WO2021208260A1

WO2021208260A1 - Method and device for displaying tracking frame of target object, and handheld camera

Info

Publication number: WO2021208260A1
Application number: PCT/CN2020/099837
Authority: WO
Inventors: 刘利朋; 梁峰
Original assignee: 上海摩象网络科技有限公司
Priority date: 2020-04-15
Filing date: 2020-07-02
Publication date: 2021-10-21
Also published as: CN111479062B; CN111479062A

Abstract

Provided in embodiments of the present invention are a method and device for displaying a tracking frame of a target object, and a handheld cradle head. The method comprises: obtaining a tracking frame of a target object to be tracked in continuous K image frames and the size of the tracking frame of the target object; and if the tracking frame of the target object for tracking in the continuous K image frames is adjusted from a first size to a second size, displaying the tracking frame of the target object according to the second size. According to the embodiments of the present invention, frequent change in the size of the displayed tracking frame is prevented, a visual jitter phenomenon is avoided, and the user experience is improved.

Description

Target object tracking frame display method, equipment and handheld camera

Technical field

The embodiments of the present invention relate to the technical field of target tracking, and in particular to a method, equipment and handheld camera for displaying a tracking frame of a target object.

Background technique

With the development of handheld cameras and other terminals, video shooting has gradually become the main means for people to record daily life. In order to obtain better shooting results, target tracking shooting has become a common shooting method for users. In the actual application process of target tracking technology, on the premise of detecting the target object, continue to capture information such as the position and size of the target object in the subsequent image frames, and then achieve target tracking.

Since target tracking technology is very sensitive to the detection of target size, when a handheld camera or other terminal is used to track the target object, due to the influence of the target object’s posture, occlusion and other factors, the tracking frame of the target object displayed on the handheld camera and other terminal Frequent changes in the size of the device cause visual jitter to the user, resulting in a poor user experience.

Summary of the invention

In view of this, embodiments of the present invention provide a tracking frame display method, device, and handheld pan/tilt for a target object to solve all or part of the above-mentioned problems.

According to a first aspect of the embodiments of the present invention, there is provided a method for displaying a tracking frame of a target object, including:

Acquiring the tracking frame of the target object to be tracked in consecutive K image frames and the size of the tracking frame of the target object;

If the tracking frame of the target object to be tracked in consecutive K image frames is adjusted from the first size to the second size, the tracking frame of the target object is displayed according to the second size; the K is greater than 2 A natural number, the first size is different from the second size.

Optionally, in an embodiment of the present application, the acquiring the tracking frame of the target object to be tracked in at least K consecutive image frames and the size of the tracking frame of the target object include:

Acquiring at least K continuous image frames, and recognizing the target object to be tracked in the at least K continuous image frames;

Determine the size of the tracking frame of the target object according to the identified size of the target object.

Optionally, in an embodiment of the present application, the determining the size of the tracking frame of the target object according to the identified size of the target object includes:

The size of the identified tracking frame of the target object is determined according to the preset corresponding relationship between the size of the target object and the tracking frame size of the target object.

Optionally, in an embodiment of the present application, the corresponding relationship between the preset target object size and the tracking frame size of the target object is obtained by using a piecewise function.

Optionally, in an embodiment of the present application, the corresponding relationship between the preset target object size and the tracking frame size of the target object is obtained by using a piecewise function, which includes:

Dividing the size of the target object into N continuously increasing intervals;

Dividing the size of the tracking frame into N gradually increasing sizes;

A correspondence relationship between the N continuously increasing intervals and the N gradually increasing sizes is established, and N is a natural number greater than or equal to 2.

Optionally, in an embodiment of the present application, the target object is a human face, and the tracking frame is a human face tracking frame.

According to a second aspect of the embodiments of the present invention, there is provided a tracking frame display device for a target object, including: a memory, a processor, and a video collector, the video collector is used to collect K consecutive image frames; In storing program code; the processor calls the program code, and when the program code is executed, it is used to perform the following operations: Obtain the tracking frame of the target object to be tracked in the continuous K image frames and the target object The size of the tracking frame;

If the tracking frame of the target object to be tracked in consecutive K image frames is adjusted from the first size to the second size, the tracking frame of the target object is displayed according to the second size; the K is greater than or equal to A natural number of 2, the first size is different from the second size.

