efficiency of multi-target object recognition.
  • FIG. 1 is a schematic flowchart of a tracking target determination method provided in Embodiment 1 of this application;
  • FIG. 2 is a schematic flowchart of a tracking target determination method provided in Embodiment 2 of this application;
  • FIG. 3 is a schematic flowchart of a tracking target determination method provided in Embodiment 3 of this application;
  • FIG. 4 is a schematic flowchart of a tracking target determination method provided in Embodiment 4 of this application.
  • FIG. 5 is a schematic flowchart of a tracking target determination method according to Embodiment 5 of this application.
  • FIG. 6 is a schematic flowchart of a tracking target determination method according to Embodiment 6 of this application.
  • FIG. 7 is a structural block diagram of a tracking target determination device provided in Embodiment 7 of this application.
  • FIG. 8-10 is a schematic structural block diagram of a handheld camera provided in Embodiment 8 of this application.
  • handheld smart cameras can also track and track targets, and perform object recognition and scene recognition on the tracking targets, so that users can classify and manage the photos or videos taken, and follow-up Automatic processing.
  • the field of view of the handheld smart camera camera is relatively limited, and it is necessary to constantly change the position to obtain a panoramic image.
  • the smaller field of view of the handheld smart camera is not very good. Supports real-time multi-target tracking needs. Therefore, when there are multiple types and/or multiple numbers of tracking targets, errors such as tracking failures and recognition failures often occur.
  • the tracking target determination method in the technical solutions provided in the embodiments of the present application improves the user experience.
  • the first embodiment of the present application provides a tracking target determination method, as shown in FIG. 1, which is a schematic flowchart of a tracking target determination method provided in an embodiment of the application.
  • the tracking information is used to identify the duration value of the tracking target's continuous appearance in the captured image, or it is used to identify the duration value of the tracking target's continuous disappearance in the captured image.
  • the tracking target is to use a preset image recognition algorithm to recognize the captured image frame and mark the obtained object.
  • the preset image recognition algorithm types are not limited, and can be predetermined according to actual application requirements, such as RCNN, SSD, YOLO, and other image recognition algorithms.
  • the status identification information is used to mark the corresponding tracking status of the tracking target, wherein the determination condition and the number of the tracking status are not limited, and can be preset according to actual application requirements.
  • the object identified by the image recognition algorithm does not have corresponding status identification information, it indicates that the object does not belong to the tracking target.
  • the status identification information may only indicate that the tracking target is in the tracked shooting state; it may also indicate that the tracking target is in one of the continuously tracked shooting state and the suspended tracking shooting state.
  • the duration value of the tracking information of the tracking target used for identification may also be different.
  • the tracking information of each tracking state can be preset to identify the tracking target in the captured image. One of the duration value of continuous appearance in and the duration value of continuous disappearance of the tracking target in the captured image.
  • the tracking information is used to identify the duration of continuous appearance of the tracking target in the captured image Value; if the tracking target is not recognized in the current captured image frame and the previous M consecutive captured image frames, where M is greater than or equal to 0, the tracking information is used to identify the continuous disappearance duration of the tracking target in the captured image value.
  • the continuous appearance duration value and the continuous disappearance duration value of the tracking target in the captured image can be represented by a time value, or can be represented by the number of consecutive image frames.
  • the status identification information corresponding to the tracking target is updated. That is, when the duration value of the tracking target continuously appears in the captured image or the duration value of the tracking target disappears continuously in the captured image meets the preset condition, the state identification information corresponding to the tracking target is deleted, or the state identification information is marked as the tracking state Update from one kind to another.
  • the tracking target is in the tracking state, if the continuous disappearance duration value of the tracking target in the captured image reaches the preset duration value, the status identification information corresponding to the tracking target can be deleted so that it no longer belongs to the tracking target; if If the duration value of the tracking target disappearing continuously in the captured image does not reach the preset duration value, there is no need to change the status identification information corresponding to the tracking target.
  • the tracking target determination method of the present application can obtain the tracking information of the tracking target according to the status identification information corresponding to the tracking target; and then update the status identification information corresponding to the tracking target according to the tracking information of the tracking target.
  • the range of the tracking target can be managed according to the status identification information, and there is no need to record the appearance or disappearance time of all objects in the captured image frame, thereby effectively releasing the pressure of memory processing and improving the efficiency of multi-target object recognition.
  • the second embodiment of the present application provides a tracking target determination method, as shown in FIG. 2, which is a schematic flowchart of a tracking target determination method provided in an embodiment of the application.
  • S201 Obtain tracking information of the tracking target according to the status identification information corresponding to the tracking target.
  • the tracking information is used to identify the duration value of the tracking target's continuous appearance in the captured image, or it is used to identify the duration value of the tracking target's continuous disappearance in the captured image;
  • the status identification information includes the first identification information and the second identification information.
  • the first identification information is used to identify that the tracking target is in a tracked shooting state, and the camera will track and shoot the tracking target in a continuously tracked state, for example, adjust the shooting angle according to the movement of the tracking target.
  • the second identification information is used to identify that the tracking target is in a long-term loss state, and the tracking target in the long-term loss state has not been recognized in the L consecutive captured image frames before the currently captured image frame, but
  • the L+1th captured image frame before the currently captured image frame is in a continuously tracked state, that is, the state identification information corresponding to the tracking target in the L+1th captured image frame before the currently captured image frame is the first An identification information, where L is greater than or equal to 0.
  • the first disappearance threshold can be represented by a time value or the number of consecutive image frames, which can be set according to specific requirements.
  • the first disappearance threshold may be represented by 10 consecutive image frames.
