WO2021208260A1 - Procédé et dispositif pour afficher la trame de suivi d'un objet cible, et appareil photo portatif - Google Patents

Procédé et dispositif pour afficher la trame de suivi d'un objet cible, et appareil photo portatif Download PDF

Info

Publication number
WO2021208260A1
WO2021208260A1 PCT/CN2020/099837 CN2020099837W WO2021208260A1 WO 2021208260 A1 WO2021208260 A1 WO 2021208260A1 CN 2020099837 W CN2020099837 W CN 2020099837W WO 2021208260 A1 WO2021208260 A1 WO 2021208260A1
Authority
WO
WIPO (PCT)
Prior art keywords
size
target object
tracking frame
tracking
image frames
Prior art date
Application number
PCT/CN2020/099837
Other languages
English (en)
Chinese (zh)
Inventor
刘利朋
梁峰
Original Assignee
上海摩象网络科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 上海摩象网络科技有限公司 filed Critical 上海摩象网络科技有限公司
Publication of WO2021208260A1 publication Critical patent/WO2021208260A1/fr

Links

Images

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/61—Control of cameras or camera modules based on recognised objects
    • H04N23/611—Control of cameras or camera modules based on recognised objects where the recognised objects include parts of the human body
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/63—Control of cameras or camera modules by using electronic viewfinders
    • H04N23/631—Graphical user interfaces [GUI] specially adapted for controlling image capture or setting capture parameters
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H04N23/681—Motion detection