Optionally, in an embodiment of the present application, the processor is further configured to perform the following operations: acquiring at least K continuous image frames, and tracking the at least K continuous image frames Identify the target object;

Optionally, in an embodiment of the present application, the processor is further configured to perform the following operation: according to a preset corresponding relationship between the size of the target object and the size of the tracking frame of the target object, determine the identified The size of the tracking frame of the target object.

Dividing the size of the tracking frame into N gradually increasing sizes;

According to a third aspect of the embodiments of the present invention, there is provided a handheld camera, comprising the tracking frame display device of the target object according to claims 7-12, characterized in that it further comprises: a pan-tilt, the pan-tilt and The video collector is fixedly connected to carry at least a part of the video collector.

Optionally, in an embodiment of the present application, the pan/tilt is a handheld three-axis pan/tilt.

Optionally, in an embodiment of the present application, the video capture device includes, but is not limited to, a handheld three-axis pan-tilt camera.

According to a fourth aspect of the embodiments of the present invention, there is provided a computer storage medium having a computer program stored thereon, and when the program is executed by a processor, the method as described in the first aspect is implemented.

Embodiments of the present invention provide a tracking frame display method, device, and handheld pan/tilt for a target object. The method includes: acquiring the tracking frame of the target object to be tracked in consecutive K image frames and the size of the tracking frame of the target object; If the tracking frame of the target object to be tracked in consecutive K image frames is adjusted from the first size to the second size, the tracking frame of the target object is displayed in the second size; K is a natural number greater than 2, and the first size is different In the second size. The embodiment of the present invention prevents frequent changes in the size of the displayed tracking frame, avoids visual jitter, and improves user experience.

Description of the drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some of the embodiments described in the embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings.

Fig. 1 is a flow chart of the steps of a method for displaying a tracking frame of a target object according to the first embodiment of the present invention;

2 is a schematic diagram of a tracking frame of a target object according to an embodiment of the present invention;

3 is a flowchart of steps of a method for displaying a tracking frame of a target object according to the second embodiment of the present invention;

4 is a flowchart of steps for obtaining the correspondence between the preset target object size and the tracking frame size of the target object according to the third embodiment of the present invention;

FIG. 5 is a schematic diagram of a corresponding relationship between a preset target object size and a tracking frame size of the target object according to the fourth embodiment of the present invention;

6 is a structural block diagram of a tracking frame display device for a target object according to the fifth embodiment of the present invention;

7-9 are schematic diagrams of a handheld camera applied to a method for displaying a tracking frame of a target object according to the sixth embodiment of the present invention.

Detailed ways

In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the description is The embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art should fall within the protection scope of the embodiments of the present invention.

Aiming at the problem of frequent changes in the size of the tracking frame of the face displayed on the smart camera due to the change of the face posture or the occlusion of the face in the prior art, which causes visual jitter to the user, the embodiment of the present invention provides A method for displaying the tracking frame of a target object is presented. By obtaining the size of the tracking frame of the target object to be tracked in consecutive K image frames, the tracking frame of the target object in the consecutive K image frames is adjusted from the first size to the second size. When the size is selected, the tracking frame of the target object is displayed according to the second size, thereby preventing frequent changes in the size of the displayed tracking frame, avoiding visual jitter, and improving user experience. The specific implementation of the embodiments of the present invention will be further described below in conjunction with the accompanying drawings of the embodiments of the present invention.

Example one

Referring to FIG. 1, FIG. 1 is a step flow chart of a method for displaying a tracking frame of a target object according to the first embodiment of the present invention. The method for displaying a tracking frame of a target object in an embodiment of the present invention can be determined by the tracking of the target object corresponding to the method. The target object’s tracking display device includes but is not limited to: mobile terminals (such as tablet computers, mobile phones, etc.), handheld cameras, etc., or a tracking display unit installed on an electronic device, such as The tracking display unit on the drone controller, etc., the tracking display device of the target object may also be a pan-tilt device.

As shown in FIG. 1, the method for displaying a tracking frame of a target object provided by an embodiment of the present invention includes the following steps:

S101. Acquire a tracking frame of a target object to be tracked in consecutive K image frames and the size of the tracking frame of the target object.

Wherein, the image frame may be collected by an image collector or a video collector set on the tracking frame display device of the target object.

The image frame includes the target object to be tracked. The target object can be determined by the system preset, manually selected by the user or triggered by meeting preset conditions. The embodiment of the present invention does not limit this, and it can be any dynamic target (for example, human ,animal).