  • the status identification information corresponding to the tracking target is the first identification information
  • the continuous disappearance duration value of the tracking target in the captured image is greater than the first disappearance threshold, it indicates that the tracking target may have been shooting the image.
  • the status identification information of the tracking target can be updated as the second identification information.
  • the first occurrence threshold may be represented by a time value or the number of consecutive image frames, which can be set according to specific requirements.
  • the first occurrence threshold can be represented by 5 consecutive image frames.
  • the tracking target when the status identification information corresponding to the tracking target is the second identification information, if the duration of the tracking target's continuous appearance in the captured image is greater than the first appearance threshold, it indicates that the tracking target has reappeared in the captured image. In the image frame, the tracking target can be switched to the continuously tracked state again, and the status identification information of the tracking target can be updated as the first identification information.
  • the second disappearance threshold can be represented by a time value or the number of consecutive image frames, which can be set according to specific requirements.
  • the second disappearance threshold can be represented by 5 consecutive image frames.
  • the status identification information corresponding to the tracking target is the second identification information
  • the duration of the tracking target disappearing continuously is greater than the second disappearance threshold, it indicates that the tracking target may have been out of the shooting screen and was subsequently shot.
  • the probability of arrival is very low, the target can no longer be used as a tracking target, and the status identification information or tracking information corresponding to the target can be deleted to reduce the occupation of computing resources and storage resources.
  • this embodiment distinguishes the status identification information of the tracking target into two types of first identification information and second identification information, which can avoid subsequent follow-up of objects that have not been identified in the captured image in a short period of time.
  • Objects that have not been recognized for a long time can no longer be used as tracking targets, reducing the consumption of storage resources and computing resources, thereby improving the efficiency of multi-target object recognition and reducing the probability of tracking failures and recognition failures.
  • the third embodiment of the present application provides a method for determining a tracking target, as shown in FIG. 3, which is a schematic flowchart of a method for determining a tracking target provided by an embodiment of the present application.
  • S301 Obtain tracking information of the tracking target according to the status identification information corresponding to the tracking target.
  • the tracking information is used to identify one of the duration value of the tracking target's continuous appearance in the captured image, the duration value of the tracking target's continuous disappearance in the captured image, and the continuous overlap duration value of the tracking target with other targets in the captured image.
  • the status identification information includes one of the first identification information, the second identification information, and the third identification information.
  • the third identification information is used to identify that the tracking target is in an overlapping state, and the tracking target in the overlapping state overlaps with other objects in the X consecutive captured image frames before the current captured image frame, or is very far away from other objects. It is nearly impossible to distinguish, but it is continuously tracked in the X+1th captured image frame before the currently captured image frame, that is, the tracking target corresponds to the X+1th captured image frame before the currently captured image frame.
  • the status identification information of is the first identification information, where X is greater than or equal to 0.
  • the tracking information is used to identify the continuous overlap duration value of the tracking target in the captured image.
  • step S302 is the same as step S202 in the second embodiment, and will not be repeated here.
  • step S303 is the same as step S203 in the second embodiment, and will not be repeated here.
  • step S304 is the same as step S204 in the second embodiment, and will not be repeated here.
  • the first overlap threshold can be represented by a time value or the number of consecutive image frames, which can be set according to specific requirements.
  • the first overlap threshold may be represented by 8 consecutive image frames.
  • the status identification information corresponding to the tracking target is the first identification information
  • the continuous overlap duration value of the tracking target in the captured image is greater than the first overlap threshold, it indicates that the tracking target continues to overlap with other objects Or it is very close to other objects and cannot be distinguished, and it is temporarily difficult to be tracked and photographed by the photographing device. Therefore, the status identification information of the tracking target can be updated as the third identification information.
  • the second overlap threshold is greater than the first overlap threshold, which can be represented by a duration value or the number of consecutive image frames, which can be set according to specific requirements.
  • the first overlap threshold may be represented by 5 consecutive image frames
  • the second overlap threshold may be represented by 10 consecutive image frames.
  • the status identification information corresponding to the tracking target is the second identification information
  • the sum of the continuous overlap duration value corresponding to the tracking target and the continuous disappearance duration value is greater than the second overlap threshold, it indicates that the tracking target is in the subsequent time It is difficult to be tracked and photographed by the photographing device, and the target can be no longer used as a tracking target, and the status identification information or tracking information corresponding to the target can be deleted, so as to reduce the occupation of computing resources and storage resources.
  • the third overlap threshold may be represented by a duration value or the number of consecutive image frames, and the third overlap threshold is greater than the first overlap threshold, and the third overlap threshold may be the same or different from the second overlap threshold, which can be based on Set specific requirements.
  • the first overlap threshold may be represented by 5 consecutive image frames
  • the third overlap threshold may be represented by 8 consecutive image frames.
  • the status identification information corresponding to the tracking target is the third identification information
  • the sum of the continuous overlap duration value corresponding to the tracking target and the continuous disappearance duration value is greater than the third overlap threshold, it indicates that the tracking target is in the subsequent time It is difficult to be tracked and photographed by the photographing device, and the target can be no longer used as a tracking target, and the status identification information or tracking information corresponding to the target can be deleted, so as to reduce the occupation of computing resources and storage resources.
  • this embodiment distinguishes the status identification information of the tracking target into three types: first identification information, second identification information, and third identification information, which can avoid not being recognized in the captured image in a short time.
  • Objects that are temporarily overlapped with other objects or are indistinguishable from other objects are subsequently lost, and objects that have not been recognized for a long time and overlap with other objects for a long time or are very far away from other objects
  • Objects that are nearly indistinguishable are no longer used as tracking targets, reducing the consumption of storage resources and computing resources, thereby improving the efficiency of multi-target object recognition and reducing the probability of tracking failures and recognition failures.