Definitions

  • 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.
  • target tracking shooting has become a common shooting method for users.
  • 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.
  • 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.
  • 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.
  • a method for displaying a tracking frame of a target object including:
  • 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 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:
  • 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.
  • 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 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:
  • N is a natural number greater than or equal to 2.
  • the target object is a human face
  • the tracking frame is a human face tracking frame
  • 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;
  • 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;
  • 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.
  • 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;
  • 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.
  • 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 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:
  • N is a natural number greater than or equal to 2.
  • the target object is a human face
  • the tracking frame is a human face tracking frame
  • 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.
  • the pan/tilt is a handheld three-axis pan/tilt.
  • the video capture device includes, but is not limited to, a handheld three-axis pan-tilt camera.
  • 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.
  • 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
  • FIG. 2 is a schematic diagram of a tracking frame of a target object according to an embodiment of the present invention.
  • FIG. 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
  • 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.
  • 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.
  • FIGS. 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.
  • the embodiment of the present invention provides A method for displaying the tracking frame of a target object is presented.
  • the tracking frame of the target object in the 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, thereby preventing frequent changes in the size of the displayed tracking frame, avoiding visual jitter, and improving user experience.
  • 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.
  • the method for displaying a tracking frame of a target object includes the following steps:
  • 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).
  • 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.
  • 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.
  • FIG. 2 is a schematic diagram of a tracking frame of a target object according to an embodiment of the present invention.
  • the target object is a human face
  • the tracking frame of the target object is a rectangular frame surrounding the human face.
  • 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.
  • K is a natural number greater than 2.
  • 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.
  • K is a natural number greater than 2.
  • M is a natural number greater than 1.
  • 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.
  • K is a natural number greater than 2.
  • T is a natural number greater than 1.
  • 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.
  • K is a natural number greater than 2.
  • M is a natural number greater than 1.
  • T is a natural number greater than 1.
  • the calculated size of each tracking frame includes:
  • the size of the tracking frame is calculated.
  • the side length of each tracking frame that is, the length and the width
  • 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.
  • 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.
  • 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.
  • the size of the tracking frame of the target object in the K image frames is still the first size.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the size of the tracking frame of the target object can be determined.
  • 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.
  • the reason for the change in the size of the target object is that the target object is displaced.
  • the target object is displaced.
  • step S202 specifically includes:
  • the size of the identified tracking frame of the target object is determined.
  • 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.
  • the corresponding relationship is queried, and the size of the corresponding tracking frame can be obtained.
  • the corresponding relationship is queried, and the size of the corresponding tracking frame can be obtained.
  • the corresponding relationship can be inquired to obtain the size of the corresponding tracking frame.
  • the corresponding relationship is queried, and then the size of the corresponding tracking frame can be obtained.
  • 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.
  • 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.
  • the size of the tracking frame of the target object to be tracked in consecutive K image frames can be obtained.
  • 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.
  • step S203 The specific implementation process of step S203 is similar to that of step S102 and will not be repeated here.
  • the target object is a human face
  • 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.
  • 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.
  • 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.
  • the size of the target object may be the size of the target object that can be recognized by the target object recognition algorithm.
  • 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.
  • N 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.
  • 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.
  • FIG. 5 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.
  • 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.
  • 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.
  • the tracking frame size can be accurately determined based on the corresponding relationship.
  • 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:
  • 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;
  • 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.
  • the processor 602 is further configured to perform the following operations:
  • 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.
  • 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 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:
  • N is a natural number greater than or equal to 2.
  • the target object is a human face
  • the tracking frame is a human face tracking frame
  • 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.
  • the pan/tilt is a handheld three-axis pan/tilt.
  • the video capture device includes, but is not limited to, a handheld three-axis pan/tilt camera.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • the operation function part may be in the form of a button, a knob or a touch screen.
  • 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.
  • the universal key 16 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, which conforms to ergonomics.
  • the appearance layout of the whole handheld 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. middle. 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 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.
  • 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 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.
  • 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 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.
  • 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 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.
  • 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.
  • 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.
  • 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 matching portion that matches 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 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.
  • the adapter 26 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.
  • 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
  • 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.
  • 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 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.
  • 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 method for displaying a tracking frame of a target object characterized in that it comprises:
  • 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.
  • 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:
  • 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.
  • 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:
  • N is a natural number greater than or equal to 2.
  • 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.
  • 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:
  • 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 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:
  • N is a natural number greater than or equal to 2.
  • 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.
  • 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.
  • 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).
  • hardware improvements for example, improvements in circuit structures such as diodes, transistors, switches, etc.
  • software improvements improvements in method flow.
  • 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.
  • a programmable logic device for example, a Field Programmable Gate Array (Field Programmable Gate Array, FPGA)
  • PLD Programmable Logic Device
  • FPGA Field Programmable Gate Array
  • HDL Hardware Description Language
  • ABEL Advanced Boolean Expression Language
  • AHDL Altera Hardware Description Language
  • HDCal JHDL
  • Lava Lava
  • Lola MyHDL
  • PALASM RHDL
  • VHDL Very-High-Speed Integrated Circuit Hardware Description Language
  • Verilog Verilog
  • the controller can be implemented in any suitable manner.
  • 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.
  • controllers 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.
  • a typical implementation device is a computer.
  • 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.
  • 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.
  • this 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.
  • a computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • This application may be described in the general context of computer-executable instructions executed by a computer, such as a program module.
  • 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.
  • program modules can be located in local and remote computer storage media including storage devices.

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Human Computer Interaction (AREA)
  • Image Analysis (AREA)
  • Studio Devices (AREA)

Abstract

Les modes de réalisation de la présente invention concernent un procédé et un dispositif pour afficher une trame de suivi d'un objet cible, ainsi qu'une tête à berceau portative. Le procédé comprend : l'obtention d'une trame de suivi d'un objet cible à suivre dans des trames d'image K continues et de la taille de la trame de suivi de l'objet cible ; et si la trame de suivi de l'objet cible pour le suivi dans les K trames d'image continues est réglée d'une première taille à une seconde taille, l'affichage de la trame de suivi de l'objet cible selon la seconde taille. Selon les modes de réalisation de la présente invention, un changement fréquent de la taille de la trame de suivi affiché est empêché, un phénomène de gigue visuelle est évité et l'expérience d'utilisateur est améliorée.
PCT/CN2020/099837 2020-04-15 2020-07-02 Procédé et dispositif pour afficher la trame de suivi d'un objet cible, et appareil photo portatif WO2021208260A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202010297060.XA CN111479062B (zh) 2020-04-15 2020-04-15 目标对象的跟踪框显示方法、设备及手持相机
CN202010297060.X 2020-04-15