There may be one or more target objects, which are not limited in the embodiment of the present invention.

In practical applications, when an image capture device or a video capture device is used to capture an image frame, an image recognition algorithm can be used to obtain the target object in the image frame. The image recognition algorithm is selected by those skilled in the art according to needs, which is not limited in the embodiment of the present invention.

The embodiment of the present invention obtains the tracking frame of the target object and the size of the tracking frame of the target object according to the target object. Exemplarily, step S101 specifically includes: acquiring at least K continuous image frames, and recognizing the target object to be tracked in the at least K continuous image frames; determining the size of the tracking frame of the target object according to the identified target object size size.

Illustratively, FIG. 2 is a schematic diagram of a tracking frame of a target object according to an embodiment of the present invention. As shown in FIG. 2, the target object is a human face, and the tracking frame of the target object is a rectangular frame surrounding the human face.

Of course, in practical applications, the tracking frame of the target object includes but is not limited to a rectangular frame, and may also be a triangular frame, a circular frame, etc., which is not limited in the embodiment of the present invention.

Exemplarily, for each image frame in consecutive K image frames, the tracking frame of a target object to be tracked in the image frame is acquired, then K tracking frames can be obtained, and then the size of the corresponding tracking frame can be calculated. Among them, K is a natural number greater than 2.

Exemplarily, for each image frame in consecutive K image frames, the tracking frames of the M target objects to be tracked in the image frame are obtained, then M*K tracking frames can be obtained, and then the corresponding tracking frames can be calculated size of. Among them, K is a natural number greater than 2. M is a natural number greater than 1.

Exemplarily, the embodiment of the present invention may also obtain the tracking frame of a target object to be tracked in the image frame for every T image frames in consecutive K image frames, then K/T tracking frames may be obtained, and then The size of the corresponding tracking frame can be calculated. Among them, K is a natural number greater than 2. T is a natural number greater than 1.

Exemplarily, the embodiment of the present invention may also obtain the tracking frames of the M target objects to be tracked in the image frames for K consecutive image frames at intervals of T image frames, and then M*K/T tracking frames may be obtained. , And then you can calculate the size of the corresponding tracking frame. Among them, K is a natural number greater than 2. M is a natural number greater than 1. T is a natural number greater than 1.

Specifically, the calculated size of each tracking frame includes:

Obtain K tracking boxes, the side length of each tracking box;

According to the side length of each tracking frame, the size of the tracking frame is calculated.

Exemplarily, referring to FIG. 2, when the tracking frame of the target object is a rectangular frame, the side length of each tracking frame, that is, the length and the width, can be obtained. The size of the tracking frame can be the area of the tracking frame obtained according to the length and width, or the perimeter of the tracking frame obtained according to the length and width, or other methods that can describe the size of the tracking frame. It is not limited.

S102: If the tracking frame of the target object to be tracked in the continuous K image frames is adjusted from the first size to the second size, display the tracking frame of the target object according to the second size.

The first size is the size of the tracking frame of the target object currently displayed, and the second size is any size different from the first size.

Through step S101, the size of the tracking frame of the target object to be tracked in consecutive K image frames can be obtained. If the size of the tracking frame of the same target object in the consecutive K image frames is the second size, it means that K consecutive image frames When the tracking frame of the target object is adjusted from the first size to the second size, the tracking frame of the target object is displayed in the second size.

It should be noted that when acquiring the size of the tracking frame of the target object to be tracked in consecutive K image frames, the size of the tracking frame of the target object in the K image frames is still the first size. When the size of the tracking frame of the target object in the image frame is the second size, then in the next image frame, the tracking frame of the target object is displayed according to the second size.

In the embodiment of the present invention, when the tracking frame of the target object in the continuous K image frames is adjusted from the first size to the second size, the K tracking frames corresponding to the K image frames are displayed according to the second size, thereby preventing display tracking The size of the frame changes frequently to avoid visual jitter and improve user experience.

Example two

On the basis of the above-mentioned embodiment in FIG. 1, FIG. 3 is a step flow chart of a method for displaying a tracking frame of a target object according to the second embodiment of the present invention. As shown in FIG. 3, the tracking of the target object provided by the embodiment of the present invention The frame display method specifically includes the following steps:

S201: Acquire at least K continuous image frames, and identify the target object to be tracked in the at least K continuous image frames.