  • the fourth embodiment of the present application provides a method for determining a tracking target, as shown in FIG. 4, which is a schematic flowchart of a method for determining a tracking target provided by an embodiment of the present application.
  • S401 Obtain tracking information of the tracking target according to the status identification information corresponding to the tracking target.
  • the tracking information is used to identify one of the duration value of the tracking target's continuous appearance in the captured image, the duration value of the tracking target's continuous disappearance in the captured image, and the continuous overlap duration value of the tracking target with other targets in the captured image.
  • the status identification information includes one of the first identification information, the second identification information, the third identification information, and the fourth identification information.
  • the fourth identification information is used to identify that the tracking target is in a short-term loss state, and the tracking target in the short-term loss state has not been recognized in the Y consecutive captured image frames before the currently captured image frame, but
  • the Y+1th captured image frame before the currently captured image frame is in a continuously tracked state, that is, the state identification information corresponding to the tracking target in the Y+1th captured image frame before the currently captured image frame is the first One identification information, where Y is greater than or equal to 0, and Y is less than the value of L in the second embodiment.
  • step S402 is the same as step S202 in the second embodiment, and will not be repeated here.
  • step S403 is the same as step S203 in the second embodiment, and will not be repeated here.
  • step S404 is the same as step S204 in the second embodiment, and will not be repeated here.
  • step S405 is the same as step S305 in the third embodiment, and will not be repeated here.
  • step S406 is the same as step S306 in the third embodiment, and will not be repeated here.
  • step S407 is the same as step S307 in the third embodiment, and will not be repeated here.
  • the third disappearance threshold is smaller than the first disappearance threshold, and the third disappearance threshold can be represented by a time value or the number of consecutive image frames, which can be set according to specific requirements.
  • the first disappearance threshold may be represented by 8 consecutive image frames
  • the third disappearance threshold may be represented by 5 consecutive image frames.
  • the status identification information corresponding to the tracking target is the first identification information
  • the continuous disappearance duration value of the tracking target in the captured image is greater than the third disappearance threshold, it indicates that the tracking target may have been shooting the image.
  • the status identification information of the tracking target can be updated as the fourth identification information.
  • the second appearance threshold may be represented by a time value or the number of consecutive image frames.
  • the second appearance threshold may be the same as or different from the first appearance threshold, and may be set according to specific requirements.
  • the second occurrence threshold can be represented by 3 consecutive image frames.
  • the tracking target when the status identification information corresponding to the tracking target is the fourth identification information, if the duration of the tracking target's continuous appearance in the captured image is greater than the second appearance threshold, it indicates that the tracking target has reappeared in the captured image. In the image frame, the tracking target can be switched to the continuously tracked state again, and the status identification information of the tracking target can be updated as the first identification information.
  • the fourth disappearance threshold is smaller than the first disappearance threshold, and can be represented by a time value or the number of consecutive image frames, which can be set according to specific requirements.
  • the fourth disappearance threshold may be equal to the difference between the first disappearance threshold and the second disappearance threshold.
  • the first disappearance threshold may be represented by 8 continuous image frames
  • the third disappearance threshold may be represented by 5 continuous image frames
  • the fourth disappearance threshold may be represented by 3 continuous image frames.
  • the status identification information corresponding to the tracking target is the fourth identification information
  • the continuous disappearance duration value of the tracking target in the captured image is greater than the fourth disappearance threshold, it indicates that the tracking target has been in the captured image for a long time. If the image frame disappears, the probability of being photographed later is relatively low, and the status identification information of the tracking target can be updated as the second identification information.
  • the fourth overlap threshold can be represented by a time value or the number of consecutive image frames, which can be set according to specific requirements.
  • the fourth overlap threshold may be represented by 5 consecutive image frames.
  • the status identification information corresponding to the tracking target is the fourth identification information
  • the continuous overlap duration value corresponding to the tracking target is greater than the fourth overlap threshold, it indicates that the tracking target continues to overlap with other objects or is distant from other objects It is too close to distinguish, and it is temporarily difficult to be tracked and photographed by the photographing device. Therefore, the status identification information of the tracking target can be updated as the third identification information.
  • this embodiment divides the status identification information of the tracking target into four types: the first identification information, the second identification information, the third identification information, and the fourth identification information.
  • the fifth embodiment of the present application provides a method for determining a tracking target, as shown in FIG. 5, which is a schematic flowchart of a method for determining a tracking target provided by an embodiment of the application.
  • S501 Obtain tracking information of the tracking target according to the status identification information corresponding to the tracking target.
  • the tracking information is used to identify one of the duration value of the tracking target's continuous appearance in the captured image, the duration value of the tracking target's continuous disappearance in the captured image, and the continuous overlap duration value of the tracking target with other targets in the captured image.
  • the status identification information includes one of the first identification information and the fifth identification information.
  • the fifth identification information is used to identify that the tracking target is in a newly discovered state, and the corresponding status identification has never been determined as the first identification information, that is, the tracking target whose status identification information is the fifth identification information is currently captured in the image Frames and the previous Z consecutive image frames have not been tracked and photographed, and Z is an integer greater than or equal to 0.
  • the method further includes: performing image recognition on the currently captured image frame to obtain the newly-added object; if the newly-added object does not have corresponding status identification information, the status identification information corresponding to the newly-added object is determined as the fifth Identification information.
  • the newly added object does not have corresponding status identification information, it means that the tracking target is a newly identified object, so it can be regarded as a newly discovered tracking object, and its corresponding status identification information is determined as the fifth identification information .