Publications (1)

Publication Number Publication Date
WO2021208260A1 true WO2021208260A1 (fr) 2021-10-21

Family

ID=71754258

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/099837 WO2021208260A1 (fr) 2020-04-15 2020-07-02 Procédé et dispositif pour afficher la trame de suivi d'un objet cible, et appareil photo portatif

Country Status (2)

Country Link
CN (1) CN111479062B (fr)
WO (1) WO2021208260A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104937638A (zh) * 2013-01-22 2015-09-23 高通股份有限公司 用于跟踪和检测目标对象的系统和方法
CN105830430A (zh) * 2013-12-21 2016-08-03 高通股份有限公司 用以使对象跟踪框的显示稳定的系统和方法
CN106228112A (zh) * 2016-07-08 2016-12-14 深圳市优必选科技有限公司 人脸检测跟踪方法及机器人头部转动控制方法和机器人
CN106651920A (zh) * 2016-10-19 2017-05-10 北京邮电大学 基于机器视觉的移动控制方法、装置及系统
CN110688930A (zh) * 2019-09-20 2020-01-14 Oppo广东移动通信有限公司 人脸检测方法、装置、移动终端及存储介质

Family Cites Families (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101478628B (zh) * 2008-01-04 2011-04-20 华晶科技股份有限公司 图像对象的选取框大小的调整方法
JP2010011441A (ja) * 2008-05-26 2010-01-14 Sanyo Electric Co Ltd 撮像装置及び画像再生装置
JP5589548B2 (ja) * 2010-05-14 2014-09-17 株式会社リコー 撮像装置、画像処理方法、及びプログラム記憶媒体
CN101950426B (zh) * 2010-09-29 2014-01-01 北京航空航天大学 一种多摄像机场景下车辆接力跟踪方法
CN102467742B (zh) * 2010-10-29 2013-11-06 华晶科技股份有限公司 对象追踪方法
CN102184548B (zh) * 2011-04-22 2013-04-17 浙江工业大学 一种基于累加直方图粒子滤波的视频运动目标跟踪方法
CN102750527B (zh) * 2012-06-26 2015-08-19 浙江捷尚视觉科技股份有限公司 一种银行场景中长期稳定的人脸检测与跟踪方法及装置
CN103310466B (zh) * 2013-06-28 2016-02-17 安科智慧城市技术（中国）有限公司 一种单目标跟踪方法及其实现装置
CN103440669A (zh) * 2013-09-10 2013-12-11 武汉大学 一种基于压缩域融合的Mean shift核窗宽动态更新方法
US9947077B2 (en) * 2013-12-31 2018-04-17 Thomson Licensing Video object tracking in traffic monitoring
CN105046721B (zh) * 2015-08-03 2018-08-17 南昌大学 基于Grabcut及LBP跟踪质心矫正模型的Camshift算法
CN105100727B (zh) * 2015-08-14 2018-03-13 河海大学 一种固定位监控图像中指定物品实时跟踪方法
CN105205815B (zh) * 2015-09-15 2017-12-29 西安理工大学 基于云台可控制摄像机的实时视频跟踪方法
CN105279770A (zh) * 2015-10-21 2016-01-27 浪潮(北京)电子信息产业有限公司 一种目标跟踪控制方法及装置
CN105678809A (zh) * 2016-01-12 2016-06-15 湖南优象科技有限公司 手持式自动跟拍装置及其目标跟踪方法
KR20180040409A (ko) * 2016-10-12 2018-04-20 엘지전자 주식회사 이동 단말기 및 그 제어방법
CN106778570B (zh) * 2016-12-05 2018-08-24 清华大学深圳研究生院 一种行人实时检测与跟踪方法
CN106774436B (zh) * 2017-02-27 2023-04-25 南京航空航天大学 基于视觉的旋翼无人机稳定跟踪目标的控制系统及方法
CN108010067B (zh) * 2017-12-25 2018-12-07 北京航空航天大学 一种基于组合判断策略的视觉目标跟踪方法
CN108510521A (zh) * 2018-02-27 2018-09-07 南京邮电大学 一种多特征融合的尺度自适应目标跟踪方法
CN110160459B (zh) * 2019-06-06 2021-02-23 山东师范大学 基于改进光流场理论提取散斑干涉条纹图形变相位的方法
CN110853076B (zh) * 2019-11-08 2023-03-31 重庆市亿飞智联科技有限公司 一种目标跟踪方法、装置、设备及存储介质