Specifically, at least K continuous image frames can be acquired through a video capture device or an image capture device set on the tracking frame display device of the target object, and then any feasible image recognition algorithm can be used to determine at least K continuous image frames. The target object to be tracked in is identified.

It should be noted that when the target object is a face, the image recognition algorithm can be a face recognition algorithm, where the face recognition algorithm can be a recognition image frame algorithm based on facial feature points, a recognition algorithm based on the entire face image, and a template based Any one of the recognition algorithm and the image frame algorithm for recognition using a neural network, the embodiment of the present invention does not limit this.

S202: Determine the size of the tracking frame of the target object according to the identified size of the target object.

For each image frame, according to the size of the target object in the image frame, the size of the tracking frame of the target object can be determined. Generally, the larger the size of the target object, the larger the size of the tracking frame of the target object, the smaller the size of the target object, and the smaller the size of the tracking frame of the target object.

It should be noted that the reason for the change in the size of the target object is that the target object is displaced. Taking the target object as a face as an example, the closer the face is to the image collector or video collector, the larger the size of the face, and the further away the face is from the image collector or video collector, the smaller the size of the face.

Exemplarily, step S202 specifically includes:

According to the preset corresponding relationship between the size of the target object and the size of the tracking frame of the target object, the size of the identified tracking frame of the target object is determined.

Wherein, the size of the target object and the size of the tracking frame of the target object have a corresponding relationship, so when the size of the target object is obtained, the corresponding relationship can be queried to determine the size of the tracking frame of the target object.

Exemplarily, for each image frame in the continuous K image frames, according to the size of a target object in the image frame, the corresponding relationship is queried, and the size of the corresponding tracking frame can be obtained.

Exemplarily, for each image frame in the continuous K image frames, according to the size of the M target objects in the image frame, the corresponding relationship is queried, and the size of the corresponding tracking frame can be obtained.

Exemplarily, for each interval T images in consecutive K image frames, according to the size of a target object in each interval T image frames, the corresponding relationship can be inquired to obtain the size of the corresponding tracking frame.

Exemplarily, for each interval T images in the continuous K image frames, according to the size of the M target objects in each interval T image frames, the corresponding relationship is queried, and then the size of the corresponding tracking frame can be obtained. It should be noted that the size of the target object and the size of the tracking frame of the target object may have a one-to-one correspondence or a many-to-one relationship, which is not limited in the embodiment of the present invention.

Exemplarily, the preset corresponding relationship between the size of the target object and the size of the tracking frame of the target object may be obtained by using a piecewise function, that is, a many-to-one correspondence.

S203: If the tracking frame of the target object to be tracked in the continuous K image frames is adjusted from the first size to the second size, display the tracking frame of the target object according to the second size.

Through steps S201-S202, the size of the tracking frame of the target object to be tracked in consecutive K image frames can be obtained. When the tracking frame of the target object in the consecutive K image frames is adjusted from the first size to the second size, the target The tracking frame of the object is displayed in the second size.

The specific implementation process of step S203 is similar to that of step S102 and will not be repeated here.

In a specific implementation, the target object is a human face, and the tracking frame is a human face tracking frame.

The embodiment of the present invention can accurately determine the size of the tracking frame based on the identified size of the target object in the K consecutive image frames, and the tracking frame of the target object in the K consecutive image frames is adjusted from the first size to the second size. In the case of the size, the K tracking frames corresponding to the K image frames are displayed according to the second size, thereby preventing frequent changes in the size of the displayed tracking frames, avoiding visual jitter, and improving user experience.

Example three

On the basis of the above-mentioned embodiment in FIG. 3, FIG. 4 is a flow chart of steps for obtaining the corresponding relationship between the preset target object size and the tracking frame size of the target object according to the third embodiment of the present invention, as shown in FIG. 4, The corresponding relationship between the preset target object size and the tracking frame size of the target object is obtained by using a piecewise function, including:

S301: Divide the size of the target object into N continuously increasing intervals.

S302: Divide the size of the tracking frame into N gradually increasing sizes.

S303. Establish a correspondence relationship between N continuously increasing intervals and N gradually increasing sizes.

Among them, the size of the target object may be the size of the target object that can be recognized by the target object recognition algorithm.

In order to ensure that the tracking frame of the target object is displayed smoothly during the size change of the target object, the target object size is divided into N continuously increasing intervals, and the tracking frame is divided into N gradually increasing sizes, and then N Correspondence between consecutively increasing intervals and N gradually increasing sizes, where N is a natural number greater than or equal to 2.