  • the third occurrence threshold can be represented by a time value or the number of consecutive image frames, which can be set according to specific requirements.
  • the third occurrence threshold can be represented by 5 consecutive image frames.
  • the tracking target when the status identification information corresponding to the tracking target is the fifth identification information, if the duration of the tracking target's continuous appearance in the captured image is greater than the third occurrence threshold, it indicates that the tracking target is likely to continue to appear in the subsequent In the shooting screen, the tracking target can be switched to the continuously tracked state, and the status identification information of the tracking target can be updated as the first identification information.
  • the fifth overlap threshold can be represented by a time value or the number of consecutive image frames, which can be set according to specific requirements.
  • the fifth overlap threshold can be represented by 5 consecutive image frames.
  • the status identification information corresponding to the tracking target is the fifth identification information
  • the continuous overlap duration value of the tracking target in the captured image is greater than the fifth overlap threshold, it indicates that the tracking target is difficult to be photographed in the subsequent time.
  • the target can no longer be used as a tracking target, and the status identification information or tracking information corresponding to the target can be deleted, so as to reduce the occupation of computing resources and storage resources.
  • this embodiment distinguishes the status identification information of the tracking target into the first identification information and the fifth identification information, and determines the status identification information of the newly discovered tracking object as the fifth identification information, which will comply with Conditionally, the status identification status of the newly discovered tracking object is updated to the first identification status to continuously track the tracking object; the newly discovered tracking object that does not meet the conditions is directly deleted to reduce the consumption of storage resources and computing resources, thereby Improve the efficiency of multi-target object recognition and reduce the probability of tracking failure and recognition failure.
  • the sixth embodiment of the present application provides a tracking target determination method, as shown in FIG. 6, which is a schematic flowchart of a tracking target determination method provided by an embodiment of the application.
  • S601 Identify a tracking target from a captured image, and determine status identification information and location information corresponding to the tracking target.
  • the location information is used to indicate the location of the tracking target.
  • the positional relationship between the multiple tracking targets can be determined according to the location information corresponding to the multiple tracking targets.
  • the location information of the tracking target can be obtained by using a preset image recognition algorithm to recognize the captured image.
  • step S601 may further include: performing object recognition on the captured image, and determining an object belonging to a preset category as a tracking target.
  • the preset category can be people, animals (such as dogs, cats, etc.), plants (such as trees, flowers, grass, etc.), and so on.
  • a preset image recognition method is used to perform object recognition on the captured image to obtain category information of each object in the captured image. And only objects whose category information belongs to a preset category are used as tracking targets. As a result, objects that need to be tracked can be accurately determined, and objects that do not need to be tracked are excluded, thereby reducing the number and types of tracking targets, reducing the difficulty of data processing, and improving the efficiency of multi-target object recognition.
  • S602 Obtain tracking information of the tracking target according to the status identification information and location information corresponding to the tracking target.
  • the tracking information is used to identify the continuous appearance duration value, the continuous disappearance duration value, or the continuous overlap duration value of the tracking target in the captured image.
  • the continuous appearance duration value, continuous disappearance duration value, and continuous overlap duration value can be represented by time values, or can be represented by the number of consecutive image frames.
  • the duration value of the tracking information of the tracking target used for identification may also be different.
  • the tracking information of each tracking state can be preset to identify the tracking target in the captured image.
  • One of the continuous occurrence duration value, the continuous disappearance duration value, and the continuous overlap duration value is included in the captured image.
  • the tracking information is used to identify the duration of continuous appearance of the tracking target in the captured image Value; if the tracking target is not recognized in the current captured image frame and the previous M consecutive captured image frames, where M is greater than or equal to 0, the tracking information is used to identify the continuous disappearance duration of the tracking target in the captured image Value; if the tracking target is not recognized in the current captured image frame and the previous K consecutive captured image frames, it can be recognized in the previous K+1 captured image frames, and the location of the tracking target is recognized The position coincides with other targets, where K is greater than or equal to 0, the tracking information is used to identify the continuous overlap duration value of the tracking target in the captured image.
  • step S603 is the same as step S102 in the first embodiment, and will not be repeated here.
  • the tracking target determination method of the present application determines the status identification information and location information corresponding to the tracking target, and then obtains the tracking information of the tracking target according to the status identification information and location information corresponding to the tracking target, so that it can accurately Determine the status identification information and tracking information of the tracking target, thereby improving the accuracy of updating the status identification information corresponding to the tracking target, and reducing the probability of tracking failure and recognition failure.
  • the seventh embodiment of the present application provides a tracking target determination device, as shown in FIG. 7, which is a structural block diagram of a tracking target determination device provided by an embodiment of the application.
  • the tracking target determination device of this embodiment includes: a memory 701, a processor 702, and a video collector 703.
  • the video collector 703 is used to collect the target to be tracked in the target area;
  • the memory 701 is used to store program codes;
  • the processor 702 is used to call programs.
  • Code when the program code is executed, it is used to perform the following operations: according to the status identification information corresponding to the tracking target, and obtaining the tracking information of the tracking target; where the tracking information is used to identify the continuous occurrence time value of the tracking target in the captured image , Or, used to identify the continuous disappearance value of the tracking target in the captured image; according to the tracking information, update the status identification information corresponding to the tracking target.
  • the processor 702 in this embodiment calls the program code, and when the program code is executed, it is used to perform the following operations: the status identification information includes one of the first identification information and the second identification information; correspondingly, when When the status identification information corresponding to the tracking target is the first identification information, updating the status identification information corresponding to the tracking target according to the tracking information includes: if the continuous disappearance time value is greater than the first disappearance threshold, then updating the status identification information corresponding to the tracking target as the first Second identification information; when the status identification information corresponding to the tracking target is the second identification information, updating the status identification information corresponding to the tracking target according to the tracking information includes: if the continuous occurrence time value is greater than the first occurrence threshold, then updating the corresponding tracking target The status identification information is the first identification information; if the continuous disappearance duration value is greater than the second disappearance threshold, the tracking target is cancelled.