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104937638A (zh) * 2013-01-22 2015-09-23 高通股份有限公司 用于跟踪和检测目标对象的系统和方法
CN105830430A (zh) * 2013-12-21 2016-08-03 高通股份有限公司 用以使对象跟踪框的显示稳定的系统和方法
CN106228112A (zh) * 2016-07-08 2016-12-14 深圳市优必选科技有限公司 人脸检测跟踪方法及机器人头部转动控制方法和机器人
CN106651920A (zh) * 2016-10-19 2017-05-10 北京邮电大学 基于机器视觉的移动控制方法、装置及系统
CN110688930A (zh) * 2019-09-20 2020-01-14 Oppo广东移动通信有限公司 人脸检测方法、装置、移动终端及存储介质

Also Published As

Publication number Publication date
CN111479062B (zh) 2021-09-28
CN111479062A (zh) 2020-07-31

Similar Documents

Publication Publication Date Title
US10021319B2 (en) Electronic device and method for controlling image display
WO2021208249A1 (fr) Procédé et dispositif de traitement d'images et caméra tenue à la main
KR101545883B1 (ko) 단말의 카메라 제어 방법 및 그 단말
WO2021208256A1 (fr) Procédé et appareil de traitement vidéo, et caméra portative
WO2021208253A1 (fr) Procédé et dispositif de détermination d'objet de suivi, et caméra portative
CN106657455B (zh) 一种带可旋转摄像头的电子设备
US10165182B1 (en) Panoramic imaging systems based on two laterally-offset and vertically-overlap camera modules
US20150022432A1 (en) Special gestures for camera control and image processing operations
CN105704369B (zh) 一种信息处理方法及装置、电子设备
CN108737897B (zh) 视频播放方法、装置、设备及存储介质
US20180004256A1 (en) Camera assembly for electronic devices
KR102241073B1 (ko) 이동 단말기
CN110891099A (zh) 电子装置
CN111724412A (zh) 确定运动轨迹的方法、装置及计算机存储介质
KR20210017282A (ko) 카메라 프리뷰 이미지를 제공하기 위한 전자 장치 및 그의 동작 방법
KR20210019110A (ko) 이동 단말기
WO2021208255A1 (fr) Procédé et dispositif de marquage de clip vidéo, et caméra portative
WO2021208252A1 (fr) Procédé de détermination de cible de suivi, dispositif et caméra portative
WO2021208254A1 (fr) Procédé et dispositif de récupération de cible de suivi, et caméra portative
WO2021208258A1 (fr) Procédé et appareil de recherche d'objet suivi, et caméra portative associée
US11079898B2 (en) Electronic device for controlling display of VR image, control method of electronic device, and non-transitory computer readable medium
WO2021208257A1 (fr) Procédé et dispositif de détermination d'état de suivi et caméra portative
WO2021208260A1 (fr) Procédé et dispositif pour afficher la trame de suivi d'un objet cible, et appareil photo portatif
WO2021208259A1 (fr) Procédé et dispositif de pilotage de cardan, et caméra portative
CN111370096A (zh) 交互界面的显示方法、装置、设备及存储介质

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20931345

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20931345

Country of ref document: EP

Kind code of ref document: A1

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 03/07/2023)

122 Ep: pct application non-entry in european phase

Ref document number: 20931345

Country of ref document: EP

Kind code of ref document: A1