For example, if N is equal to 5, the size of the target object is divided into N continuously increasing intervals, which are respectively denoted as: (0,

),

L5), and divide the tracking frame into N gradually increasing sizes, and the N tracking frames are denoted as: P0, P1, P2, P3, and P4. Among them, L0, L1, L2, L3, L4, and L6 are custom parameters, and the embodiment of the present invention does not limit the specific values of L0-L6.

Generally, the larger the size of the target object and the larger the size of the tracking frame, the correspondence between 5 continuously increasing intervals and 5 gradually increasing sizes can be established. A schematic diagram of the corresponding relationship between the preset target object size and the tracking frame size of the target object, as shown in Figure 5, (0,

) Corresponds to P0,

Corresponds to P1,

Corresponds to P2,

Corresponding to P3, (

L5) corresponds to P4.

Through the above method, the correspondence relationship between N continuously increasing intervals and N gradually increasing sizes can be established, that is, the corresponding relationship between the size of the target object and the size of the tracking frame of the target object can be established. Relationship, determine the size of the tracking frame of the identified target object, and then step S203.

In the embodiment of the present invention, the corresponding relationship between the size of the target object and the size of the tracking frame of the target object is established by using a segmented function. When the size of the target object is recognized, the tracking frame size can be accurately determined based on the corresponding relationship.

Example five

FIG. 6 is a structural block diagram of a tracking frame display device for a target object according to the fifth embodiment of the present invention. The tracking frame display device 60 for a target object according to an embodiment of the present invention includes the following:

Memory 601, processor 602, video collector 603,

The video collector 603 is used to collect K consecutive image frames; the memory 601 is used to store program code; the processor 602 is used to call the program code, and when the program code is executed, it is used to perform the following operations: Acquiring the tracking frame of the target object to be tracked in consecutive K image frames and the size of the tracking frame of the target object;

Optionally, in an embodiment of the present application, the processor 602 is further configured to perform the following operations:

Acquiring at least K continuous image frames, and identifying target objects to be tracked in the at least K continuous image frames;

Optionally, in an embodiment of the present application, the processor 602 is further configured to perform the following operations: according to the preset corresponding relationship between the size of the target object and the size of the tracking frame of the target object, determine the identified The size of the tracking frame of the target object.

Dividing the size of the tracking frame into N gradually increasing sizes;

For the tracking frame display device of the target object provided in the embodiment of the present invention, the implementation principle and technical effect of the device can be referred to the foregoing embodiment of the manner, and details are not described herein again.

Example Six

The embodiment of the present invention also provides a handheld camera, including the tracking frame display device of the target object shown in the embodiment of FIG. Part.

Optionally, the pan/tilt is a handheld three-axis pan/tilt.

Optionally, the video capture device includes, but is not limited to, a handheld three-axis pan/tilt camera.

The basic structure of the handheld pan/tilt camera is briefly introduced below. As shown in Figures 7-9, the handheld pan/tilt 1 of the embodiment of the present invention includes a handle 11 and a photographing device 12 loaded on the handle 11. In the embodiment of the present invention, the photographing device 12 may include three Axis pan-tilt cameras include pan-tilt cameras with two or more axes in other embodiments.

The handheld pan/tilt 1 of the embodiment of the present invention includes a handle 11 and a photographing device 12 loaded on the handle 11. In the embodiment of the present invention, the photographing device 12 may include a three-axis pan/tilt camera. In other embodiments Including two-axis or more than three-axis gimbal camera.

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.

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.

In one embodiment, the handle 11 is further provided with an operating function unit for controlling the camera 12, and by operating the operating function unit, the operation of the camera 12 can be controlled, for example, the opening and closing of the camera 12 can be controlled. Turning off and controlling the shooting of the shooting device 12, controlling the posture change of the pan-tilt part of the shooting device 12, etc., so that the user can quickly operate the shooting device 12. Wherein, the operation function part may be in the form of a button, a knob or a touch screen.

In one embodiment, the operating function unit includes a photographing button 14 for controlling the photographing of the photographing device 12, a power/function button 15 for controlling the opening and closing of the photographing device 12 and other functions, as well as controlling the pan/tilt. Move the universal key 16. Of course, 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.

In one embodiment, 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, which conforms to ergonomics. At the same time, the appearance layout of the whole handheld PTZ 1 is more reasonable and beautiful.