  • the processor 702 in this embodiment calls the program code, and when the program code is executed, it is used to perform the following operations: the tracking information is also used to identify the continuous overlap duration value of the tracking target with other targets in the captured image,
  • the status identification information includes one of the first identification information, the second identification information, and the third identification information; correspondingly, when the status identification information corresponding to the tracking target is the first identification information, the tracking target corresponding to the tracking information is updated according to the tracking information.
  • the status identification information includes: if the continuous overlap duration value is greater than the first overlap threshold, the status identification information corresponding to the tracking target is updated as the third identification information; when the status identification information corresponding to the tracking target is the second identification information, if the continuous overlap duration is If the sum of the value and the continuous disappearance duration value is greater than the second overlap threshold, the tracking target is cancelled; when the status identification information corresponding to the tracking target is the third identification information, updating the status identification information corresponding to the tracking target according to the tracking information includes: If the sum of the overlap duration value and the continuous disappearance duration value is greater than the third overlap threshold, the tracking target is cancelled.
  • the processor 702 in this embodiment calls the program code.
  • the program code When the program code is executed, it is used to perform the following operations: the status identification information includes first identification information, second identification information, third identification information, and fourth identification information.
  • a kind of information when the status identification information corresponding to the tracking target is the first identification information, updating the status identification information corresponding to the tracking target according to the tracking information includes: if the continuous disappearance duration value is greater than the third disappearance threshold, updating the status corresponding to the tracking target The identification information is the fourth identification information.
  • updating the status identification information corresponding to the tracking target according to the tracking information includes: if the continuous occurrence time value is greater than the second occurrence threshold, then updating the status identification information corresponding to the tracking target is First identification information; if the continuous disappearance duration value is greater than the fourth disappearance threshold, the status identification information corresponding to the tracking target is updated as the second identification information; if the continuous overlap duration value is greater than the fourth overlap threshold, the status identification corresponding to the tracking target is updated The information is the third identification information.
  • the processor 702 in this embodiment calls the program code, and when the program code is executed, it is used to perform the following operations: the tracking information is also used to identify the continuous overlap duration value of the tracking target with other targets in the captured image,
  • the status identification information includes one of the first identification information and the fifth identification information.
  • updating the status identification information corresponding to the tracking target according to the tracking information includes: if the continuous occurrence time value is greater than the third occurrence threshold, updating the status corresponding to the tracking target
  • the identification information is the first identification information; if the continuous overlap duration value is greater than the fifth overlap threshold, the tracking target is cancelled.
  • the processor 702 in this embodiment calls the program code, and when the program code is executed, it is used to perform the following operations: perform image recognition on the currently captured image frame to obtain a new object; if the new object does not have a corresponding state Identification information, the status identification information corresponding to the newly added object is determined as the fifth identification information.
  • the processor 702 in this embodiment calls the program code.
  • the program code When the program code is executed, it is used to perform the following operations: identify the tracking target from the captured image, and determine the status identification information and location information corresponding to the tracking target. According to the status identification information and location information corresponding to the tracking target, the tracking information of the tracking target is obtained.
  • the processor 702 in this embodiment calls the program code, and when the program code is executed, it is used to perform the following operations: perform object recognition on the captured image, and determine an object belonging to a preset category as a tracking target.
  • the tracking target determining device of the present application can obtain tracking information of the tracking target according to the status identification information corresponding to the tracking target; and then updating the status identification information corresponding to the tracking target according to the tracking information of the tracking target.
  • the range of the tracking target can be managed according to the status identification information, and there is no need to record the appearance or disappearance time of all objects in the captured image frame, thereby effectively releasing the pressure of memory processing and improving the efficiency of multi-target object recognition.
  • FIGS. 8-10 are schematic structural block diagrams of a handheld camera provided by an embodiment of the present application.
  • the handheld camera of this embodiment includes the tracking target determination device of the seventh embodiment, and the handheld camera further includes a carrier, which is fixedly connected to the video collector and is used to carry at least a part of the video collector.
  • the carrier includes, but is not limited to, a handheld PTZ 1.
  • the handheld PTZ 1 is a handheld three-axis PTZ.
  • the video capture device includes, but is not limited to, a handheld three-axis pan/tilt camera.
  • the handheld camera as the handheld gimbal camera as an example, the basic structure of the handheld gimbal camera is briefly introduced.
  • the handheld pan/tilt 1 of this embodiment includes a handle 11 and a photographing device 12 mounted on the handle 11.
  • the photographing device 12 may include a three-axis pan/tilt camera.
  • Other embodiments include pan-tilt cameras with two or more axes.
  • the handle 11 is provided with a display screen 13 for displaying the shooting content of the shooting device 12.
  • the invention does not limit the type of the display screen 13.
  • the display screen 13 By setting the display screen 13 on the handle 11 of the handheld PTZ 1, the display screen can display the shooting content of the shooting device 12, so that the user can quickly browse the pictures or videos shot by the shooting device 12 through the display screen 13, thereby improving The interaction and fun of the handheld PTZ 1 with the user meets the diverse needs of the user.
  • the handle 11 is also provided with an operating function part for controlling the camera 12.
  • the operating function part By operating the operating function part, the operation of the camera 12 can be controlled, for example, the camera 12 is turned on and off, and the camera 12 is controlled.