Further, 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. When the camera is turned on, click the orange side button on the right side of the fuselage to turn on the function, and it will automatically shoot a segment of video at regular intervals. A total of N segments (N≥2) will be captured. After connecting to a mobile device such as a mobile phone, select "One-click to film" Function, the system intelligently screens shots and matches suitable templates to quickly generate wonderful works.

In an optional embodiment, the handle 11 is further provided with a card slot 17 for inserting a storage element. In the embodiment of the present invention, 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. middle. Moreover, arranging the card slot 17 on the side does not affect the use of other functions, and the user experience is better.

In an embodiment, 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.

In one embodiment, the handle 11 is also provided with a charging interface/USB interface 18. In the embodiment of the present invention, 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.

In one embodiment, the handle 11 is further provided with a sound pickup hole 19 for receiving audio signals, and the sound pickup hole 19 communicates with a microphone inside. 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. In addition, 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. In addition, 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.

In one embodiment, the imaging device 12 includes a pan-tilt support and a camera mounted on the pan-tilt support. The imager may be a camera, or an image pickup 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 support, so that the photographing device 12 is a pan-tilt camera; it may also be an external photographing device, which can be detachably connected or clamped to be mounted on the pan-tilt support.

In one embodiment, the pan/tilt support is a three-axis pan/tilt support, and the photographing device 12 is a three-axis pan/tilt camera. The three-axis pan/tilt head 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. Of course, in other examples, 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.

In one embodiment, a mounting portion is further provided, the mounting portion is provided at one end of the connecting arm connected to the roll shaft assembly, and the yaw shaft assembly may be set in the handle, and the yaw shaft assembly drives The camera 12 rotates in the yaw direction together.

In an optional embodiment, the handle 11 is provided with an adapter 26 for coupling with a 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. When the adapter 26 is connected to the mobile device 2, the handheld platform 1 and The adapter 26 is docked and used to be supported at the end of the mobile device 2.

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. In addition, after the handle 11 is coupled to the mobile device 2 through the adapter 26, 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.

In one embodiment, 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 matching portion that matches with the electrical contact portion.

In this way, when the handheld PTZ 1 does not need to be connected to the mobile device 2, the adapter 26 can be removed from the handle 11. When the handheld PTZ 1 needs to be connected to the mobile device 2, then 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.

In one embodiment, 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 slot 27, the adapter 26 partially protrudes from the receiving slot 27, and the portion of the adapter 26 protruding from the receiving slot 27 is used to connect with the mobile device 2.

In one embodiment, referring to FIG. 8, when the adapter 26 is inserted into the receiving groove 27 from the adapter 26, the adapter portion 32 is flush with the receiving groove 27, Furthermore, the adapter 26 is stored in the receiving groove 27 of the handle 11.

Therefore, when the handheld pan/tilt head 1 needs to be connected to the mobile device 2, the adapter 26 can be inserted from the adapter portion 32 into the receiving groove 27, so that the adapter 26 protrudes from the receiving groove 27 , So that the mobile device 2 and the handle 11 are connected to each other

After the mobile device 2 is used up, or when the mobile device 2 needs to be unplugged, the adapter 26 can be taken out of the receiving slot 27 of the handle 11, and then inserted into the receiving slot from the adapter 26 in the reverse direction 27, the adapter 26 is further stored 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.

In one embodiment, 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. Of course, in other examples, 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.

In one embodiment, the receiving groove 27 is provided on the side of the handle 11. When the transfer function is not used, 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.

In an embodiment, the electrical contact part and the electrical contact mating part may be electrically connected in a contact contact manner. For example, the electrical contact portion 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. Of course, in other examples, 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.

A1. A method for displaying a tracking frame of a target object, characterized in that it comprises:

A2. The method according to A1, wherein the acquiring the tracking frame of the target object to be tracked in at least K consecutive image frames and the size of the tracking frame of the target object includes:

A3. The method according to A2, wherein the determining the size of the tracking frame of the target object according to the identified size of the target object includes:

A4. The method according to A3, wherein the corresponding relationship between the preset target object size and the tracking frame size of the target object is obtained by using a piecewise function.

A5. The method according to A4, wherein the corresponding relationship between the preset target object size and the tracking frame size of the target object is obtained by using a piecewise function, which includes:

Dividing the size of the tracking frame into N gradually increasing sizes;

A6. The method according to any one of A1 to A5, wherein the target object is a human face, and the tracking frame is a human face tracking frame.

A7. A tracking frame display device for a target object, comprising: a memory, a processor, and a video collector, the video collector is used to collect K consecutive image frames; the memory is used to store program codes; The processor calls the program code, and when the program code is executed, it is used to perform the following operations: obtain the tracking frame of the target object to be tracked in consecutive K image frames and the size of the tracking frame of the target object; if If the tracking frame of the target object to be tracked in consecutive K image frames is adjusted from the first size to the second size, the tracking frame of the target object is displayed according to the second size; the K is greater than or equal to 2 The first size is different from the second size.

A8. The tracking frame display device according to A7, wherein the processor is further configured to perform the following operations:

A9. The tracking frame display device according to A8, wherein the processor is further configured to perform the following operations:

A10. The tracking frame display device according to A9, wherein the corresponding relationship between the preset target object size and the tracking frame size of the target object is obtained by using a piecewise function.

A11. The tracking frame display device according to A10, wherein the corresponding relationship between the preset target object size and the tracking frame size of the target object is obtained by using a piecewise function and includes:

Dividing the size of the tracking frame into N gradually increasing sizes;

A12. The tracking frame display device according to any one of A7 to A11, wherein the target object is a human face, and the tracking frame is a face tracking frame.

A13. A handheld camera comprising the tracking frame display device of the target object according to claims 7-12, further comprising: a pan-tilt, the pan-tilt is fixedly connected with the video collector for At least a part of the video collector is carried.

A14. The handheld camera according to A13, wherein the pan/tilt is a handheld three-axis pan/tilt.

A15. The handheld camera according to A14, wherein the video capture device includes but is not limited to a handheld three-axis pan-tilt camera.

So far, specific embodiments of the subject matter have been described. Other embodiments are within the scope of the appended claims. In some cases, the actions described in the claims can be in different order.

Order to execute and still achieve the desired result. In addition, the processes depicted in the drawings do not necessarily require the specific order or sequential order shown in order to achieve the desired result. In certain embodiments, multitasking and parallel processing may be advantageous.

In the 1990s, the improvement of a technology can be clearly distinguished between hardware improvements (for example, improvements in circuit structures such as diodes, transistors, switches, etc.) or software improvements (improvements in method flow). However, with the development of technology, the improvement of many methods and processes of today can be regarded as a direct improvement of the hardware circuit structure. Designers almost always get the corresponding hardware circuit structure by programming the improved method flow into the hardware circuit. Therefore, it cannot be said that the improvement of a method flow cannot be realized by the hardware entity module. For example, a programmable logic device (Programmable Logic Device, PLD) (for example, a Field Programmable Gate Array (Field Programmable Gate Array, FPGA)) is such an integrated circuit whose logic function is determined by the user's programming of the device. It is programmed by the designer to "integrate" a digital system on a PLD without requiring the chip manufacturer to design and manufacture a dedicated integrated circuit chip. Moreover, nowadays, instead of manually making integrated circuit chips, this kind of programming is mostly realized by using "logic compiler" software, which is similar to the software compiler used in program development and writing, but before compilation The original code must also be written in a specific programming language, which is called Hardware Description Language (HDL), and there is not only one type of HDL, but many types, such as ABEL (Advanced Boolean Expression Language) , AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description), etc., currently most commonly used It is VHDL (Very-High-Speed Integrated Circuit Hardware Description Language) and Verilog. It should also be clear to those skilled in the art that just a little bit of logic programming of the method flow in the above-mentioned hardware description languages and programming into an integrated circuit can easily obtain the hardware circuit that implements the logic method flow.

The controller can be implemented in any suitable manner. For example, the controller can take the form of, for example, a microprocessor or a processor and a computer-readable medium storing computer-readable program codes (such as software or firmware) executable by the (micro)processor. , Logic gates, switches, application specific integrated circuits (ASICs), programmable logic controllers and embedded microcontrollers. Examples of controllers include but are not limited to the following microcontrollers: ARC625D, Atmel AT91SAM, Microchip PIC18F26K20 and Silicon Labs C8051F320, the memory controller can also be implemented as part of the memory control logic. Those skilled in the art also know that, in addition to implementing the controller in a purely computer-readable program code manner, it is entirely possible to program the method steps to make the controller use logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded logic. The same function can be realized in the form of a microcontroller or the like. Therefore, such a controller can be regarded as a hardware component, and the devices included in it for realizing various functions can also be regarded as a structure within the hardware component. Or even, the device for realizing various functions can be regarded as both a software module for realizing the method and a structure within a hardware component.