  • the operation function part may be in the form of a button, a knob or a touch screen.
  • the operating function unit includes a shooting button 14 for controlling the shooting of the shooting device 12, a power/function button 15 for controlling the opening and closing of the shooting device 12 and other functions, and a universal key 16 for controlling the movement of the pan/tilt.
  • the operating function unit may also include other control buttons, such as image storage buttons, image playback control buttons, etc., which can be set according to actual needs.
  • the operation function part and the display screen 13 are arranged on the same side of the handle 11.
  • the operation function part and the display screen 13 shown in the figure are both arranged on the front of the handle 11.
  • the appearance layout of PTZ 1 is more reasonable and beautiful.
  • the side of the handle 11 is provided with a function operation key A, which is used to facilitate the user to quickly and intelligently form a sheet with one key.
  • a function operation key A which is used to facilitate the user to quickly and intelligently form a sheet with one key.
  • the handle 11 is further provided with a card slot 17 for inserting a storage element.
  • the card slot 17 is provided on the side of the handle 11 adjacent to the display screen 13, and a memory card is inserted into the card slot 17 to store the images taken by the camera 12 in the memory card. Moreover, arranging the card slot 17 on the side does not affect the use of other functions, and the user experience is better.
  • a power supply battery for supplying power to the handle 11 and the imaging device 12 may be provided inside the handle 11.
  • the power supply battery can be a lithium battery with large capacity and small size to realize the miniaturized design of the handheld pan/tilt 1.
  • the handle 11 is also provided with a charging interface/USB interface 18.
  • the charging interface/USB interface 18 is provided at the bottom of the handle 11 to facilitate connection with an external power source or storage device, so as to charge the power supply battery or perform data transmission.
  • the handle 11 is further provided with a sound pickup hole 19 for receiving audio signals, and the sound pickup hole 19 is internally connected with a microphone.
  • the sound pickup hole 19 may include one or more. It also includes an indicator light 20 for displaying status. The user can realize audio interaction with the display screen 13 through the sound pickup hole 19.
  • the indicator light 20 can serve as a reminder, and the user can obtain the power status of the handheld PTZ 1 and the current execution function status through the indicator light 20.
  • the sound pickup hole 19 and the indicator light 20 can also be arranged on the front of the handle 11, which is more in line with the user's usage habits and operation convenience.
  • the imaging device 12 includes a pan/tilt support and a camera mounted on the pan/tilt support.
  • the camera can be a camera, or can be an imaging element composed of a lens and an image sensor (such as CMOS or CCD), etc., which can be specifically selected according to needs.
  • the camera may be integrated on the pan/tilt bracket, so that the photographing device 12 is a pan/tilt camera; it may also be an external photographing device, which is detachably connected or clamped to be mounted on the pan/tilt bracket.
  • the pan/tilt support is a three-axis pan/tilt support
  • the photographing device 12 is a three-axis pan/tilt camera.
  • the three-axis pan/tilt bracket includes a yaw axis assembly 22, a roll axis assembly 23 movably connected to the yaw axis assembly 22, and a pitch axis assembly 24 movably connected to the roll axis assembly 23.
  • the camera is mounted on the pitch axis assembly 24. .
  • the yaw axis assembly 22 drives the camera 12 to rotate in the yaw direction.
  • the pan-tilt support can also be a two-axis pan-tilt, a four-axis pan-tilt, etc., which can be specifically selected according to needs.
  • a mounting part is also provided, the mounting part is arranged at one end of the connecting arm connected to the roll axis assembly, and the yaw axis assembly can be arranged in the handle, and the yaw axis assembly drives the camera 12 along the yaw The heading turns.
  • the handle 11 is provided with an adapter 26 for coupling with the mobile device 2 (such as a mobile phone), and the adapter 26 is detachably connected to the handle 11.
  • the adapter 26 protrudes from the side of the handle for connecting to the mobile device 2.
  • the handheld PTZ 1 is docked with the adapter 26 and is used to be supported on the mobile device. 2 at the end.
  • the handle 11 is provided with an adapter 26 for connecting with the mobile device 2 to connect the handle 11 and the mobile device 2 to each other.
  • the handle 11 can be used as a base of the mobile device 2.
  • the user can hold the other end of the mobile device 2 Let's pick up and operate the handheld PTZ 1 together, the connection is convenient and fast, and the product is beautiful.
  • a communication connection between the handheld pan-tilt 1 and the mobile device 2 can be realized, and the camera 12 and the mobile device 2 can transmit data.
  • the adapter 26 and the handle 11 are detachably connected, that is, the adapter 26 and the handle 11 can be mechanically connected or removed. Further, the adapter 26 is provided with an electrical contact portion, and the handle 11 is provided with an electrical contact fitting portion that is matched with the electrical contact portion.
  • the adapter 26 can be removed from the handle 11.
  • the adapter 26 is installed on the handle 11 to complete the mechanical connection between the adapter 26 and the handle 11, and at the same time through the electrical contact part and the electrical contact mating part. The connection ensures the electrical connection between the two, so as to realize the data transmission between the camera 12 and the mobile device 2 through the adapter 26.
  • the side of the handle 11 is provided with a receiving groove 27, and the adapter 26 is slidably clamped in the receiving groove 27. After the adapter 26 is installed in the receiving groove 27, a part of the adapter 26 protrudes from the receiving groove 27, and the part of the adapter 26 protruding from the receiving groove 27 is used to connect with the mobile device 2.
  • the adapter 26 when the adapter 26 is inserted into the receiving groove 27 from the adapter 26, the adapter part is flush with the receiving groove 27, and the adapter 26 is stored in the handle. 11 of the receiving tank 27.
  • the adapter 26 can be inserted into the receiving groove 27 from the adapter part, so that the adapter 26 protrudes from the receiving groove 27 so that the mobile device 2 can be connected to the handle. 11 interconnect
  • the adapter 26 can be taken out of the receiving slot 27 of the handle 11, and then the adapter 26 can be inserted into the receiving slot 27 in the reverse direction, and then The adapter 26 is housed in the handle 11.
  • the adapter 26 is flush with the receiving groove 27 of the handle 11. After the adapter 26 is stored in the handle 11, the surface of the handle 11 can be ensured to be flat, and the adapter 26 is stored in the handle 11 to make it easier to carry.
  • the receiving groove 27 is semi-opened on one side surface of the handle 11, which makes it easier for the adapter 26 to be slidably connected to the receiving groove 27.
  • the adapter 26 can also be detachably connected to the receiving slot 27 of the handle 11 by means of a snap connection, a plug connection, or the like.
  • the receiving groove 27 is provided on the side of the handle 11.
  • the receiving groove 27 is clamped and covered by the cover 28, which is convenient for the user to operate, and does not affect the front and sides of the handle. The overall appearance.
  • the electrical contact part and the electrical contact mating part may be electrically connected in a contact contact manner.
  • the electrical contact part can be selected as a telescopic probe, can also be selected as an electrical plug-in interface, or can be selected as an electrical contact.
  • the electrical contact portion and the electrical contact mating portion can also be directly connected to each other in a surface-to-surface contact manner.
  • a tracking target determination method characterized in that it comprises:
  • the tracking information of the tracking target is obtained; wherein the tracking information is used to identify the continuous occurrence time value of the tracking target in the captured image, or to identify the tracking target The value of the duration of continuous disappearance in the captured image;
  • the status identification information corresponding to the tracking target is updated.
  • the tracking target determination method wherein the status identification information includes one of first identification information and second identification information; correspondingly,
  • the updating the status identification information corresponding to the tracking target according to the tracking information includes: if the continuous disappearance duration value is greater than a first disappearance threshold, Updating the status identification information corresponding to the tracking target to the second identification information;
  • the updating the status identification information corresponding to the tracking target according to the tracking information includes: if the continuous occurrence duration value is greater than the first occurrence If the value of the continuous disappearance duration is greater than the second disappearance threshold, then the tracking target is cancelled.
  • the tracking target determination method wherein the tracking information is also used to identify the continuous overlap duration value of the tracking target with other targets in the captured image, and the status identification information includes the first One of identification information, second identification information, and third identification information; correspondingly,
  • the updating the state identification information corresponding to the tracking target according to the tracking information includes: if the continuous overlap duration value is greater than a first overlap threshold, Updating the status identification information corresponding to the tracking target to the third identification information;
  • the tracking target is cancelled;
  • the updating the state identification information corresponding to the tracking target according to the tracking information includes: if the continuous overlap duration value is the same as the continuous If the sum of the disappearance duration values is greater than the third overlap threshold, the tracking target is cancelled.
  • the tracking target determination method wherein the status identification information includes one of first identification information, second identification information, third identification information, and fourth identification information; correspondingly,
  • the updating the status identification information corresponding to the tracking target according to the tracking information includes: if the continuous disappearance duration value is greater than a third disappearance threshold, Updating the status identification information corresponding to the tracking target to the fourth identification information;
  • the updating the status identification information corresponding to the tracking target according to the tracking information includes: if the continuous occurrence duration value is greater than the second occurrence Threshold, update the status identification information corresponding to the tracking target as the first identification information; if the continuous disappearance duration value is greater than the fourth disappearance threshold, update the status identification information corresponding to the tracking target as the second Identification information; if the continuous overlap duration value is greater than the fourth overlap threshold, update the status identification information corresponding to the tracking target to the third identification information.
  • A5. The tracking target determination method according to A1, wherein the tracking information is also used to identify the continuous overlap duration value of the tracking target with other targets in the captured image, and the state identification information includes the first One of identification information and fifth identification information; correspondingly,
  • the updating the status identification information corresponding to the tracking target according to the tracking information includes: if the continuous occurrence time value is greater than a third occurrence threshold, The status identification information corresponding to the tracking target is updated to be the first identification information; if the continuous overlap duration value is greater than the fifth overlap threshold, the tracking target is cancelled.
  • the status identification information corresponding to the newly added object is determined as the fifth identification information.
  • the method for determining a tracking target according to A1, wherein the obtaining the tracking information of the tracking target according to the status identification information corresponding to the tracking target includes:
  • A8 The method for determining a tracking target according to A7, wherein the identifying the tracking target from a captured image includes:
  • a tracking target determination device characterized by comprising: a memory, a processor, and a video collector, the video collector is used to collect the target to be tracked in the target area; the memory is used to store program code; the processing The program code is called, and when the program code is executed, it is used to perform the following operations: obtain the tracking information of the tracking target according to the status identification information corresponding to the tracking target; wherein the tracking information is used to identify the tracking target The time value of the continuous appearance of the tracking target in the captured image, or a value used to identify the time length of the continuous disappearance of the tracking target in the captured image;
  • the status identification information corresponding to the tracking target is updated.
  • the tracking target determination device according to A9, wherein the status identification information includes one of first identification information and second identification information; correspondingly,
  • the updating the status identification information corresponding to the tracking target according to the tracking information includes: if the continuous disappearance duration value is greater than a first disappearance threshold, Updating the status identification information corresponding to the tracking target to the second identification information;
  • the updating the status identification information corresponding to the tracking target according to the tracking information includes: if the continuous occurrence duration value is greater than the first occurrence If the value of the continuous disappearance duration is greater than the second disappearance threshold, then the tracking target is cancelled.