The systems, devices, modules, or units illustrated in the above embodiments may be specifically implemented by computer chips or entities, or implemented by products with certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cell phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or Any combination of these devices.

This application is described with reference to flowcharts and/or block diagrams of methods, devices (systems), and computer program products according to embodiments of this application. It should be understood that each process and/or block in the flowchart and/or block diagram, and the combination of processes and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing equipment to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing equipment are used to generate It is a device that realizes the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device. The device implements the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

These computer program instructions can also be loaded on a computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce computer-implemented processing, so as to execute on the computer or other programmable equipment. The instructions provide steps for implementing the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

It should also be noted that the terms "include", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or equipment including a series of elements not only includes those elements, but also includes Other elements that are not explicitly listed, or also include elements inherent to such processes, methods, commodities, or equipment. If there are no more restrictions, the element defined by the sentence "including a..." does not exclude the existence of other identical elements in the process, method, commodity, or equipment that includes the element.

Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, this application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, this application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

This application may be described in the general context of computer-executable instructions executed by a computer, such as a program module. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific transactions or implement specific abstract data types. This application can also be practiced in distributed computing environments. In these distributed computing environments, remote processing devices connected through a communication network execute transactions. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the difference from other embodiments. In particular, as for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for related parts, please refer to the part of the description of the method embodiment.

The above descriptions are only examples of the present application, and are not used to limit the present application. For those skilled in the art, this application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included in the scope of the claims of this application.

Claims

A method for displaying a tracking frame of a target object, which is characterized in that it comprises:

Acquiring the tracking frame of the target object to be tracked in consecutive K image frames and the size of the tracking frame of the target object;

If the tracking frame of the target object to be tracked in consecutive K image frames is adjusted from the first size to the second size, the tracking frame of the target object is displayed according to the second size; the K is greater than 2 A natural number, the first size is different from the second size.
The method according to claim 1, wherein the acquiring the tracking frame of the target object to be tracked in at least K consecutive image frames and the size of the tracking frame of the target object comprises:

Acquiring at least K continuous image frames, and identifying target objects to be tracked in the at least K continuous image frames;

Determine the size of the tracking frame of the target object according to the identified size of the target object.
The method according to claim 2, wherein the determining the size of the tracking frame of the target object according to the identified size of the target object comprises:

The size of the identified tracking frame of the target object is determined according to the preset corresponding relationship between the size of the target object and the tracking frame size of the target object.
The method according to claim 3, wherein the corresponding relationship between the preset target object size and the tracking frame size of the target object is obtained by using a piecewise function.
The method according to claim 4, wherein the corresponding relationship between the preset target object size and the tracking frame size of the target object is obtained by using a piecewise function, comprising:

Dividing the size of the target object into N continuously increasing intervals;

Dividing the size of the tracking frame into N gradually increasing sizes;

A correspondence relationship between the N continuously increasing intervals and the N gradually increasing sizes is established, and N is a natural number greater than or equal to 2.
The method according to any one of claims 1 to 5, wherein the target object is a human face, and the tracking frame is a human face tracking frame.
A tracking frame display device for a target object, which is characterized by comprising: a memory, a processor, and a video collector, the video collector is used to collect K consecutive image frames; the memory is used to store program codes; the processing When the program code is executed, the program code is used to perform the following operations: obtain the tracking frame of the target object to be tracked in consecutive K image frames and the size of the tracking frame of the target object; The tracking frame of the target object to be tracked in each image frame is adjusted from the first size to the second size, then the tracking frame of the target object is displayed according to the second size; the K is a natural number greater than or equal to 2 , The first size is different from the second size.
The tracking frame display device according to claim 7, wherein the processor is further configured to perform the following operations:

Acquiring at least K continuous image frames, and identifying target objects to be tracked in the at least K continuous image frames;

Determine the size of the tracking frame of the target object according to the identified size of the target object.
The tracking frame display device according to claim 8, wherein the processor is further configured to perform the following operations:

The size of the identified tracking frame of the target object is determined according to the preset corresponding relationship between the size of the target object and the tracking frame size of the target object.
The tracking frame display device according to claim 9, wherein the corresponding relationship between the preset target object size and the tracking frame size of the target object is obtained by using a piecewise function.