  • the tracking target determination device wherein the tracking information is further used to identify the continuous overlap duration value of the tracking target with other targets in the captured image, and the status identification information includes the first One of identification information, second identification information, and third identification information; correspondingly,
  • the updating the state identification information corresponding to the tracking target according to the tracking information includes: if the continuous overlap duration value is greater than a first overlap threshold, Updating the status identification information corresponding to the tracking target to the third identification information;
  • the status identification information corresponding to the tracking target is the second identification information, if the sum of the continuous overlap duration value and the continuous disappearance duration value is greater than a second overlap threshold, cancel the tracking target;
  • the updating the state identification information corresponding to the tracking target according to the tracking information includes: if the continuous overlap duration value is the same as the continuous If the sum of the disappearance duration values is greater than the third overlap threshold, the tracking target is cancelled.
  • A12 The tracking target determination device according to A11, wherein the status identification information includes one of first identification information, second identification information, third identification information, and fourth identification information; correspondingly,
  • the updating the status identification information corresponding to the tracking target according to the tracking information includes: if the continuous disappearance duration value is greater than a third disappearance threshold, Updating the status identification information corresponding to the tracking target to the fourth identification information;
  • the updating the status identification information corresponding to the tracking target according to the tracking information includes: if the continuous occurrence duration value is greater than the second occurrence Threshold, update the status identification information corresponding to the tracking target as the first identification information; if the continuous disappearance duration value is greater than the fourth disappearance threshold, update the status identification information corresponding to the tracking target as the second Identification information; if the continuous overlap duration value is greater than the fourth overlap threshold, update the status identification information corresponding to the tracking target to the third identification information.
  • the tracking target determination device wherein the tracking information is further used to identify the continuous overlap duration value of the tracking target with other targets in the captured image, and the status identification information includes the first One of identification information and fifth identification information; correspondingly,
  • the updating the status identification information corresponding to the tracking target according to the tracking information includes: if the continuous occurrence time value is greater than a third occurrence threshold, The status identification information corresponding to the tracking target is updated as the first identification information; if the continuous overlap duration value is greater than the fifth overlap threshold, the tracking target is cancelled.
  • the tracking target determining device characterized in that, before the tracking information of the tracking target is obtained according to the status identification information corresponding to the tracking target, the method further includes:
  • the status identification information corresponding to the newly added object is determined as the fifth identification information.
  • the tracking target determining device wherein the obtaining tracking information of the tracking target according to the status identification information corresponding to the tracking target includes:
  • the tracking target determination device includes:
  • a handheld camera characterized by comprising the tracking target determining device according to any one of A9-16, characterized by further comprising: a carrier, which is fixedly connected to the video capturer, It is used to carry at least a part of the video collector.
  • A18 The handheld camera according to A17, wherein the carrier includes but is not limited to a handheld pan/tilt.
  • A19 The handheld camera according to A18, wherein the handheld pan/tilt is a handheld three-axis pan/tilt.
  • each component/step described in the embodiments of this application can be split into more components/steps, or two or more components/steps or partial operations of components/steps can be combined into New components/steps to achieve the purpose of the embodiments of the present application.
  • the above-mentioned method according to the embodiments of the present application can be implemented in hardware, firmware, or implemented as software or computer code that can be stored in a recording medium (such as CD ROM, RAM, floppy disk, hard disk, or magneto-optical disk), or implemented by
  • a recording medium such as CD ROM, RAM, floppy disk, hard disk, or magneto-optical disk
  • the computer code downloaded from the network is originally stored in a remote recording medium or a non-transitory machine-readable medium and will be stored in a local recording medium, so that the method described here can be stored in a general-purpose computer, a special-purpose processor, or a programmable Or such software processing on a recording medium of dedicated hardware (such as ASIC or FPGA).
  • a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component (for example, RAM, ROM, flash memory, etc.) that can store or receive software or computer code. Or when the hardware is accessed and executed, the target tracking and shooting method described here is realized.
  • a general-purpose computer accesses the code for implementing the method shown here, the execution of the code converts the general-purpose computer into a special-purpose computer for executing the method shown here.

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  • General Physics & Mathematics (AREA)
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  • Studio Devices (AREA)

Abstract

L'invention concerne un procédé de détermination de cible de suivi, un dispositif et une caméra portative. Le procédé de détermination de cible de suivi consiste à : acquérir, en fonction d'informations d'identification d'état correspondant à une cible de suivi, des informations de suivi de la cible de suivi, les informations de suivi étant utilisées pour identifier une durée d'apparition continue de la cible de suivi dans des images capturées ou étant utilisées pour identifier une durée de disparition continue de la cible de suivi dans les images capturées (S101) ; et mettre à jour, selon les informations de suivi, les informations d'identification d'état correspondant à la cible de suivi (S102). De cette manière, les informations de suivi de la cible de suivi peuvent être acquises en fonction des informations d'identification d'état correspondant à la cible de suivi, puis les informations d'identification d'état correspondant à la cible de suivi sont mises à jour en fonction des informations de suivi de la cible de suivi. Ainsi, l'invention permet de gérer une plage de la cible de suivi en fonction des informations d'identification d'état sans enregistrer des durées d'apparition ou de disparition de tous les objets dans des trames d'images capturées, ce qui permet d'atténuer efficacement la charge de traitement en mémoire et d'améliorer l'efficacité d'identification de multiples objets cibles.
PCT/CN2020/099829 2020-04-15 2020-07-02 Procédé de détermination de cible de suivi, dispositif et caméra portative WO2021208252A1 (fr)

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